CN112800168A - Method and device for creating robot business map library and storage medium - Google Patents
Method and device for creating robot business map library and storage medium Download PDFInfo
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Abstract
The invention discloses a robot business map library creating method, equipment and a storage medium, wherein a map element corresponding to a robot storage business is obtained by expanding state information and spatial information corresponding to an indoor scene map indoor GML model; setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels; expanding a spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library comprising the map elements, the element labels and the map dimension information; the convenience of use of the indoor GML-based map is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method, equipment and a storage medium for creating a robot business map library.
Background
In the prior art, different map description methods are respectively adopted for different application scenes corresponding to artificial intelligence, for example, maps such as a City GML model, a KML model, an IFC model, an inoor GML model and the like are used for correspondingly describing the application scenes. The indoor GML map is mainly used for describing map information of an indoor scene; however, since the indor GML map is general, the design model is too abstract, and therefore, if the indor GML map is used for describing the business of the robot warehousing map, many key specific information elements, such as business districts, shelves, containers for loading goods, such as storage boxes and the like, are lacked, and the indor GML map cannot be directly applied to the map description of the warehousing business; therefore, how to redefine the model corresponding to the indoor GML map and construct a map library containing map composition materials that can be directly used by the robot is one of the problems to be solved at present.
Disclosure of Invention
The invention provides a method, equipment and a storage medium for creating a robot service map library, and aims to solve the problems that map information provided by an indoor GML map is too abstract and lacks a service map library specially suitable for storing a service map.
In a first aspect, the invention provides a robot business map library creating method.
The robot business map library creating method comprises the following steps: expanding state information and spatial information corresponding to the indoor scene map indoor GML model to obtain map elements corresponding to the robot warehousing business; setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels; expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
In a second aspect, the invention provides a service map library creating device.
The service map library creating device comprises: the map element expansion module is used for expanding state information and spatial information corresponding to the indoor scene map indoor GML model to obtain a map element corresponding to the robot warehousing business; the incidence relation setting module is used for setting corresponding element labels for the map elements corresponding to the robot warehousing business and setting incidence relations among different map elements based on the element labels; and the map library creating module is used for expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers forming a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
In a third aspect, the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a map library creating program operable on the processor, and the map library creating program is executed by the processor to perform the robot service map library creating method.
In a fourth aspect, the present invention provides a computer-readable storage medium having a map library creation program stored thereon, the map library creation program being executed by one or more processors to implement the steps of the robot service map library creation method.
According to the method, the device and the storage medium for creating the robot service map library, provided by the invention, the map elements corresponding to the robot storage service are obtained by expanding the state information and the spatial information corresponding to the indoor scene map indoor GML model; setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels; expanding a spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library comprising the map elements, the element labels and the map dimension information; the problems that the information described by the indoor GML map is too abstract and lacks of a service map library specially suitable for warehousing service maps are solved, the convenience of using the indoor GML map is improved, and the map element query efficiency in the service map library and the processing capacity of warehousing service scenes are improved; meanwhile, the information of the warehousing business map is integrated together in a map layering mode for unified management, and the management efficiency and the management convenience of the warehousing business map are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings: fig. 1 is a flowchart illustrating an embodiment of a method for creating a robot service map library according to the present invention.
Fig. 2 is a schematic connection diagram of layers of the warehousing business map in the robot business map library creation method of the present invention.
Fig. 3 is a functional module diagram of an embodiment of the service map library creating device of the present invention.
Fig. 4 is a schematic internal structure diagram of an embodiment of the electronic device of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a robot business map library creating method, equipment and a storage medium, aiming at solving the problems that the information described by an indor GML map is too abstract and lacks of a business map library specially suitable for warehousing business maps, and by defining and describing the business map library specially suitable for a robot based on an indor GML model, the efficiency and convenience of map element query based on the business map library are improved, and the processing capacity of warehousing business scenes is further improved; furthermore, the map information corresponding to the warehousing business map is integrated together for unified management, and convenience and efficiency of map information management are improved. The indoor GML described in the embodiment of the invention mainly solves the indoor three-dimensional expression and topological relation, and can meet the requirement of path planning between indoor rooms. In addition, in the embodiment of the present invention, the service map library stores and includes all map elements required by the robot to construct the warehousing service map, including but not limited to: the map elements, the corresponding element labels, map dimension information of different map layers and the like. In different application scenes, the robot can construct a corresponding warehousing business map according to actual requirements by utilizing the created business map library according to the current actual application scene, so as to realize path planning.
As shown in fig. 1, fig. 1 is a schematic flowchart of an embodiment of a robot service map library creating method according to the present invention; the robot business map library creation method of the present invention may be embodied as steps S10-S40 described below.
And S10, expanding the state information and the spatial information corresponding to the indoor scene map indoor GML model to obtain a map element corresponding to the robot warehousing business.
In the embodiment of the invention, aiming at an indoor scene map indoor GML, the indoor GML is an open data model for indoor space information and an OGC standard of an XML mode; it aims to provide a general framework for representing and exchanging indoor space information; application mode defined as OGC geomarkup language (GML) 3.2.1. The goal of this standard is to define an indoor space information framework to locate fixed or mobile elements in the indoor space and to provide a space information service that references its location in the indoor space, rather than building components representing a building; the indoor GML is intended to represent attributes of the room space and to provide a spatial reference for the elements of the room space. Therefore, in the embodiment of the invention, the state information and the spatial information corresponding to the indoor GML model can be subjected to extended definition according to actual requirements, so that the map element corresponding to the robot warehousing service is obtained.
In a specific application scenario corresponding to the machine warehousing service, the required map elements include but are not limited to: the system comprises map elements corresponding to special points of the picking points, map elements corresponding to the goods shelves, map elements corresponding to the carrying boxes, map elements corresponding to the warehousing business areas and the like.
And step S20, setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting the association relation between different map elements based on the element labels.
In the embodiment of the invention, the element label corresponding to each map element corresponding to the robot warehousing business is set. In the embodiment of the invention, the element tag set for the map element defines the element information such as the feature, the application and the like of the map element. And setting an association relation between different map elements according to the actual requirements of the robot warehousing business based on the map elements with the element labels.
For example, for map elements such as a shelf, a pick point, and a carrying box after the element tag is set, association relations among the map elements respectively corresponding to the shelf, the pick point, and the carrying box are set according to actual requirements of the robot warehousing business.
Step S30, expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library comprising the map elements, the element labels and the map dimension information.
In the embodiment of the invention, because the indoor GML model is provided with a Space Layer, namely a cell Space Layer (hereinafter referred to as a Space Layer), the Space Layer can be expanded and redefined, so that map dimension information of different levels corresponding to the warehousing business map can be obtained, information corresponding to the warehousing business map is integrated together for unified management, a business map library containing map elements, element labels and map dimension information is created, and the processing capacity of the robot warehousing business scene is improved.
Further, in an embodiment, the robot service map library creating method further includes: and constructing and obtaining a warehousing service map corresponding to the warehousing service of the robot according to the incidence relation among different map elements in the service map library and the map dimension information by using the created service map library based on the current application scene.
Because the association relationship between different map elements is set while the element labels are set for the different map elements, the warehousing service map of the robot can be constructed according to the association relationship between the different map elements and the map dimension information corresponding to the different map layers obtained in step S30 in the embodiment of fig. 1, and at the same time, in combination with the current actual application scene of the robot, so as to obtain the warehousing service map based on the inoor GML map model, which is suitable for the robot warehousing service application scene.
Further, in an embodiment, with respect to "step S10, expanding the state information and the spatial information corresponding to the indoor scene map indoor GML model to obtain a map element corresponding to the robot warehousing service" in the embodiment described in fig. 1, the method may be implemented as: expanding state information corresponding to an indoor scene map indoor GML model to obtain map elements corresponding to special points including picking points and map elements corresponding to a loading box, wherein the map elements correspond to the robot warehousing business; and simultaneously expanding the spatial information between the cells corresponding to the indoor scene map indoor GML model to obtain map elements respectively corresponding to the storage shelves and the storage business areas corresponding to the robot storage business.
For example, in a specific application scenario, for an indoor GML model, an expansion definition is performed on state, that is, state information, corresponding to the indoor GML model, and for example, the expansion definition is defined as map elements respectively corresponding to a Special Point (for example, a picking Point and the like) and a Container, that is, a loading Container, in a warehousing business map corresponding to a robot. And performing extension definition on the cell Space corresponding to the indoor GML model, namely the spatial information between the cells, for example, the extension definition is map elements respectively corresponding to Shelves, namely goods Shelves, and Business areas, namely storage Business areas in the storage Business map.
In the embodiment of the present invention, the special points include but are not limited to: the picking point, the road intersection point of the crossroad and/or the T-shaped intersection corresponding to the robot running path, the roadway starting point, the roadway terminal point and other special points which have special significance and are configured in advance. The special points can be specifically configured based on the specific warehousing environment in which the robot actually operates, and the embodiment of the invention does not limit the specific definition, specific meaning and the like of the special points.
Further, in an embodiment, in step S20 of the embodiment described with respect to fig. 1, "setting a corresponding element tag for the map element corresponding to the robot warehousing service" may be implemented as: respectively setting a general element label and a personal element label corresponding to each map element aiming at all different map elements; wherein the generic element tag comprises: element category labels, element function labels, element use method labels and element label information corresponding to the element semantic labels; the personalized element tag includes: setting personalized element tag information corresponding to the personalized characteristic information aiming at the personalized characteristic information respectively corresponding to different element tags.
For example, in a specific application scenario, all different map elements are uniformly provided with a universal element tag Feature, which mainly comprises four components, namely an element class tag class, an element function tag function, an element use method tag use and an element semantic tag label; wherein class represents the category of the map element, such as different categories of service areas, etc.; the function represents a function of the map element, such as a function of a certain service area; usage represents a usage method of the map element, such as a usage method of a container corresponding to the carrying case; label represents the semantic label of the map element.
Meanwhile, for different map elements, corresponding individual element tags can be configured for the map elements according to requirements. Such as: for the map element of the warehousing service Area, a special service Area element Business Area may be used to describe the warehousing service Area, and besides configuring the tag content included in the general element tag Feature for the warehousing service Area, a personalized element tag is also configured for the warehousing service Area, including but not limited to: the method comprises the following steps of (1) warehousing service area geometric information geometry, warehousing service area name, warehousing service area identification code id, warehousing service area duality and the like; the pairing point configured for the warehousing service Area contains geometric attributes, and the geometric attributes are located in the center of the business Area of the corresponding warehousing service Area.
For a shelf, which is a map element, a special map element Shelves can be used to describe the shelf. In the embodiment of the present invention, the composition of the element tag configured for the shelf as the map element includes: the universal element tag Feature comprises four components, namely a shelf name, a shelf identification code id, shelf geometric information geometry and shelf dual; the dual point dual for the shelf configuration does not contain geometric information, but has an association relationship corresponding to the connection with the picking point.
For this map element of the tote box, a special map element contiainer may be used for description. In an embodiment of the present invention, an element tag configured for a map element, which is a carrier box, includes: the universal element tag Feature comprises four components, a carrying box name and a carrying box identification code id; for the map element of the carrying box, no dual point and corresponding geometric information are configured, but the map element corresponding to the carrying box has an association relation for connection with the picking point.
For the map element of the pick-up Point, a Special map element Special Point can be used for description, and the element labels configured for the map element of the pick-up Point include: the generic element tag Feature contains four components. In the embodiment of the invention, the map element Special Point is used for representing the picking Point, and can be flexibly and conveniently represented as other types of points by changing the class attribute in the element label corresponding to the map element.
Aiming at the setting of element labels of other types of map elements contained in the warehousing business map, the embodiment of the invention does not carry out one-to-one exhaustion and description; all the specific embodiments covered by the basic idea that other map elements are configured according to the warehousing business requirements corresponding to the robot and corresponding element labels are configured for the corresponding map elements are within the protection scope of the invention.
Further, in one embodiment, in step S20 of the embodiment described with respect to fig. 1, "setting an association relationship between different map elements based on the element tags" may be implemented as: setting an association relation between the goods shelf and the picking point according to the goods shelf, the carrying box, the picking point and element labels corresponding to the goods shelf and the picking point in the map elements; meanwhile, the incidence relation between the carrying box and the picking point is set based on the element label corresponding to the carrying box.
In the embodiment of the invention, when corresponding element labels are respectively set for the map elements corresponding to the goods shelves, the goods carrying boxes and the goods picking points, the association relations between the goods picking points and the goods shelves and between the goods picking points and the goods carrying boxes are configured at the same time.
Further, in an embodiment, with respect to "step S30 of the embodiment shown in fig. 1, based on the map element and the corresponding element tag, extending the spatial layer of the indoor GML model to obtain map dimension information of different map hierarchies forming a warehousing business map corresponding to the robot warehousing business", the following technical means may be implemented: and expanding the space layer of the indoor GML model according to the map elements including the picking points, the loading boxes, the goods shelves and the storage service areas and the element labels respectively corresponding to different map elements. And redefining and expanding the indoor GML model aiming at the map elements and the corresponding element labels respectively to obtain corresponding map layers.
In the embodiment of the invention, according to the actual requirement of the robot warehousing business map, the warehousing business map is layered and mainly comprises four map dimensions. The map dimensions in the embodiments of the present invention include: the method comprises map dimension information respectively corresponding to four map layers, namely a special point layer where a picking point map element is located, a container layer where a carrying box map element is located, a shelf layer where a shelf map element is located and a business area layer where a warehousing business map element is located.
Further, in an embodiment, for "the robot constructs and obtains the warehousing service map corresponding to the warehousing service of the robot according to the incidence relation between different map elements in the service map library and the map dimension information corresponding to the map hierarchy based on the current application scene by using the created service map library", the method may be implemented according to the following technical means: aiming at the service area layer in the four map hierarchies stored in the service map library, the service area layer comprises a plurality of service areas, and based on the central point information corresponding to different service areas, the robot connects the service areas according to the current application scene and the driving sequence information corresponding to the driving sequence of the robot possible in different service areas, so as to form the service area layer.
As for the connection between each level in the four map layers, as shown in fig. 2, the inter-level connection is performed on the shelf layer where the shelf is located, the special point layer where the special point is located, the container layer where the carrier box is located, and the service area layer by using the association relationship between the shelf and the special point (such as a picking point) and the association relationship between the carrier box and the special point (such as a picking point), so as to obtain the warehousing service map corresponding to the robot warehousing service.
For example, in a specific application scenario, a connection relationship is established between a dual point in an element tag corresponding to a map element of a shelf and an element tag corresponding to a picking point in a special point, so that a hierarchical connection between a shelf layer where the shelf is located and the special point layer where the picking point is located is realized. And the hierarchical connection between the container layer where the carrying box is located and the special point layer where the picking point is located is realized by utilizing the connection relation established between the map element of the picking point in the special point and the element label corresponding to the map element of the carrying box. And performing hierarchical connection on the service area layer, the goods shelf layer, the special point layer and the container layer based on a possible running route of the robot when executing the corresponding warehousing task in the warehousing service environment, so as to realize the description of the warehousing service map corresponding to the robot warehousing service based on the inoar GML model.
Further, in an embodiment, in consideration of the actual need of flexible adjustment of the possible operation route of the robot, the warehousing business map constructed by the above embodiment of the present invention further includes: and the path storage structure is used for planning the traveling path of the robot. The path storage structure stores pick-up point state information respectively corresponding to different pick-up points contained in the warehousing business map, and simultaneously, the path storage structure further stores: the robot is based on possible driving path information of the current application scene and path segment information capable of reflecting possible changes of the driving path of the robot.
For example, in a specific application scenario corresponding to a robot warehousing service, the built warehousing service map has a special route storage structure, that is, a path storage structure, and the route storage structure stores route information, that is, route, which is possible travel path information of the robot and route segment information, that is, route segment, which can reflect possible changes in the travel path of the robot. Route and route segment stored in the route storage structure respectively correspond to Special Point, namely Special Point, such as state which is the picking Point state information corresponding to the picking Point and transition which is the change transition information of the robot driving path. The information stored in the route storage structure can provide corresponding reference information for planning the operation path of the robot in the warehousing service environment.
According to the method for creating the robot business map library, the map elements corresponding to the robot warehousing business are obtained by expanding the state information and the spatial information corresponding to the indoor scene map indoor GML model; setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels; expanding a spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library comprising the map elements, the element labels and the map dimension information; the problems that the information described by the indoor GML map is too abstract and lacks of a service map library specially suitable for warehousing service maps are solved, the convenience of using the indoor GML map is improved, and the map element query efficiency in the service map library and the processing capacity of warehousing service scenes are improved; meanwhile, the information of the warehousing business map is integrated together in a map layering mode for unified management, and the management efficiency and the management convenience of the warehousing business map are improved.
Corresponding to the method for creating the robot service map library provided by the embodiment, the embodiment of the invention also provides a device for creating the service map library. As shown in fig. 3, in the specific application scenario illustrated in fig. 3, the service map library creating apparatus includes: a map element expansion module 110, an association relation setting module 120 and a map library creation module 130.
Wherein the map element expansion module 110 is configured to: and expanding the state information and the spatial information corresponding to the indoor scene map indoor GML model to obtain a map element corresponding to the robot warehousing service.
The association setting module 120 is configured to: and setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels.
The map library creation module 130 is configured to: expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
It should be noted that the embodiment corresponding to the service map library creating apparatus and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are applicable to both embodiments of the service map library creating apparatus, which is not described herein again.
The invention also provides an electronic device, which can describe and create a corresponding warehousing business map according to the robot business map library creation method shown in fig. 1. Fig. 4 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention, as shown in fig. 4.
In the present embodiment, the electronic device 1 may be a PC (Personal Computer), or may be a terminal device such as a smartphone, a tablet Computer, or a mobile Computer. The electronic device 1 comprises at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
The memory 11 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, for example a hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in hard disk provided on the electronic device 1, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only to store application software installed in the electronic device 1 and various types of data, such as codes of the map library creating program 01, but also to temporarily store data that has been output or is to be output.
The processor 12 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 11 or Processing data, such as executing the map library creating program 01.
The communication bus 13 is used to realize connection communication between these components.
The network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, the user interface may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
While fig. 4 shows only the electronic device 1 with the components 11-14 and the map library creation program 01, it will be understood by those skilled in the art that the structure shown in fig. 4 does not constitute a limitation of the electronic device 1, and may include fewer or more components than shown, or combine certain components, or a different arrangement of components.
Based on the description of the above embodiments, in the embodiment of the electronic apparatus 1 shown in fig. 4, the map library creation program 01 is stored in the memory 11; the map library creation program 01 stored in the memory 11 is executable on the processor 12, and when the map library creation program 01 is executed by the processor 12, the following steps are implemented: expanding state information and spatial information corresponding to the indoor scene map indoor GML model to obtain map elements corresponding to the robot warehousing business; setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels; expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
It should be noted that the device embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the device embodiment, which is not described herein again.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a map library creation program is stored, where the map library creation program is executable by one or more processors to implement the following operations: expanding state information and spatial information corresponding to the indoor scene map indoor GML model to obtain map elements corresponding to the robot warehousing business; setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels; expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
It should be noted that the embodiment of the computer-readable storage medium and the embodiment of the method of the present invention belong to the same concept, and specific implementation processes thereof are detailed in the embodiment of the method, and technical features in the embodiment of the method are correspondingly applicable in the embodiment of the medium, which is not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. A robot business map library creating method is characterized by comprising the following steps:
expanding state information and spatial information corresponding to the indoor scene map indoor GML model to obtain map elements corresponding to the robot warehousing business;
setting corresponding element labels for the map elements corresponding to the robot warehousing business, and setting an association relation between different map elements based on the element labels;
expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers of a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
2. The robot service map library creation method of claim 1, wherein the robot service map library creation method further comprises:
and constructing and obtaining a warehousing service map corresponding to the warehousing service of the robot according to the incidence relation among different map elements in the service map library and the map dimension information by using the created service map library based on the current application scene.
3. The method for creating the robot service map library according to claim 1, wherein the expanding the state information and the spatial information corresponding to the indoor scene map indoor GML model to obtain the map element corresponding to the robot warehousing service includes:
expanding state information corresponding to an indoor scene map indoor GML model to obtain map elements corresponding to special points including picking points and map elements corresponding to a loading box, wherein the map elements correspond to the robot warehousing business;
and expanding the spatial information between the cells corresponding to the indoor scene map indoor GML model to obtain map elements respectively corresponding to the storage shelf and the storage business area corresponding to the robot storage business.
4. The method for creating a robot service map library according to claim 1, wherein the setting of the corresponding element tag for the map element corresponding to the robot warehousing service comprises:
respectively setting a general element label and a personal element label corresponding to each map element aiming at all different map elements;
wherein the generic element tag comprises:
element category labels, element function labels, element use method labels and element label information corresponding to the element semantic labels;
the personalized element tag includes: setting personalized element tag information corresponding to the personalized characteristic information aiming at the personalized characteristic information respectively corresponding to different element tags.
5. The robot business map library creation method of any one of claims 1 to 4, wherein setting an association relationship between different map elements based on the element tags comprises:
setting an association relation between the goods shelf and the picking point according to the goods shelf, the carrying box, the picking point and element labels corresponding to the goods shelf and the picking point in the map elements; meanwhile, the incidence relation between the carrying box and the picking point is set based on the element label corresponding to the carrying box.
6. The method for creating a robot service map library according to claim 2, wherein the expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map hierarchies constituting a warehousing service map corresponding to the robot warehousing service comprises:
according to the map elements including the special points, the loading boxes, the shelves and the storage service areas and the element labels corresponding to different map elements, the spatial layer of the indoor GML model is expanded to obtain map dimension information corresponding to four map layers including a special point layer where the special point map elements are located, a container layer where the loading box map elements are located, a shelf layer where the shelf map elements are located and a service area layer where the storage service map elements are located.
7. The method for creating the robot service map library according to claim 6, wherein the step of constructing and obtaining the warehousing service map corresponding to the robot warehousing service according to the incidence relation between different map elements in the service map library and the map dimension information by using the created service map library based on the current application scene by the robot comprises the steps of:
aiming at the service area layer in the four map hierarchies stored in the service map library, wherein the service area layer comprises a plurality of service areas, and based on central point information corresponding to different service areas, the robot connects the service areas according to the current application scene and the driving sequence information corresponding to the driving sequence of the robot possible in the different service areas to form the service area layer;
aiming at the connection among all levels in the four map layers, the inter-level connection is carried out on a shelf layer where the shelf is located, a special point layer where the special point is located, a container layer where the carrying box is located and the business area layer by utilizing the association relation between the shelf and the special point and the association relation between the carrying box and the special point, so that the warehousing business map corresponding to the robot warehousing business is obtained.
8. The robot service map library creation method of claim 2, wherein the constructing of the warehouse service map comprises: the path storage structure is used for planning the driving path of the robot;
the path storage structure stores pick-up point state information respectively corresponding to different pick-up points contained in the warehousing business map, possible running path information of the robot based on a current application scene and path section information capable of reflecting possible changes of a running path of the robot.
9. A service map library creation apparatus, characterized in that the service map library creation apparatus comprises:
the map element expansion module is used for expanding state information and spatial information corresponding to the indoor scene map indoor GML model to obtain a map element corresponding to the robot warehousing business;
the incidence relation setting module is used for setting corresponding element labels for the map elements corresponding to the robot warehousing business and setting incidence relations among different map elements based on the element labels;
and the map library creating module is used for expanding the spatial layer of the indoor GML model based on the map elements and the corresponding element labels to obtain map dimension information of different map layers forming a warehousing business map corresponding to the robot warehousing business, and creating a business map library containing the map elements, the element labels and the map dimension information.
10. An electronic device, comprising a memory and a processor, the memory having stored thereon a map library creation program executable on the processor, the map library creation program, when executed by the processor, performing the robotic business map library creation method of any of claims 1 to 8.
11. A computer-readable storage medium, characterized in that the storage medium has stored thereon a map library creation program, which is executed by one or more processors to implement the steps of the robot service map library creation method according to any one of claims 1 to 8.
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