CN113524193B - Robot motion space marking method and device, robot and storage medium - Google Patents

Abstract

The invention provides a robot motion space marking method, comprising: collecting detection data frames of a robot in the motion space, and establishing a 3D point cloud map and a 2D map under the motion space according to the detection data frames; 3D point cloud map, robot height, obtain the first point cloud map below the plane where the robot height is located; according to the robot work data, determine the starting point, end point and movement route of the robot movement on the 2D map; sample the movement route , and combined with the robot outline data, calculate the outline point cloud of the robot on the movement route; obtain the risk point of the robot movement according to the first point cloud map and the outline point cloud, and mark the risk point, so as to solve the problem of robot movement The problem of relying too much on the experience of engineers in route planning.

Description

Robot motion space marking method, device, robot and storage medium

technical field

The present invention relates to the technical field of artificial intelligence, in particular to a robot motion space marking method, device, robot and storage medium.

Background technique

Before a robot that can move autonomously enters the application site, the most important thing is to set the robot movement route. At present, most of the routes are established manually by the construction personnel on the project site according to the on-site conditions, and whether the established movement route is suitable completely depends on the experience and ability of the on-site construction personnel. However, due to the complex and changeable site environment, and often Unpredictable environmental obstacles, such as the pre-set robot motion route, will cause great obstacles to the anti-interference ability of the robot motion. Therefore, a real-time marking method for the motion route of the autonomous mobile robot is urgently needed. The movement route of the robot is reasonably planned, so that the robot can move autonomously in various environments, but is often hindered by environmental obstacles.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot motion space marking method, device, robot and computer storable medium, which are used to solve the problem that the robot motion route planning relies too much on the experience of engineers.

The technical scheme provided by the present invention is as follows:

A robot motion space labeling method, comprising:

Collect the detection data frame of the robot in the motion space, and establish a 3D point cloud map and a 2D map under the motion space according to the detection data frame;

Using the 3D point cloud map and the robot height, obtain the first point cloud map below the plane where the robot height is located;

According to the working data of the robot, determine the starting point, the ending point and the moving route of the robot movement on the 2D map;

Sampling the movement route, and calculating the outline point cloud of the robot on the movement route in combination with the robot outline data;

According to the first point cloud map and the contour point cloud, the risk points of robot motion are acquired, and the risk points are marked.

Preferably, the acquiring the risk point of the robot motion according to the first point cloud map and the contour point cloud, and marking the risk point specifically includes:

Obtain the first risk point set of robot motion according to the contour point cloud and the first point cloud map;

Acquire a second set of risk points for robot motion according to the motion route and the first point cloud map;

The first risk point set and the second risk point set are marked in the robot motion space.

Preferably, the obtaining of the first risk point set for robot motion according to the contour point cloud and the first point cloud map specifically includes:

Traverse each point in the outline point cloud, and obtain the distance of each point in the outline point cloud from the KD tree constructed according to the first point cloud map;

Obtain the point corresponding to the first closest distance to the KD tree and the first closest distance in the outline point cloud;

When the first closest distance is less than a preset first distance threshold, use the point corresponding to the first closest distance on the contour point cloud as a first risk point;

The first risk point is stored in the first risk point set.

Preferably, the obtaining of the second risk point set of the robot motion according to the motion route and the first point cloud map specifically includes:

Obtain the region of interest within the preset distance range of the motion route that the robot walks on the 2D map;

Traverse each point in the region of interest, and obtain the distance of each point in the region of interest from the KD tree constructed according to the first point cloud map;

Obtain the second closest distance from the KD tree in the region of interest and the point corresponding to the second closest distance;

When the second closest distance is less than a preset second distance threshold, use the point corresponding to the second closest distance on the region of interest as a second risk point;

The second risk point is stored in the second risk point set.

In order to achieve the purpose of the present invention, an embodiment of the present invention also provides a robot motion space marking device, the device comprising:

a map construction module, used for collecting the detection data frame of the robot in the motion environment, and establishing the 3D point cloud map and the 2D map under the motion environment according to the detection data frame;

The first point cloud map calculation module is used to obtain the first point cloud map below the plane where the robot height is located by using the 3D point cloud map and the height of the robot;

a movement route determination module, used for determining the starting point, the end point and the movement route of the robot movement on the 2D map according to the working data of the robot;

The contour point cloud computing module is used to sample the motion route, and combine the robot contour data to calculate the contour point cloud of the robot on the motion route;

A motion space marking module is used to acquire risk points of robot motion according to the first point cloud map and contour point cloud, and mark the risk points.

Preferably, the motion space marking module specifically includes:

a first computing unit, configured to obtain a first set of risk points for robot motion according to the contour point cloud and the first point cloud map;

a second computing unit, configured to obtain a second set of risk points for the robot to move according to the movement route and the first point cloud map;

A marking unit, configured to mark the first risk point set and the second risk point set in the robot motion space.

Preferably, the first computing unit includes:

For traversing each point in the outline point cloud, obtaining the subunit of the distance of each point in the outline point cloud from the KD tree constructed according to the first point cloud map;

For obtaining the subunit of the point corresponding to the first closest distance from the KD tree and the first closest distance in the outline point cloud;

When the first closest distance is less than a preset first distance threshold, the point corresponding to the first closest distance on the contour point cloud is used as a subunit of the first risk point;

A subunit for storing the first risk point in the first risk point set.

Preferably, the second computing unit includes:

A subunit for acquiring the region of interest within the preset distance range of the motion route of the robot walking on the 2D map;

For traversing each point in the region of interest, obtaining the subunit of the distance of each point in the region of interest from the KD tree constructed according to the first point cloud map;

A subunit for obtaining the second closest distance from the KD tree and the point corresponding to the second closest distance in the region of interest;

When the second closest distance is smaller than a preset second distance threshold, a subunit of the second risk point corresponding to the second closest distance on the region of interest is used;

A subunit for storing the second risk point in the second risk point set.

In order to achieve the purpose of the present invention, an embodiment of the present invention further provides a robot, the robot includes a processor and a memory, the processor is coupled with the memory, wherein,

the memory for storing programs;

The processor is configured to execute the program in the memory, so that the robot executes any of the above-mentioned methods for realizing robot motion space marking.

In order to achieve the purpose of the present invention, an embodiment of the present invention further provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a computer, the computer can execute any of the above-mentioned realization robots Methods of motion space labeling.

According to the business operation requirements of the robot, the present invention realizes the identification and marking of risk points affecting the robot movement by simulating the movement space of the robot on the basis of the planned path, which is beneficial to the planning and layout of the subsequent movement path of the robot, and further Optimize the ability and efficiency of autonomous motion of robots.

Description of drawings

The preferred embodiments will be described below in a clear and easy-to-understand manner with reference to the accompanying drawings, and the above-mentioned characteristics, technical features, advantages and implementations of the method and apparatus for user equipment admission, and the method and apparatus for user equipment handover will be further described.

1 is a flowchart of a method for marking a robot motion space provided by an embodiment of the present invention;

2 is a schematic diagram of a robot motion space marking device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a robot according to an embodiment of the present invention.

Detailed ways

In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative efforts, and obtain other implementations.

In order to keep the drawings concise, the drawings only schematically show the parts related to the present invention, and they do not represent its actual structure as a product. In addition, in order to make the drawings concise and easy to understand, only one of the components having the same structure or function in some drawings is schematically drawn, or only one of them is marked. As used herein, "one" not only means "only one", but also "more than one".

In the development process of the autonomous movement of smart devices, the inventors need to use some sensors to detect the environment in order to realize the autonomous movement of these smart devices. The smart device may be an autonomously moving robot, or an autonomously moving car, or other autonomous walking devices. These devices will more or less use lidar sensors to detect target objects, so that the device can achieve barrier-free or avoidance. Move through obstacles.

In the field of autonomous mobile robot technology, 2D lidar sensors are usually used as detection sensors to detect surrounding objects in movable robot equipment, and are still the sensors that are often selected for use.

Due to the variability and randomness of the environmental objects in the robot motion space, the requirements for the path planning ability of engineers are improved. Therefore, a simulation of the robot motion environment is provided, and then the simulation of the robot motion space is beneficial to the robot motion path. Therefore, an embodiment of the present invention provides a method for marking the movement space of a robot.

Please refer to FIG. 1 , a method for marking a robot motion space according to an embodiment of the present invention includes:

S1. Collect the detection data frame of the robot under the motion space, and establish a 3D point cloud map and a 2D map under the motion space according to the detection data frame;

In an embodiment of the present invention, the detection data frame here may include detection data frames obtained by a robot sensor such as a 3D lidar, such as the distance, direction or reflection intensity of a target object, or image data obtained by a camera configured by the robot. Through the detected data frame, the 3D point cloud map and 2D map of the robot in the preset motion space are established by using the 3D lidar mapping method or the visual mapping method.

Here, the 3D lidar cloud map is established by using data frames describing the environment and recognizing the environment, so as to describe the environment information of the current movement space through the environment map. Considering that the robot generally walks on a plane route, in order to reduce the amount of calculation, a 2D map of the robot's movement route plane is also established at this time. Taking the 2D map of the robot movement route plane as an important parameter of the movement space marking in the embodiment of the present invention can reduce the workload on the one hand, and fully consider the movement characteristics of the robot itself on the other hand. The encountered target object serves as an important reference object.

The embodiments of the present invention do not limit the method used to construct the 3D point cloud map of the movement space that the robot may enter, and the method used to construct the 2D map of the robot movement route plane.

S2. Using the 3D point cloud map and the robot height, obtain the first point cloud map below the plane where the robot height is located;

In this embodiment of the present invention, in addition to establishing a map of the robot motion route plane, the first point cloud map below the robot height can be obtained by combining the 3D point cloud map and the robot height data in the robot motion space. spatial point cloud data.

S3. According to the working data of the robot, determine the starting point, the ending point and the movement route of the robot movement on the 2D map;

Due to the needs of the actual work of the robot, the movement route Path is changeable. Therefore, in the established 2D map, first determine the starting point and end point of the robot movement and select the robot movement route.

In the actual robot working scene, the planning and selection of the robot's motion route can be manually set. For example, in the remote robot's autonomous motion itinerary, by manually setting the robot's predetermined route, and in some occasions such as hospitals, The robot can be automatically set with predetermined motion route-defining parameters, such as driving to the right in the emergency passage to leave a passage for a walking hospital bed. The above information will be used as the basis for the selection of the robot's motion route, and will not be repeated here.

S4. Sampling the movement route, and in combination with the robot outline data, calculate the outline point cloud of the robot on the movement route;

In the established 2D map, sample the determined motion path Path, and combine the robot outline data, such as the length, width, maximum expansion size data of the robot, and new spatial extension data generated in the left and right rotation, to obtain the robot in the selection process. The contour point cloud on the route is used to determine the robot contour in the motion space, so that it is possible to obtain the possible influence of the robot's target object in the motion space on the robot motion in the calculation process of the subsequent space marking.

S5. Acquire risk points of robot motion according to the first point cloud map and contour point cloud, and mark the risk points.

After obtaining the point cloud map of the robot below the height plane of the robot and the contour point cloud in the motion route, the risk points affecting the motion of the robot are obtained through the point cloud map data. Mark the risk points to provide important parameter basis for subsequent robot motion path planning.

Preferably, the acquiring the risk point of the robot motion according to the first point cloud map and the contour point cloud, and marking the risk point specifically includes:

Obtain the first risk point set of robot motion according to the contour point cloud and the first point cloud map;

Acquire a second set of risk points for robot motion according to the motion route and the first point cloud map;

The first risk point set and the second risk point set are marked in the robot motion space.

Preferably, the obtaining of the first risk point set for robot motion according to the contour point cloud and the first point cloud map specifically includes:

Traverse each point in the outline point cloud, and obtain the distance of each point in the outline point cloud from the KD tree constructed according to the first point cloud map;

Obtain the point corresponding to the first closest distance to the KD tree and the first closest distance in the outline point cloud;

When the first closest distance is less than a preset first distance threshold, use the point corresponding to the first closest distance on the contour point cloud as a first risk point;

The first risk point is stored in the first risk point set.

Preferably, the obtaining of the second risk point set of the robot motion according to the motion route and the first point cloud map specifically includes:

Obtain the region of interest within the preset distance range of the motion route that the robot walks on the 2D map;

Traverse each point in the region of interest, and obtain the distance of each point in the region of interest from the KD tree constructed according to the first point cloud map;

Obtain the second closest distance from the KD tree in the region of interest and the point corresponding to the second closest distance;

When the second closest distance is less than a preset second distance threshold, use the point corresponding to the second closest distance on the region of interest as a second risk point;

The second risk point is stored in the second risk point set.

In order to achieve the purpose of the present invention, please refer to FIG. 2 , an embodiment of the present invention also provides a robot motion space marking device 100, the device 100 includes:

A map construction module 1 is used to collect the detection data frames of the robot in a motion environment, and establish a 3D point cloud map and a 2D map under the motion environment according to the detection data frames;

In an embodiment of the present invention, the detection data frame here may include a detection data frame obtained by a robot sensor such as a 3D lidar, such as the distance, direction or reflection intensity of a target object, or image data obtained by a camera configured by the robot. Through the detected data frame, the 3D point cloud map and 2D map of the robot in the preset motion space are established by using the 3D lidar mapping method or the visual mapping method.

Here, the 3D lidar cloud map is established by using data frames describing the environment and recognizing the environment, so as to describe the environment information of the current movement space through the environment map. Considering that the robot generally walks on a plane route, in order to reduce the amount of calculation, a 2D map of the robot's movement route plane is also established at this time. Taking the 2D map of the robot movement route plane as an important parameter of the movement space marking in the embodiment of the present invention can reduce the workload on the one hand, and fully consider the movement characteristics of the robot itself on the other hand. The encountered target object serves as an important reference object.

The embodiments of the present invention do not limit the method used to construct the 3D point cloud map of the movement space that the robot may enter, and the method used to construct the 2D map of the robot movement route plane.

The first point cloud map calculation module 2 is used to obtain the first point cloud map below the plane where the robot height is located by using the 3D point cloud map and the height of the robot; the embodiment of the present invention not only establishes a map of the plane of the robot movement route, but also combines The 3D point cloud map and the robot height data in the robot motion space are used to obtain the first point cloud map below the robot height. In order to reduce the amount of calculation, the point cloud data in the space above the robot height can be ignored.

The motion route determination module 3 is used to determine the starting point, the end point and the motion route of the robot motion on the 2D map according to the working data of the robot;

Due to the needs of the actual work of the robot, the movement route Path is changeable. Therefore, in the established 2D map, first determine the starting point and end point of the robot movement and select the robot movement route.

In the actual robot working scene, the planning and selection of the robot's motion route can be manually set. For example, in the remote robot's autonomous motion itinerary, by manually setting the robot's predetermined route, and in some occasions such as hospitals, The robot can be automatically set with predetermined motion route-defining parameters, such as driving to the right in the emergency passage to leave a passage for a walking hospital bed. The above information will be used as the basis for the selection of the robot's motion route, and will not be repeated here.

The contour point cloud computing module 4 is used for sampling the motion route, and in combination with the robot contour data, calculates the contour point cloud of the robot on the motion route;

In the established 2D map, sample the determined motion path Path, and combine the robot outline data, such as the length, width, maximum expansion size data of the robot, and new spatial extension data generated in the left and right rotation, to obtain the robot in the selection process. The contour point cloud on the route is used to determine the robot contour in the motion space, which makes it possible to obtain the possible influence of the robot's target object in the motion space on the robot motion in the calculation process of the subsequent space marking.

The motion space marking module 5 is used for acquiring the risk points of robot motion according to the first point cloud map and the contour point cloud, and marking the risk points.

After obtaining the point cloud map of the robot below the height plane of the robot and the contour point cloud in the motion route, the risk points affecting the motion of the robot are obtained through the point cloud map data. Mark the risk points to provide important parameter basis for subsequent robot motion path planning.

Preferably, the motion space marking module specifically includes:

a first computing unit, configured to obtain a first set of risk points for robot motion according to the contour point cloud and the first point cloud map;

a second computing unit, configured to obtain a second set of risk points for the robot to move according to the movement route and the first point cloud map;

A marking unit, configured to mark the first risk point set and the second risk point set in the robot motion space.

Preferably, the first computing unit includes:

For traversing each point in the outline point cloud, obtaining the subunit of the distance of each point in the outline point cloud from the KD tree constructed according to the first point cloud map;

For obtaining the subunit of the point corresponding to the first closest distance from the KD tree and the first closest distance in the outline point cloud;

When the first closest distance is less than a preset first distance threshold, the point corresponding to the first closest distance on the contour point cloud is used as a subunit of the first risk point;

A subunit for storing the first risk point in the first risk point set.

Preferably, the second computing unit includes:

A subunit for acquiring the region of interest within the preset distance range of the motion route of the robot walking on the 2D map;

For traversing each point in the region of interest, obtaining the subunit of the distance of each point in the region of interest from the KD tree constructed according to the first point cloud map;

A subunit for obtaining the second closest distance from the KD tree and the point corresponding to the second closest distance in the region of interest;

When the second closest distance is smaller than a preset second distance threshold, a subunit of the second risk point corresponding to the second closest distance on the region of interest is used;

A subunit for storing the second risk point in the second risk point set.

In order to achieve the purpose of the present invention, an embodiment of the present invention further provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a computer, the computer can execute any of the above-mentioned realization robots Methods of motion space labeling.

According to the business operation requirements of the robot, the present invention realizes the identification and marking of risk points affecting the robot movement by simulating the movement space of the robot on the basis of the planned path, which is beneficial to the planning and layout of the subsequent movement path of the robot, and further Optimize the ability and efficiency of autonomous motion of robots.

It should be noted that the division of each module or unit of the above robot motion space marking device is only a division of logical functions, and can be fully or partially integrated into a physical entity in actual implementation, or can be physically separated. And these units can all be implemented in the form of software calling by the processor; also can be all implemented in the form of hardware; some units can also be implemented in the form of calling by the processor through software, and some units can be implemented in the form of hardware.

For example, the functions of the above modules or units can be stored in the memory in the form of program codes, and the program codes are dispatched by the processor to realize the functions of the above units. The processor may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processors that can invoke programs. For another example, each of the above units may be one or more integrated circuits configured to implement the above methods, such as: one or more specific integrated circuits (ASIC), or, one or more digital signal processors (DSP), or , one or more field programmable gate arrays (FPGA), etc. For another example, combining these two methods, some functions are implemented in the form of processor scheduler codes, and some functions are implemented in the form of hardware integrated circuits. When the above functions are integrated together, they can be implemented in the form of a system-on-a-chip (SOC).

The robot motion space marking device or the like provided in the embodiment of the present application may be specifically a chip, and the chip includes: a processing unit and a communication unit, the processing unit may be, for example, a processor, and the communication unit may be, for example, an input/output interface, a pin or circuit etc. The processing unit can execute the computer execution instructions stored in the storage unit, so that the chip in the robot motion space marking apparatus executes the steps performed by the robot motion space marking apparatus described in the above-mentioned embodiment, or causes the chip in the execution device to execute The steps performed by the robot motion space marking device described in the embodiment shown in FIG. 2 above.

Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, etc., and the storage unit may also be a storage unit located outside the chip in the wireless access device, such as only Read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), and the like.

In order to achieve the purpose of the present invention, an embodiment of the present invention further provides a robot 180, and the robot may include the robot motion space marking device as described above.

The robot 180 may further include a processor 1803 and a memory 1804, the processor 1803 is coupled with the memory 1804, wherein,

the memory 1804 for storing programs;

The processor 1803 is configured to execute the program in the memory, so that the robot executes the method for marking the robot movement space as described above.

Please refer to FIG. 3 , the method disclosed in the embodiment of the present invention corresponding to the above-mentioned FIG. 1 can be applied to a robot 180 that moves autonomously. The robot 180 includes a processor 1803 , and the processor 1803 can be an integrated circuit chip with a signal processing power. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 1803 or an instruction in the form of software. The above-mentioned processor 1803 may be a general-purpose processor, a digital signal processor (DSP), a microprocessor or a microcontroller, and may further include an application specific integrated circuit (ASIC), a field programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The processor 1803 may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiment corresponding to FIG. 1 of the present application.

A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 1804, and the processor 1803 reads the information in the memory 1804, and completes the steps of the above method in combination with its hardware.

The receiver 1801 can be used to receive input digital or character information, and generate signal input related to the relative setting and function control of the robot motion space marking device 100 . The transmitter 1802 can be used to output digital or character information through the first interface; the transmitter 1802 can also be used to send instructions to the disk group through the first interface to modify the data in the disk group; the transmitter 1802 can also include a display device such as a display screen .

Embodiments of the present invention further provide a computer-readable storage medium, where a program for performing signal processing is stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a computer, causes the computer to execute the programs described in the foregoing embodiments. The steps performed by the robot motion space marking method, or the computer is made to perform the steps performed by the robot motion space marking apparatus described in the embodiment shown in FIG. 2 .

In addition, it should be noted that the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be A physical unit, which can be located in one place or distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. In addition, in the drawings of the device embodiments provided in this application, the connection relationship between the modules indicates that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines

From the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general-purpose hardware. Special components, etc. to achieve. Under normal circumstances, all functions completed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structures used to implement the same function can also be various, such as analog circuits, digital circuits or special circuit, etc. However, a software program implementation is a better implementation in many cases for this application. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that make contributions to the prior art. The computer software products are stored in a readable storage medium, such as a floppy disk of a computer. , U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, or a network device, etc.) to execute the methods described in the various embodiments of this application.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, which may be any available medium that can be stored by a computer or a data storage device such as a training device, data center, etc. that includes one or more available media integrated. . The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

It should be noted that the above embodiments can be freely combined as required. The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (6)

1. A robot motion space marking method is characterized by comprising the following steps:

acquiring a detection data frame of a robot in a motion space, and establishing a 3D point cloud map and a 2D map in the motion space according to the detection data frame;

acquiring a first point cloud map below a plane where the robot height is located by using the 3D point cloud map and the robot height;

determining a starting point, an end point and a movement route of the robot movement on the 2D map according to the working data of the robot;

sampling the motion route, and calculating a contour point cloud of the robot on the motion route by combining robot contour data;

acquiring risk points of robot motion according to the first point cloud map and the contour point cloud, and marking the risk points; wherein,

the acquiring of the risk points of the robot motion according to the first point cloud map and the contour point cloud, and the marking of the risk points specifically comprises:

acquiring a first risk point set of robot motion according to the contour point cloud and the first point cloud map;

acquiring a second risk point set of robot movement according to the movement route and the first point cloud map;

marking the first set of risk points and the second set of risk points in a robot motion space;

the step of acquiring a first risk point set of robot motion according to the contour point cloud and the first point cloud map specifically comprises the following steps:

traversing each point in the contour point cloud, and obtaining the distance between each point in the contour point cloud and a KD tree constructed according to the first point cloud map;

acquiring a first closest distance from the outline point cloud to the KD tree and a point corresponding to the first closest distance;

when the first closest distance is smaller than a preset first distance threshold, taking a point corresponding to the first closest distance on the contour point cloud as a first risk point;

saving the first risk point in the first set of risk points.

2. The method for marking the motion space of the robot according to claim 1, wherein the step of obtaining the second set of risk points of the motion of the robot according to the motion route and the first point cloud map specifically comprises:

acquiring an area of interest within a preset distance range of the movement route where the robot walks on the 2D map;

traversing each point in the region of interest, and acquiring the distance from each point in the region of interest to a KD tree constructed according to the first point cloud map;

acquiring a second closest distance from the KD tree in the region of interest and a point corresponding to the second closest distance;

when the second closest distance is smaller than a preset second distance threshold, taking a point corresponding to the second closest distance on the region of interest as a second risk point;

and saving the second risk point in the second risk point set.

3. A robotic motion space marking apparatus, comprising:

the map building module is used for building a 3D point cloud map and a 2D map under the motion environment by collecting detection data frames of the robot under the motion environment and according to the detection data frames;

the first point cloud map computing module is used for acquiring a first point cloud map below the plane where the robot height is located by utilizing the 3D point cloud map and the robot height;

the movement route determining module is used for determining a starting point, an end point and a movement route of the robot movement on the 2D map according to the robot working data;

the contour point cloud computing module is used for sampling the movement route and computing a contour point cloud of the robot on the movement route by combining robot contour data;

the motion space marking module is used for acquiring risk points of robot motion according to the first point cloud map and the contour point cloud and marking the risk points; wherein, the motion space marking module specifically comprises:

the first computing unit is used for acquiring a first risk point set of robot motion according to the contour point cloud and the first point cloud map;

the second computing unit is used for acquiring a second risk point set of robot motion according to the motion route and the first point cloud map;

a marking unit for marking the first risk point set and the second risk point set in a robot motion space;

the first calculation unit includes:

a subunit, configured to traverse each point in the contour point cloud, and obtain a distance from each point in the contour point cloud to a KD tree constructed according to the first point cloud map;

a subunit, configured to obtain a first closest distance from the KD tree in the contour point cloud and a point corresponding to the first closest distance;

a subunit, configured to, when the first closest distance is smaller than a preset first distance threshold, take a point on the contour point cloud corresponding to the first closest distance as a first risk point;

a subunit for saving the first risk point in the first set of risk points.

4. The robotic motion space marking apparatus of claim 3, wherein the second computing unit comprises:

a sub-unit for obtaining a region of interest within a preset distance range of the movement route traveled by the robot on the 2D map;

a subunit, configured to traverse each point in the region of interest, and obtain a distance from each point in the region of interest to a KD tree constructed according to the first point cloud map;

a subunit, configured to obtain a second closest distance from the KD tree in the region of interest and a point corresponding to the second closest distance;

a subunit, configured to, when the second closest distance is smaller than a preset second distance threshold, take a point on the region of interest corresponding to the second closest distance as a second risk point;

a subunit for saving the second risk point in the second set of risk points.

5. A robot comprising a processor and a memory, the processor being coupled with the memory,

the memory is used for storing programs;

the processor to execute the program in the memory to cause the robot to perform the method of any of claims 1-2.

6. A computer storage medium, comprising a program which, when run on a computer, causes the computer to perform the method of any one of claims 1-2.

Images