CN117789517A - Method and system for determining temporary parking spot of robot, electronic equipment and storage medium - Google Patents

Abstract

The invention discloses a method, a system, electronic equipment and a storage medium for determining a temporary parking spot of a robot, wherein the method for determining the temporary parking spot of the robot comprises the following steps: establishing a map, and constructing a virtual wall on the map; establishing a plurality of points along the outline of the virtual wall, and converting the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates; defining a temporary parking range according to the coordinates of the position of the robot; traversing a plurality of point coordinates, and taking the point coordinates in the temporary parking range as temporary parking points. The method for determining the temporary parking spot of the robot can be applied to the field of outdoor inspection robots, and the mobile inspection robot can autonomously find a proper temporary parking spot pose in the process of traveling on a road according to the method for determining the temporary parking spot of the robot.

Description

Method and system for determining temporary parking spot of robot, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of outdoor inspection robots, in particular to a method, a system, electronic equipment and a computer readable storage medium for determining a temporary parking spot of a robot.

Background

In the outdoor inspection process, the robot usually travels in the center of the road. However, when an emergency is encountered, for example, because the lane is too narrow to prevent the rear vehicle from traveling, the robot sensor malfunctions, etc., and the robot needs to perform a specific task, the robot needs to be temporarily stopped at the road edge in order not to affect traffic. Currently, most robot parking positions are manually set by a user, and fixed parking points are preset for the robot before the robot runs.

It can be seen that the current robots do not have the ability to autonomously select a safe, suitable temporary parking gesture in the presence of an emergency. The road center, which typically encounters an emergency, or stops when a task is performed, affects the traffic of other traffic participants. Or the manual inspection robot is required to set the parking space in advance, which is troublesome.

Therefore, the robot needs to be able to autonomously determine the pose of a temporary stop in order to deal with these anomalies.

Disclosure of Invention

The invention aims to provide a new technical scheme of a method, a system, electronic equipment and a computer readable storage medium for determining a temporary parking spot of a robot, and provides a method for autonomously searching a proper temporary parking spot position and posture in the process of running a mobile inspection robot on a road.

In a first aspect of the present invention, a method for determining a temporary parking spot of a robot is provided, including the steps of: establishing a map, and constructing a virtual wall on the map; establishing a plurality of points along the outline of the virtual wall, and converting the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates; defining a temporary parking range according to the coordinates of the position of the robot; traversing a plurality of point coordinates, and taking the point coordinates in the temporary parking range as temporary parking points.

Optionally, the virtual wall is formed by a plurality of line segments, the head end of the former line segment is connected with the tail end of the latter line segment, and the point is determined on the line segment at intervals of a preset distance.

Optionally, the step of traversing a plurality of the point coordinates and taking the point coordinates located in the temporary parking area as temporary parking points includes: and traversing the coordinates of the plurality of points, filtering the points with the shortest distance between the points and other line segments smaller than a preset value, wherein the other line segments are the line segments except the line segment where the points are located.

Optionally, the method of calculating the shortest distance of the point to the line segment comprises the steps of: acquiring coordinates of two endpoints of the line segment and coordinates of the point; calculating the length of the line segment; calculating coordinates of the point to a projection point of the line segment; checking whether the projection point is on an extension of the line segment; if the projected point is on the extension line, the distance of the point to the line segment is the smaller of the distances of the point to the two end points of the line segment; if the projected point is on the line segment, the distance is the distance from the point to the projected point.

Optionally, the method for determining the temporary parking spot of the robot further comprises the following steps: and selecting the nearest point from the robot as the coordinate of the temporary parking point from all the point coordinates which are satisfied to be located in the temporary parking range.

Optionally, the step of establishing a plurality of points along the outline of the virtual wall, converting coordinates of the plurality of points to a robot coordinate system, and obtaining coordinates of the plurality of points includes: and translating the point towards one side of the position of the robot by a preset distance to obtain the point coordinate.

Optionally, the method for determining the temporary parking spot of the robot further comprises the following steps: the parking direction of the robot is set to be parallel to the road and to be a forward direction.

In a second aspect of the present invention, there is provided a system for determining a temporary parking spot of a robot, which is applied to any one of the above-described method for determining a temporary parking spot of a robot, the system for determining a temporary parking spot of a robot comprising: the virtual wall building module is used for building a map and building a virtual wall on the map; the point coordinate acquisition module is used for establishing a plurality of points along the outline of the virtual wall, and converting the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates; the temporary parking range acquisition module is used for defining a temporary parking range according to the coordinates of the position of the robot; the temporary parking point acquisition module traverses a plurality of point coordinates, and takes the point coordinates in the temporary parking range as temporary parking points.

In a third aspect of the present invention, there is provided an electronic apparatus comprising: a processor and a memory, in which computer program instructions are stored, wherein the computer program instructions, when executed by the processor, cause the processor to perform the steps of any of the above-described robot temporary stop point determination methods.

In a fourth aspect of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of any one of the above-described robot temporary stop point determination methods.

The method for determining the temporary parking spot of the robot can be applied to the field of outdoor inspection robots, and the mobile inspection robot can autonomously find a proper temporary parking spot pose in the process of traveling on a road according to the method for determining the temporary parking spot of the robot. In addition, the method for determining the temporary parking spot of the robot can realize that the parking position is at the edge of the road, and avoid affecting normal traffic of other vehicles.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which 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.

FIG. 1 is a map before drawing a virtual wall;

FIG. 2 is a map after drawing a virtual wall;

FIG. 3 is a schematic diagram of a virtual wall under base_link;

FIG. 4 is a schematic diagram of a group of point coordinates obtained from a virtual wall;

FIG. 5 is a schematic view of a point in a range in front of the right of the robot as a range for finding a stopping point;

FIG. 6 is a schematic illustration of parking spot translation;

FIG. 7 is a schematic view of a parking direction;

fig. 8 is a schematic diagram of the operation of an electronic device according to an embodiment of the invention;

FIG. 9 is a schematic diagram of a point-to-line segment according to one embodiment of the invention;

fig. 10 is a schematic view of a point-to-line segment according to yet another embodiment of the invention.

Reference numerals:

a processor 201;

a memory 202; an operating system 2021; an application 2022;

a network interface 203;

an input device 204;

a hard disk 205;

a display device 206.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

A method for determining a temporary parking spot of a robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The method for determining the temporary parking spot of the robot comprises the following steps of:

building a map, and building a virtual wall on the map;

establishing a plurality of points along the outline of the virtual wall, and converting the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates;

defining a temporary parking range according to the coordinates of the position of the robot;

traversing the plurality of point coordinates, and taking the point coordinates in the temporary parking range as temporary parking points.

That is, the method for determining the temporary parking spot of the robot according to the embodiment of the present invention may mainly include the steps of: firstly, a complete map is established, then a virtual wall is drawn for the robot, then the moving range of the robot is limited according to the outline of the virtual wall, and the maps before and after the virtual wall are drawn as shown in fig. 1 and 2. And determining a parking point through the contour of the virtual wall.

For example, robots have built a complete map and have drawn virtual walls on the map for the robot. In order to ensure that the robot operates in a specific area, after the drawing of the robot is completed, a virtual wall is drawn on a map, and the moving range of the robot is limited.

It should be noted that the virtual wall may be drawn by a user device (mobile phone, tablet) and transmitted to the robot to which it belongs by communication. Because the robot searches for temporary parking points and searches around the robot, the point coordinates contained in the virtual wall are converted into a robot coordinate system, namely a base_link coordinate system, and the virtual wall under the base_link is shown in fig. 3, so that the parking point determination is facilitated.

For another example, if the user wants the robot to stop as far to the right, the user can find a suitable stopping point in a certain range in front of the right of the robot base_link coordinate system, for example, the user can set the range to 0< x <10; -5< y <0, traversing all point coordinate systems, filtering out points that are not within range. In this way, the user can get a point on the virtual wall within a certain range in front of the right of the robot as a range for finding a parking spot, as shown in fig. 5.

That is, the method for determining the temporary parking spot of the robot according to the embodiment of the invention can be applied to the field of outdoor inspection robots, and the method for determining the temporary parking spot of the robot according to the embodiment of the invention can autonomously find a proper temporary parking spot pose in the process that the mobile inspection robot runs on a road. In addition, the method for determining the temporary parking spot of the robot can realize that the parking position is at the edge of the road, and avoid affecting normal traffic of other vehicles.

According to one embodiment of the invention, the virtual wall is composed of a plurality of line segments, and the head end of the former line segment is connected with the tail end of the latter line segment.

In this embodiment, the virtual wall may be composed of segments from segment to segment, all segments may be stored with container vec_wall_lines, each segment may be denoted as L { (x) ₁ ,y ₁ ),(x ₂ ,y ₂ ) Of which (x) ₁ ,y ₁ ) Representing the first endpoint of the line segment. (x) ₂ ,y ₂ ) Representing the second end point of the line segment. Since the virtual wall is drawn on the basis of a map, the coordinate values of the line segment end points received by the robot are based on a map coordinate system, i.e., a map coordinate system.

In addition, since the robot searches for temporary parking points around the robot, the endpoint coordinates contained in the virtual wall are converted into the base link coordinate system, which is the robot coordinate system, so that the parking points (X _stop ,Y _stop ) And (5) determining.

In some embodiments of the invention, a point is determined on a line segment at a predetermined distance. For example, since the virtual wall is represented by a line segment composed of two points, one point is determined every 1 meter on each virtual wall line segment. Thus, a group of point coordinates is obtained from the virtual wall, as shown in fig. 4.

According to one embodiment of the present invention, traversing the plurality of point coordinates, taking the point coordinates located within the temporary parking area as temporary parking points includes:

traversing a plurality of point coordinates, filtering points with shortest distances between the points and other line segments smaller than a preset value, wherein the other line segments are the line segments except the line segment where the points are located.

For example, to ensure that the remaining road width after the robot is stopped can meet other vehicle passes, all points in the traversal range may be filtered out of points that are too close to other line segments (except the line segment where the point is located). In this embodiment, the point-to-line distance is not the point-to-line distance. Where the point-to-line distance refers to the shortest distance from a given point to an infinitely extending line. This distance is the length of the line segment perpendicular to the straight line, typically calculated by perpendicular projection. Whereas the point-to-line distance refers to the distance from a given point to the point on the line segment closest to that point, such as the case where the projected point of point P on line segment AB is on the line segment or the line segment extension shown in fig. 9 and 10.

In some embodiments of the present invention, a method of calculating a shortest distance from a point to a line segment includes the steps of:

acquiring coordinates of two endpoints of a line segment and coordinates of a point;

calculating the length of the line segment;

calculating coordinates of projection points from the points to the line segments;

checking whether the projection point is on the extension line of the line segment;

if the projected point is on the extension line, the point-to-line segment distance is the smaller of the point-to-line segment two end points;

if the projected point is on a line segment, the distance is the point-to-projected point distance.

For example, the method for calculating the shortest distance from point to line segment is:

a) From two end points A (x ₁ ,y ₁ ) And B (x) ₂ ,y ₂ ) And the coordinates of point P (x _P ,y _P ) Is defined by the coordinates of (a). The positions of A, B and P points can be as shown in fig. 9 and 10.

b) The length of line segment AB is calculated using the euclidean distance formula:

c) The coordinates of the projection point C of the point P to the line segment AB are calculated using the following formula:

wherein, (x) _c ，y _c ) The coordinates of the projected point C of the point P on the line segment AB. The position of the C point may be as shown in fig. 9 and 10.

d) Checking whether the projection point C is on the extension of the line segment AB, i.e. one of the following conditions is fulfilled:

(x _c -x _A )·(x _B -x _c )+(y _c -y _A )·(y _B -y _c )<0

(x _c -x _B )·(x _A -x _c )+(y _c -y _B )·(y _A -y _c )<0

if the projected point C is on the extension line, the distance from the point to the line segment is the smaller value of the distances from the point P to the two endpoints of the line segment AB; if the projected point C is on the line segment AB, the distance is the distance from the point P to the projected point C. Therefore, the distance d from the point P to the line segment AB can be calculated, and in order to ensure that the road width is enough for other vehicles to pass after the robot is stopped, if the distance from the virtual wall line segment to the point is smaller than 5 meters, the point is filtered.

In some embodiments of the present invention, establishing a plurality of points along the outline of the virtual wall, converting coordinates of the plurality of points to a robot coordinate system, and obtaining coordinates of the plurality of points includes: and translating the point towards one side of the position of the robot by a preset distance to obtain a point coordinate. For example, since the robot's parking spot cannot be on the virtual wall, here we ensure that the target point is reachable by uniformly translating the points on the line segment to the left by a distance that is specifically determined according to the size of the robot, e.g. the width of the robot is 1 meter, here we set the robot parking spot at a distance of 0.8 meter from the virtual wall, as shown in fig. 6.

According to an embodiment of the present invention, the method for determining a temporary parking spot of a robot further includes the steps of: among all the coordinates of points satisfying the condition that the point is located within the temporary parking range, a point nearest to the robot is selected as the coordinates of the temporary parking point.

That is, in the present embodiment, it is possible to find, as the coordinates (X) of the temporary stop point, the nearest point to the robot by calculating the distance from the point to the origin among the points satisfying all the above-described requirements (X _stop ,Y _stop ) As indicated by the arrow in fig. 7.

According to one embodiment of the invention, if the points meeting the requirements are not available, the robot temporarily continues to travel according to the original planned route until a temporary stopping point meeting the requirements is found.

In some embodiments of the invention, the parking direction of the robot is set to be parallel to the road and to be the forward direction. That is, after determining the coordinates of the parking spot of the robot, it is also necessary to determine the orientation of the robot, where we set the orientation of the parking of the robot to be parallel to the road and to be the forward direction, in order to facilitate the stopping and returning of the robot to the normal running state. In the embodiment, the parking direction of the robot is proper, and the robot can be parked fast and can conveniently continue to run in a similar way to the running direction and the road direction of the robot.

According to one embodiment of the present invention, the parking direction (Yaw _stop ) The determination method may include the steps of:

and calculating the yaw angle yaw of the straight line where the parking spot is located under the base link coordinate system by the virtual wall line segment. The calculation method comprises the following steps: the yaw angle yaw here has a value of the angle of a straight line with the X-axis of the base link coordinate system.

yaw＝atan2(y2-y1,x2-x1)

If it isThen Yaw _stop ＝yaw。

In order to ensure that the parking spot direction is consistent with the driving direction,

if it isThen Yaw _stop ＝yaw-π；

If it isThen Yaw _stop ＝yaw+π。

Where (x 1, y 1), (x 2, y 2) represent the two endpoints of the line segment, respectively. Wherein yaw represents a yaw angle; atan2 (x, y) is a two-parameter arctangent function that calculates the angle from the positive x-axis direction to the point (x, y), usually expressed in radians; (x 1, y 1), (x 2, y 2) respectively represent two end points of the line segment.

So far, we can determine the temporary parking position Pose Pose (X) under the base link coordinate system _stop ，Y _stop ，Yaw _stop ) As shown in fig. 7.

And finally, converting the parking position and the pose under the base link coordinate system into the map coordinate system so as to enable the robot to carry out path planning and travel to the temporary parking position and pose.

It should be noted that, the embodiment can be used for an outdoor inspection robot, solves the technical problem that the outdoor inspection robot may encounter an emergency situation and needs to stop temporarily when the outdoor inspection robot is in a driving process, realizes that the robot automatically searches for a proper temporary parking position and position in real time, and in addition, the required position and position (X _stop ，Y _stop ，Yaw _stop ) Can be specifically referred to as: coordinates (X, Y) in a map (map) coordinate system, and Yaw angle (Yaw).

In summary, the method for determining the temporary parking spot of the robot according to some embodiments of the present invention can add a function of autonomously searching for the temporary parking spot pose for the robot, and the robot can completely autonomously search for the most suitable parking spot pose closest to the robot when encountering an emergency; in the method for determining the temporary parking spot of the robot in still other embodiments, the parking position searched by the robot does not influence the passing of other vehicles; in some embodiments, after the robot has the capability of autonomously searching for temporary side parking, the robot can timely side parking when tasks are executed, emergency situations are met and the rear vehicle passing is influenced, so that the normal passing of other traffic participants is not influenced as much as possible.

The invention also provides a system for determining the temporary parking spot of the robot, which is applied to the method for determining the temporary parking spot of the robot in any embodiment, and comprises the following steps: the system comprises a virtual wall building module, a point coordinate acquisition module, a temporary parking range acquisition module and a temporary parking point acquisition module.

Specifically, the virtual wall building module is used for building a map, building a virtual wall on the map, the point coordinate acquisition module builds a plurality of points along the outline of the virtual wall, converts the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates, the temporary parking range acquisition module defines a temporary parking range according to the coordinates of the position of the robot, and the temporary parking point acquisition module traverses the plurality of point coordinates and takes the point coordinates in the temporary parking range as temporary parking points.

The present invention also provides an electronic device including: a processor 201 and a memory 202, wherein computer program instructions are stored in the memory 202, wherein the computer program instructions, when run by the processor 201, cause the processor 201 to perform the steps of the robot temporary stop determination method in the above-described embodiments.

Further, as shown in fig. 8, the electronic device further includes a network interface 203, an input device 204, a hard disk 205, and a display device 206.

The interfaces and devices described above may be interconnected by a bus architecture. The bus architecture may include any number of interconnected buses and bridges. One or more central processing units 201 (CPUs), in particular represented by processor 201, and various circuits of one or more memories 202, represented by memories 202, are connected together. The bus architecture may also connect various other circuits together, such as peripheral devices, voltage regulators, and power management circuits. It is understood that a bus architecture is used to enable connected communications between these components. The bus architecture includes, in addition to a data bus, a power bus, a control bus, and a status signal bus, all of which are well known in the art and therefore will not be described in detail herein.

The network interface 203 may be connected to a network (e.g., the internet, a local area network, etc.), and may obtain relevant data from the network and store the relevant data in the hard disk 205.

Input device 204 may receive various instructions entered by an operator and send to processor 201 for execution. The input device 204 may include a keyboard or pointing device (e.g., a mouse, a trackball, a touch pad, or a touch screen, among others).

A display device 206 may display results obtained by the execution of instructions by the processor 201.

The memory 202 is used for storing programs and data necessary for the operation of the operating system 2021, and data such as intermediate results in the calculation process of the processor 201.

It will be appreciated that the memory 202 in embodiments of the invention can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM), erasable Programmable Read Only Memory (EPROM), electrically Erasable Programmable Read Only Memory (EEPROM), or flash memory, among others. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 202 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory 202.

In some implementations, the memory 202 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: an operating system 2021 and application programs 2022.

The operating system 2021 contains various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs 2022 include various application programs 2022, such as a Browser (Browser), for implementing various application services. The program implementing the method of the embodiment of the present invention may be contained in the application program 2022.

The above-described processor 201 executes the steps of the robot temporary stop determination method according to the above-described embodiment when calling and executing the application 2022 and data stored in the memory 202, specifically, programs or instructions stored in the application 2022.

The method disclosed in the above embodiment of the present invention may be applied to the processor 201 or implemented by the processor 201. The processor 201 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 201 or by instructions in the form of software. The processor 201 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or the processor 201 may be any conventional processor 201 or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 202, and the processor 201 reads the information in the memory 202 and, in combination with its hardware, performs the steps of the method described above.

It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions of the invention, or a combination thereof.

For a software implementation, the techniques herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions herein. The software codes may be stored in the memory 202 and executed by the processor 201. The memory 202 may be implemented within the processor 201 or external to the processor 201.

Specifically, the processor 201 is further configured to read the computer program and perform the steps of predicting a stake pocket method and outputting answers to questions asked by the user.

The present invention also provides a computer-readable storage medium storing a computer program which, when executed by the processor 201, causes the processor 201 to perform the steps of the robot temporary stop determination method of the above-described embodiment.

In the several embodiments provided in the present invention, it should be understood that the disclosed methods and apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.

The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the transceiving method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (10)

1. The method for determining the temporary parking spot of the robot is characterized by comprising the following steps of:

establishing a map, and constructing a virtual wall on the map;

establishing a plurality of points along the outline of the virtual wall, and converting the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates;

defining a temporary parking range according to the coordinates of the position of the robot;

traversing a plurality of point coordinates, and taking the point coordinates in the temporary parking range as temporary parking points.

2. The method for determining a temporary stop point of a robot according to claim 1, wherein the virtual wall is composed of a plurality of line segments, a leading end of a preceding line segment and a trailing end of a following line segment are connected, and the points are determined at predetermined intervals on the line segments.

3. The method of determining a temporary parking spot for a robot according to claim 1, wherein the step of traversing a plurality of the point coordinates and taking the point coordinates located within the temporary parking area as the temporary parking spot comprises:

and traversing the coordinates of the plurality of points, filtering the points with the shortest distance between the points and other line segments smaller than a preset value, wherein the other line segments are the line segments except the line segment where the points are located.

4. A method for determining a temporary parking spot for a robot according to claim 3, wherein the method for calculating the shortest distance from the spot to the line segment comprises the steps of:

acquiring coordinates of two endpoints of the line segment and coordinates of the point;

calculating the length of the line segment;

calculating coordinates of the point to a projection point of the line segment;

checking whether the projection point is on an extension of the line segment;

if the projected point is on the extension line, the distance of the point to the line segment is the smaller of the distances of the point to the two end points of the line segment;

if the projected point is on the line segment, the distance is the distance from the point to the projected point.

5. The method for determining a temporary stop point for a robot according to claim 1, further comprising the steps of:

and selecting the nearest point from the robot as the coordinate of the temporary parking point from all the point coordinates which are satisfied to be located in the temporary parking range.

6. The method for determining a temporary parking spot of a robot according to claim 1, wherein the step of creating a plurality of points along the contour of the virtual wall, converting coordinates of the plurality of points to a robot coordinate system, and obtaining the coordinates of the plurality of points comprises:

and translating the point towards one side of the position of the robot by a preset distance to obtain the point coordinate.

7. The method for determining a temporary stop point for a robot according to claim 1, further comprising:

the parking direction of the robot is set to be parallel to the road and to be a forward direction.

8. A robot temporary parking spot determination system applied to the robot temporary parking spot determination method according to any one of claims 1 to 7, characterized in that the robot temporary parking spot determination system comprises:

the virtual wall building module is used for building a map and building a virtual wall on the map;

the point coordinate acquisition module is used for establishing a plurality of points along the outline of the virtual wall, and converting the coordinates of the points into a robot coordinate system to obtain a plurality of point coordinates;

the temporary parking range acquisition module is used for defining a temporary parking range according to the coordinates of the position of the robot;

the temporary parking point acquisition module traverses a plurality of point coordinates, and takes the point coordinates in the temporary parking range as temporary parking points.

9. An electronic device, comprising: a processor and a memory in which computer program instructions are stored, wherein the computer program instructions, when executed by the processor, cause the processor to perform the steps of the method of determining a temporary parking spot for a robot as claimed in any one of claims 1-7.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to perform the steps of the method for determining a temporary stop point for a robot according to any one of claims 1-7.