WO2019179467A1 - 对应关系建立方法、装置、介质及电子设备 - Google Patents

对应关系建立方法、装置、介质及电子设备 Download PDF

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Publication number
WO2019179467A1
WO2019179467A1 PCT/CN2019/078899 CN2019078899W WO2019179467A1 WO 2019179467 A1 WO2019179467 A1 WO 2019179467A1 CN 2019078899 W CN2019078899 W CN 2019078899W WO 2019179467 A1 WO2019179467 A1 WO 2019179467A1
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WO
WIPO (PCT)
Prior art keywords
robot
target location
orientation
map
information
Prior art date
Application number
PCT/CN2019/078899
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English (en)
French (fr)
Inventor
张胜美
马健
王雪松
Original Assignee
北京猎户星空科技有限公司
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Publication of WO2019179467A1 publication Critical patent/WO2019179467A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback

Definitions

  • the present application relates to the field of robots, and in particular, to a method, device, medium, and electronic device for establishing a correspondence relationship.
  • the robot in order to realize the functions that the robot has, for example, sweeping the land, transporting the articles, etc., before implementing the function, it is necessary to scan the surrounding environment to establish a map, and realize the functions that it has according to the map.
  • the robot needs to navigate to the set target location, perform specific operations at these target locations, for example, let the robot lead to a certain target location, or let the robot go to a target location to stand by. Therefore, it is necessary to determine the target location on the map established by the scan in advance before navigation.
  • the method for determining the navigation target location information is: after the robot establishes the map by scanning, uploading the map to the computer, the user searches for the target location from the map through the computer, and then manually marks the location of the target location on the map. (and orientation) and fill in the corresponding target location name.
  • the present application discloses a method for establishing a correspondence, the method comprising:
  • the method further includes: acquiring orientation information corresponding to a current orientation of the robot;
  • the target location information corresponds to the coordinate information, and specifically includes:
  • the target location information corresponds to the coordinate information and the orientation information.
  • the method before receiving the positioning voice instruction, the method further includes:
  • the preliminary positioning voice command is used to instruct the control robot to follow the set target movement
  • the control robot moves to the set orientation following the set target
  • Obtain coordinate information corresponding to the current orientation of the robot including:
  • Obtain the orientation information corresponding to the current orientation of the robot including:
  • the receiving the positioning voice instruction specifically includes:
  • the positioning voice command is received within a set time period after the control robot follows the setting target to move to the set orientation.
  • the method further includes:
  • the control robot When receiving the stop scan command, the control robot stops scanning, and saves the map obtained by the robot scan and the target location information corresponding to the target location name on the map determined during the scan.
  • the method before the robot starts scanning the environment to establish a map, the method further includes:
  • the first prompt information is output, and the first prompt information is used to notify the flow of determining the navigation target location information.
  • the method before the robot starts scanning the environment to establish a map, the method further includes:
  • the second prompt information is output, and the second prompt information is used to inform the start of establishing the map.
  • the present application discloses a correspondence establishing apparatus, where the apparatus includes:
  • a receiving module configured to receive a positioning voice instruction in the process of establishing a map in the robot scanning environment, where the positioning voice instruction carries a target location name;
  • an acquiring module configured to acquire, when the receiving module receives the positioning voice instruction, coordinate information corresponding to a current orientation of the robot and the target location name;
  • a determining module configured to establish a correspondence between the target location information on the map and the target location name acquired by the acquiring module, where the target location information corresponds to the coordinate information acquired by the acquiring module.
  • the acquiring module is further configured to acquire orientation information corresponding to a current orientation of the robot;
  • the determining module is specifically configured to establish a correspondence between the target location information on the map and the target location name, where the target location information corresponds to the coordinate information and the orientation information.
  • the receiving module is further configured to receive a preliminary positioning voice command, where the preliminary positioning voice command is used to instruct the control robot to follow a set target motion;
  • the device further includes a control module, configured to: when the receiving module receives the preliminary positioning voice command, control the robot to move to the set orientation following the setting target;
  • the acquiring module is specifically configured to acquire coordinate information corresponding to the set orientation, and acquire orientation information corresponding to the set orientation.
  • the receiving module is configured to receive a positioning voice command within a set duration after the control module controls the robot to follow the setting target to move to the set orientation.
  • the receiving module is further configured to receive a stop scan instruction
  • the control module is further configured to: when the receiving module receives the stop scan instruction, control the robot to stop scanning;
  • the device further includes a saving module, configured to save the map scanned by the robot and the target location information corresponding to the target location name on the map determined during the scanning process when the receiving module receives the stop scanning instruction.
  • the apparatus further includes a first prompting module, configured to output first prompt information, where the first prompt information is used to notify a process of determining navigation target location information.
  • the device further includes a second prompting module, configured to output second prompt information, where the second prompt information is used to notify the start of establishing the map.
  • the present application discloses a non-volatile computer storage medium storing an executable program that is executed by a processor to perform the steps of the above method.
  • the present application discloses an electronic device comprising a memory, a processor and a computer program stored on the memory, the processor implementing the steps of the method when the program is executed.
  • the positioning voice instruction is received in real time, and when the positioning voice instruction is received, the coordinate information corresponding to the current orientation of the robot is acquired in real time.
  • the obtained coordinate information is determined as the target location information corresponding to the target location name on the map according to the target location name carried in the positioning voice instruction. Therefore, in the process of scanning and establishing the map, the navigation target location information is determined in real time, and the navigation target location information on the map can be determined after the map scan is completed, as in the prior art, and the speed and convenience of determining the navigation target location information are improved.
  • the coordinate information can be automatically recorded, without manually marking the target location as in the prior art, and the accuracy of the determined target location information can be further improved.
  • FIG. 1 is a flow chart of steps of a method for establishing a correspondence relationship according to Embodiment 1 of the present application;
  • FIG. 2 is a flow chart of steps of a method for establishing a correspondence relationship according to Embodiment 2 of the present application;
  • FIG. 3 is a schematic structural diagram of a correspondence relationship establishing apparatus according to Embodiment 3 of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device according to Embodiment 5 of the present application.
  • the positioning voice command may be received in real time during the process of establishing a map in the robot scanning environment, and the target location may be set in real time according to the received positioning voice command.
  • the target location is merged, and the user does not need to analyze and find the target location to be marked on the map, which can save more than half of the time compared with the prior art.
  • the robot directly sets the target location in the location, mapping to the person's natural behavior, it also makes the operation simple and intuitive.
  • the robot since the robot is in front of the user and is the position point visually confirmed by the user, there is no problem of large error caused by manual marking from the root, and there is no problem that the wrong position is marked because the user misreads the map.
  • FIG. 1 it is a flow chart of steps of a method for establishing a correspondence relationship provided by Embodiment 1 of the present application, where the method includes the following steps:
  • Step 101 Receive a positioning voice instruction.
  • the positioning voice command may be received in the process of establishing a map in the robot scanning environment, where the positioning voice command carries the target location name.
  • the positioning voice command may be, but is not limited to, “here is the conference number 1 "", where the name of the target location to carry can be understood as "room 1".
  • Step 102 Acquire information.
  • the coordinate information corresponding to the current orientation of the robot and the target location name carried in the positioning voice command may be acquired.
  • the current orientation may be, but is not limited to, an orientation that is understood to correspond to any specified portion of the robot when the positioning speech command is received, the current orientation being understood to include the current location and the current orientation.
  • the coordinate information may be, but is not limited to, coordinate information understood as a coordinate system corresponding to a map established by the robot scan. Of course, the coordinate information may be information that can represent a position in any coordinate system.
  • the orientation information can be further automatically recorded, so that the robot can further clarify the orientation when navigating to the target location during subsequent navigation. Make subsequent navigation more accurate.
  • the orientation information may be, but is not limited to, a direction in which the specified portion of the robot is oriented.
  • the angle with the coordinate axis for example, the direction in which the robot faces and the coordinate axis in the map coordinate system The angle of the.
  • the orientation information can be information that can indicate orientation in any coordinate system.
  • Step 103 Establish a correspondence.
  • the acquired coordinate information may be determined as the target being scanned, and the target corresponding to the target location name may be determined according to the target location name carried in the acquired positioning voice instruction.
  • Location information thereby establishing a correspondence between the target location name and the target location information (ie, coordinate information).
  • step 102 the step of determining, in this step, specifically determining the acquired coordinate information and the orientation information as the target location information corresponding to the target location name on the map. Thereby, a correspondence relationship between the target location name and the target location information (ie, coordinate information and orientation information) is established.
  • the robot may also be guided to the set orientation, that is, the at least one of the coordinate information and the orientation information corresponding to the current orientation of the robot may be changed. Record the coordinate information (and orientation information) of the set orientation.
  • steps 000 to 001 are further included:
  • Step 000 Receive a preliminary positioning voice instruction.
  • a preliminary positioning voice command may be received during the establishment of the map by the robot scanning environment, the preliminary positioning voice command being used to instruct the controlling robot to follow the set target movement.
  • the preliminary positioning voice command may be, but is not limited to, "start setting a target location.”
  • the robot may also be controlled to give a feedback voice, prompting the user to prepare for determining the target location information.
  • the feedback voice can be, but is not limited to, "OK, please say.”
  • Step 001 The control robot moves to the set orientation following the set target.
  • the robot can be controlled to move to the set orientation following the set target upon receiving the preliminary positioning voice command.
  • acquiring coordinate information corresponding to the current orientation of the robot may be understood as acquiring coordinate information corresponding to the set orientation, and acquiring the current orientation of the robot.
  • the orientation information can be understood as obtaining orientation information corresponding to the set orientation.
  • a set duration such as 60 seconds, may be set to wait for receiving the positioning voice command. If the positioning voice command is not received after the set duration, the set target location operation is abandoned. Thereby, the speed of determining the navigation target location information is further improved. Specifically, the positioning voice command may be received within a set duration after the control robot follows the setting target to move to the set orientation.
  • Controlling the robot to follow the set target to move to the set orientation can be accomplished by any following method.
  • the focus following method may be utilized to control the robot to follow the set target rotation, thereby controlling the robot to follow the set target to move to the set orientation.
  • the pan/tilt and the chassis of the robot can be rotated following the set target, and the set target can be set as needed, for example, the person with the largest face in the current field of view of the robot is determined as the set target.
  • the chassis orientation is adjusted to coincide with the head of the gimbal, and the pan and the chassis are stopped from rotating.
  • the chassis is similar to the compass, and can record the 360-degree orientation of a plane, and adjust the orientation of the chassis to be consistent with the orientation of the gimbal. It can be understood that the orientation of the chassis is adjusted to be consistent with the orientation corresponding to the set target. The setting of the orientation is completed following the movement of the set target, so that the robot can also rotate to the specified orientation after navigating to the target position later. For example, after the robot navigates to the conference room, the robot can also be turned to face the user, rather than the back facing the user.
  • step 102 coordinate information corresponding to the location of the chassis center may be acquired, and the coordinate information is used as the setting.
  • the orientation information corresponding to the orientation is obtained, and the orientation information corresponding to the chassis is acquired, and the orientation information is used as orientation information corresponding to the orientation.
  • Steps 000 to 103 may be performed multiple times during the process of scanning the map, that is, multiple navigation target locations may be determined on the map and ended when the map is established.
  • this embodiment may further include steps 104-105:
  • Step 104 Receive a stop scan instruction.
  • the stop scan command may be sent by the user through the client, for example, by clicking the "Completed Map" button on the client.
  • the client can be installed on a terminal, such as a mobile phone or a computer.
  • Step 105 Save the map and the target location information.
  • the control robot may stop the scan, and save the map obtained by the robot scan and the target location information corresponding to the target location name on the map determined during the scanning process, so as to follow The robot can achieve precise navigation based on the map and the target location information on the map.
  • the map scanned by the robot and the determined target location information may be saved in the cloud server.
  • the user may be notified by the prompt information to determine the flow of the navigation target location information.
  • the first prompt information may be output, where the first prompt information is used to notify the process of determining the navigation target location information.
  • the first prompt information may be output to the user through the client, and the first prompt information may be, but is not limited to, a text form.
  • the first prompt information may be, but is not limited to, “in the process of scanning, the location that needs to be set may be directly set. When the location to be set is reached, tell me “start setting the location”, I will reply “good” "Please say”, then the body will follow you. After you stop moving, you tell me “here is XX”, I will record the coordinate information and orientation information of the current position as the XX target location information.”
  • the embodiment may also prompt the user to start to establish a map. Specifically, before the robot starts to scan the environment to establish a map, the second prompt information may be output, where the second prompt information is used to notify the start of establishing the map.
  • the second prompt information may be output to the user through the client, and the second prompt information may be, but is not limited to, a text form. Specifically, the second prompt information may be, but is not limited to, “start to establish a map”.
  • FIG. 2 it is a flowchart of steps in a method for establishing a correspondence relationship provided by Embodiment 2 of the present application, where the method includes the following steps:
  • Step 201 Output first prompt information.
  • the robot controller may output the first prompt information to inform the user of the process of determining the navigation target location information.
  • the execution subject may be any electronic device that can implement the method provided by the embodiment, for example, a robot controller.
  • the execution subject is a robot controller as an example.
  • the robot controller can be integrated in the robot or it can be independent of the robot.
  • the first prompt information is “in the process of scanning, the location that needs to be set can be directly set.
  • the location to be set tell me “start setting the location”
  • I will reply “OK, please say “, then the body will follow you.
  • the orientation information is XX target location information" as an example. That is, in this embodiment, after the robot reaches the location to be set, the robot is guided from the current orientation to the set orientation, thereby establishing the target location information (the coordinate information corresponding to the current position of the robot and the orientation information corresponding to the setting orientation) and the target location name.
  • the correspondence is explained as an example.
  • Step 202 Output second prompt information.
  • the robot controller may output a second prompt message prompting the user to start building the map.
  • Step 203 Scan to establish a map.
  • the robot controller can control the robot to start scanning and establish a map through a related device such as a laser radar.
  • Step 204 Receive a preliminary positioning voice instruction.
  • the robot controller receives a preliminary positioning voice command.
  • Step 205 Output feedback voice.
  • the robot controller can output the feedback voice, such as "OK, please say.”
  • Step 206 Start focus tracking.
  • the robot controller can use the focus following method to control the robot to follow the set target rotation and adjust the chassis orientation to coincide with the head of the gimbal after the set target stops moving, and stop the pan and the chassis from rotating. Realize the control robot to follow the set target to rotate to the set orientation.
  • Step 207 Receive a positioning voice instruction.
  • step 208 is performed.
  • the robot controller still does not receive the positioning voice command if it exceeds 60s, it can return to step 204 to wait for receiving the preliminary positioning voice command.
  • Step 208 Record information.
  • the robot controller records coordinate information and orientation information corresponding to the current orientation (the orientation orientation corresponding to the orientation information at this time), and locates the target location name carried in the voice instruction, thereby determining coordinate information and orientation information corresponding to the target location name. .
  • the robot controller monitors whether to receive the stop scan instruction at any time, stops scanning if receiving the stop scan instruction, and performs step 210; otherwise, loops to perform steps 203-208, That is, before receiving the stop scan command, a plurality of navigation target locations are determined on the map according to the received command.
  • the corresponding relationship establishing method provided by the embodiment of the present application may further include the following steps:
  • Step 209 Receive a stop scan instruction.
  • the robot controller receives a stop scan command.
  • Step 210 Save the map and the target location information.
  • the control robot stops scanning, and saves the map scanned by the robot and the target location information on the map determined during the scanning process.
  • FIG. 3 it is a schematic structural diagram of a corresponding relationship establishing apparatus provided in Embodiment 3 of the present application, where the apparatus includes a receiving module 11, an obtaining module 12, and a determining module 13, wherein:
  • the receiving module 11 is configured to receive a positioning voice command in the process of establishing a map in the robot scanning environment, where the positioning voice command carries a target location name
  • the acquiring module 12 is configured to: when the receiving module receives the positioning voice instruction, And acquiring the coordinate information corresponding to the current orientation of the robot and the target location name;
  • the determining module 13 is configured to establish a correspondence between the target location information on the map and the target location name acquired by the acquiring module, where the target location information is Corresponding to the coordinate information acquired by the acquisition module.
  • the obtaining module 12 is further configured to acquire orientation information corresponding to the current orientation of the robot; the determining module 13 is specifically configured to establish a correspondence between the target location information on the map and the target location name, where the target location information is The coordinate information and the orientation information correspond to each other.
  • the receiving module 11 is further configured to receive a preliminary positioning voice command, where the preliminary positioning voice command is used to instruct the control robot to follow the set target movement;
  • the device further includes a control module 14 configured to control the robot to move to the set orientation following the set target when the receiving module 11 receives the preliminary positioning voice command;
  • the acquiring module 12 is specifically configured to acquire coordinate information corresponding to the set orientation, and acquire orientation information corresponding to the set orientation.
  • the receiving module 11 is specifically configured to receive a positioning voice command within a set duration after the control module 14 controls the robot to follow the setting target to move to the set orientation.
  • the control module 14 is specifically configured to: when the receiving module receives the preliminary positioning voice command, use the focus following method to control the pan/tilt and the chassis to follow the set target rotation, and after the set target stops moving, adjust the chassis orientation to The orientation of the chassis and the chassis are stopped.
  • the acquisition module 12 is specifically configured to acquire coordinate information corresponding to the location of the chassis center, and obtain orientation information corresponding to the chassis.
  • the device further includes a saving module 15 configured to save the map scanned by the robot and the target location corresponding to the target location name on the map determined during the scanning process when the receiving module 11 receives the stop scanning instruction. information.
  • the device further includes a first prompting module 16 for outputting first prompt information, wherein the first prompt information is used to notify a process of determining navigation target location information.
  • the device further includes a second prompting module 17 for outputting second prompt information, the second prompt information being used to inform the start of establishing the map.
  • Embodiment 4 of the present application provides a non-volatile computer storage medium storing an executable program, which is executed by a processor to implement the steps of the methods described in Embodiment 1 and Embodiment 2.
  • Embodiment 5 of the present application provides an electronic device, as shown in FIG. 4, including a memory 21, a processor 22, and a computer program stored on the memory 21.
  • the processor 22 implements the first embodiment and the implementation when the program is executed. The steps of the method described in Example 2.
  • the electronic device provided in Embodiment 5 may be a robot.
  • the robot may include a scanning device, such as a laser radar, for establishing a map for the scanning environment.
  • a scanning device such as a laser radar
  • the control robot moves to the set orientation following the set target, and the robot may further include a focus following device such as a camera or the like to make the robot have a focus follow function. It can include a pan/tilt and a chassis to implement the focus following method.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种对应关系建立方法、装置、介质及电子设备。在机器人扫描环境建立地图的过程中，实时接收定位语音指令，并在接收到定位语音指令时，实时获取机器人当前方位对应的坐标信息，根据定位语音指令中携带的目标地点名称，将获取的坐标信息确定为地图上该目标地点名称对应的目标地点信息，从而在扫描建立地图的过程中，实时确定导航目标地点信息，无需在地图扫描完成之后，才能确定地图上的导航目标地点信息，提高了确定导航目标地点信息的速度和便捷性，同时，可以自动记录坐标信息，无需手动标记目标地点，可以进一步提高确定出的目标地点信息的准确性。

Description

对应关系建立方法、装置、介质及电子设备
本申请要求在2018年03月21日提交中国专利局、申请号为201810235279.X、发明名称为“对应关系建立方法、装置、介质及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人领域，尤其涉及一种对应关系建立方法、装置、介质及电子设备。
背景技术
目前，机器人为了实现自身具有的功能，例如，扫地、运输物品等，在实现功能之前，需要扫描周围环境建立地图，并根据该地图，实现自身具有的功能。有时，机器人在实现自身功能的过程中，需要导航到设定的目标地点，在这些目标地点执行特定的操作，例如，让机器人引领到某个目标地点，或者让机器人去某个目标地点待命，因此需要在导航之前，提前在通过扫描建立的地图上确定出目标地点。
现有技术中，确定导航目标地点信息的方法是，在机器人通过扫描建立地图之后，将该地图上传到电脑，用户通过电脑从地图上寻找到目标地点，然后在地图上手动标记目标地点的位置(和朝向)，并填写对应的目标地点名称。
发明内容
第一方面，本申请公开了一种对应关系建立方法，所述方法包括：
在机器人扫描环境建立地图的过程中，接收定位语音指令，所述定位语音指令中携带目标地点名称；
在接收到所述定位语音指令时，获取机器人当前方位对应的坐标信息和所述目标地点名称；
建立所述地图上的目标地点信息和所述目标地点名称的对应关系，所述目标地点信息与所述坐标信息相对应。
在一种可能的实施方式中，在接收到所述定位语音指令时，所述方法还 包括：获取机器人当前方位对应的朝向信息；
所述目标地点信息与所述坐标信息相对应，具体包括：
所述目标地点信息与所述坐标信息以及所述朝向信息相对应。
在一种可能的实施方式中，接收定位语音指令之前，所述方法还包括：
接收预备定位语音指令，所述预备定位语音指令用于指示控制机器人跟随设定目标移动；
在接收到预备定位语音指令时，控制机器人跟随设定目标移动到设定方位；
获取机器人当前方位对应的坐标信息，具体包括：
获取所述设定方位对应的坐标信息；
获取机器人当前方位对应的朝向信息，具体包括：
获取所述设定方位对应的朝向信息。
在一种可能的实施方式中，接收定位语音指令具体包括：
在控制机器人跟随设定目标移动到设定方位之后的设定时长内，接收定位语音指令。
在一种可能的实施方式中，所述方法还包括：
接收停止扫描指令；
在接收到停止扫描指令时，控制机器人停止扫描，并保存机器人扫描得到的地图和扫描过程中确定出的所述地图上所述目标地点名称对应的目标地点信息。
在一种可能的实施方式中，机器人开始扫描环境建立地图之前，所述方法还包括：
输出第一提示信息，所述第一提示信息用于告知确定导航目标地点信息的流程。
在一种可能的实施方式中，机器人开始扫描环境建立地图之前，所述方法还包括：
输出第二提示信息，所述第二提示信息用于告知开始建立地图。
第二方面，本申请公开了一种对应关系建立装置，所述装置包括：
接收模块，用于在机器人扫描环境建立地图的过程中，接收定位语音指令，所述定位语音指令中携带目标地点名称；
获取模块，用于在所述接收模块接收到所述定位语音指令时，获取机器 人当前方位对应的坐标信息和所述目标地点名称；
确定模块，用于建立所述地图上的目标地点信息和所述获取模块获取的所述目标地点名称的对应关系，所述目标地点信息与所述获取模块获取的所述坐标信息相对应。
在一种可能的实施方式中，所述获取模块，还用于获取机器人当前方位对应的朝向信息；
所述确定模块，具体用于建立所述地图上的目标地点信息和所述目标地点名称的对应关系，所述目标地点信息与所述坐标信息以及所述朝向信息相对应。
在一种可能的实施方式中，所述接收模块，还用于接收预备定位语音指令，所述预备定位语音指令用于指示控制机器人跟随设定目标移动；
所述装置还包括控制模块，用于所述接收模块接收到预备定位语音指令时，控制机器人跟随设定目标移动到设定方位；
所述获取模块，具体用于获取所述设定方位对应的坐标信息，以及获取所述设定方位对应的朝向信息。
在一种可能的实施方式中，所述接收模块，具体用于在所述控制模块控制机器人跟随设定目标移动到设定方位之后的设定时长内，接收定位语音指令。
在一种可能的实施方式中，所述接收模块，还用于接收停止扫描指令；
所述控制模块，还用于在所述接收模块接收到停止扫描指令时，控制机器人停止扫描；
所述装置还包括保存模块，用于在所述接收模块接收到停止扫描指令时，保存机器人扫描得到的地图和扫描过程中确定出的所述地图上所述目标地点名称对应的目标地点信息。
在一种可能的实施方式中，所述装置还包括第一提示模块，用于输出第一提示信息，所述第一提示信息用于告知确定导航目标地点信息的流程。
在一种可能的实施方式中，所述装置还包括第二提示模块，用于输出第二提示信息，所述第二提示信息用于告知开始建立地图。
第三方面，本申请公开了一种非易失性计算机存储介质，所述计算机存储介质存储有可执行程序，该可执行程序被处理器执行实现上述方法的步骤。
第四方面，本申请公开了一种电子设备，包括存储器、处理器及存储在 存储器上的计算机程序，所述处理器执行所述程序时实现上述方法的步骤。
本申请实施例提供的方案中，在机器人扫描环境建立地图的过程中，实时接收定位语音指令，并在接收到定位语音指令时，实时获取机器人当前方位对应的坐标信息。根据定位语音指令中携带的目标地点名称，将获取的坐标信息确定为地图上该目标地点名称对应的目标地点信息。从而在扫描建立地图的过程中，实时确定导航目标地点信息，无需像现有技术那样，在地图扫描完成之后，才能确定地图上的导航目标地点信息，提高确定导航目标地点信息的速度和便捷性。同时，可以自动记录坐标信息，无需像现有技术那样，手动标记目标地点，还可以进一步提高确定出的目标地点信息的准确性。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例一提供的对应关系建立方法的步骤流程图；
图2为本申请实施例二提供的对应关系建立方法的步骤流程图；
图3为本申请实施例三提供的对应关系建立装置的结构示意图；
图4为本申请实施例五提供的电子设备的结构示意图。
具体实施方式
本申请实施例提供的方案中，可以在机器人扫描环境建立地图的过程中，实时接收定位语音指令，根据接收到的定位语音指令实时设置目标地点。
在建立地图的过程中融合设置目标地点，不需要用户再在地图上分析找到需要标记的目标地点，相对于现有技术大致可节省一半以上的时间。由于是机器人直接在所在位置设置目标地点，映射到人的自然行为中，还使得操作简单直观。另外，由于机器人就在用户眼前，是用户直观确认的位置点，所以从根源上就已经不存在手动标记导致的误差大问题，也不存在因为用户看错地图而标记错位置的问题。
下面结合说明书附图对本申请实施例作进一步详细描述。
实施例一
如图1所示，为本申请实施例一提供的对应关系建立方法的步骤流程图，该方法包括以下步骤：
步骤101、接收定位语音指令。
在本实施例中，可以在机器人扫描环境建立地图的过程中，接收定位语音指令，所述定位语音指令中携带目标地点名称，例如，定位语音指令可以但不限于为：“这里是1号会议室”，其中，携带的目标地点名称可以理解为“1号会议室”。
步骤102、获取信息。
在本步骤中，可以在接收到定位语音指令时，获取机器人当前方位对应的坐标信息和所述定位语音指令中携带的所述目标地点名称。
所述当前方位可以但不限于理解为接收到定位语音指令时，机器人任何指定部分对应的方位，所述当前方位可以理解为包括当前位置和当前朝向。所述坐标信息可以但不限于理解为在机器人扫描建立的地图所对应的坐标系中的坐标信息，当然，所述坐标信息可以为任何坐标系中可以表示位置的信息。
除了可以自动记录坐标信息，使得后续导航时，机器人可以导航到该坐标信息对应的位置之外，还可以进一步自动记录朝向信息，使得后续导航时，机器人可以进一步明确导航到目标地点时的朝向，使得后续导航更加精确。
因此，在本步骤中，还可以进一步包括获取机器人当前方位对应的朝向信息。所述朝向信息可以但不限于理解为机器人指定部分朝向的方向，在机器人扫描建立的地图所对应的坐标系中，与坐标轴的夹角，例如，机器人面向的方向与地图坐标系中坐标轴的夹角。当然，所述朝向信息可以为任何坐标系中可以表示朝向的信息。
步骤103、建立对应关系。
如果步骤102中，获取了坐标信息，在本步骤中，可以根据获取的定位语音指令中携带的目标地点名称，将获取的坐标信息确定为正在扫描建立的地图上，该目标地点名称对应的目标地点信息，从而建立目标地点名称与目标地点信息(即坐标信息)的对应关系。
如果步骤102中，还进一步获取了朝向信息，在本步骤中具体包括将获取的坐标信息和朝向信息确定为所述地图上所述目标地点名称对应的目标地点信息。从而建立目标地点名称与目标地点信息(即坐标信息和朝向信息) 的对应关系。
进一步的，除了可以自动记录机器人当前方位对应的坐标信息(和朝向信息)，还可以将机器人引导到设定方位，即可以使得机器人当前方位对应的坐标信息和朝向信息中的至少一项发生变化，记录设定方位的坐标信息(和朝向信息)。
具体实施时，在步骤101之前，还包括步骤000～001：
步骤000、接收预备定位语音指令。
可以在机器人扫描环境建立地图的过程中，接收预备定位语音指令，所述预备定位语音指令用于指示控制机器人跟随设定目标移动。例如，预备定位语音指令可以但不限于为：“开始设置目标地点”。
进一步的，在接收到预备定位语音指令之后，还可以控制机器人给出反馈语音，提示用户已做好确定目标地点信息的准备。例如，反馈语音可以但不限于为：“好的，请说”。
步骤001、控制机器人跟随设定目标移动到设定方位。
在本步骤中，可以在接收到预备定位语音指令时，控制机器人跟随设定目标移动到设定方位。
移动到设定方位后，如果接收到定位语音指令，此时，步骤102中，获取机器人当前方位对应的坐标信息，可以理解为获取所述设定方位对应的坐标信息，获取机器人当前方位对应的朝向信息，可以理解为获取所述设定方位对应的朝向信息。
在一种可能的实施方式中，还可以设置一个设定时长，如60秒，来等待接收定位语音指令，如果超出设定时长仍没有接收到定位语音指令，则放弃本次设置目标地点操作，从而进一步提高确定导航目标地点信息的速度。具体的，可以在控制机器人跟随设定目标移动到设定方位之后的设定时长内，接收定位语音指令。
控制机器人跟随设定目标移动到设定方位可以是通过任何的跟随方法实现的。例如，在一种可能的实施方式中，在本步骤中，可以利用焦点跟随方法，控制机器人跟随设定目标转动，从而控制机器人跟随设定目标移动到设定朝向。具体的，可以使机器人的云台和底盘跟随设定目标转动，所述设定目标可以按需求设定，例如，将机器人当前视野中脸最大的人确定为设定目标。在该设定目标停止运动后，将底盘朝向调整为与云台朝向一致，并使云 台和底盘停止转动。需要说明的是，底盘和指南针类似，可以记录一个平面的360度的朝向，将底盘朝向调整为与云台朝向一致，可以理解为将底盘朝向调整为与设定目标所对应的朝向一致，通过跟随设定目标的移动完成对朝向的设置，使得机器人以后导航到目标位置后还可以转动到指定好的朝向。例如，机器人导航到会议室后，机器人还可以转动到正面面向用户，而不是背面面向用户。
在云台和底盘停止转动后，如果接收到定位语音指令，则在步骤102中，在一种可能的实施方式中，可以获取所述底盘中心所在位置对应的坐标信息，将该坐标信息作为设定方位对应的坐标信息，获取所述底盘对应的朝向信息，将该朝向信息作为设定方位对应的朝向信息。
步骤000～步骤103可以在扫描建立地图的过程中多次执行，即可以在该地图上确定多个导航目标地点，并在地图建立完成时结束。
进一步的，本实施例还可以包括步骤104～105：
步骤104、接收停止扫描指令。
所述停止扫描指令可以是用户通过客户端发送的，例如，可以通过点击客户端上的“已完成建图”按钮来实现。所述客户端可以安装在终端，如手机或电脑上。
步骤105、保存地图和目标地点信息。
在本步骤中，可以在接收到停止扫描指令时，控制机器人停止扫描，并保存机器人扫描得到的地图和扫描过程中确定出的所述地图上所述目标地点名称对应的目标地点信息，使得后续机器人可以根据该地图和该地图上的目标地点信息实现精确导航。
在一种可能的实施方式中，可以将机器人扫描得到的地图和确定出的目标地点信息保存在云端服务器。
在一种可能的实施方式中，为了使得任何一个用户都可以清楚设置导航地点的方法，可以通过提示信息告知用户确定导航目标地点信息的流程。具体的，在机器人开始扫描环境建立地图之前，可以输出第一提示信息，所述第一提示信息用于告知确定导航目标地点信息的流程。
例如，可以通过客户端向用户输出第一提示信息，第一提示信息可以但不限于为文字形式。具体的，第一提示信息可以但不限于为：“在扫描的过程中，遇到需要设置的地点可以直接设置。当到了待设置的地点，告诉我“开 始设置地点”，我会回复“好的，请说”，然后身体会跟着你移动。你停止移动后，此时你告诉我“这里是XX”，我会记录当前方位对应的坐标信息及朝向信息为XX目标地点信息。”
在一种可能的实施方式中，本实施例还可以提示用户开始建立地图。具体的，在机器人开始扫描环境建立地图之前，可以输出第二提示信息，所述第二提示信息用于告知开始建立地图。
例如，可以通过客户端向用户输出第二提示信息，第二提示信息可以但不限于为文字形式。具体的，第二提示信息可以但不限于为：“开始建立地图”。
下面通过一个具体的实例对本申请实施例一的方案进行说明。
实施例二、
如图2所示，为本申请实施例二提供的对应关系建立方法的步骤流程图，该方法包括以下步骤：
步骤201、输出第一提示信息。
在本步骤中，机器人控制器可以输出第一提示信息，告知用户确定导航目标地点信息的流程。在本实施例中，执行主体可以是任何可以实现本实施例提供的方法的电子设备，例如，机器人控制器。本实施例以执行主体为机器人控制器为例进行说明。机器人控制器可以集成在机器人中，也可以独立于机器人存在。
本实施例以第一提示信息为“在扫描的过程中，遇到需要设置的地点可以直接设置。当到了待设置的地点，告诉我“开始设置地点”，我会回复“好的，请说”，然后身体会跟着你移动。你停止移动后，此时你告诉我“这里是XX”，我会记录当前方位对应的坐标信息及朝向信息为XX目标地点信息”为例进行说明。即本实施例以机器人到达需要设置的地点后，将机器人从当前朝向引导到设定朝向，从而建立目标地点信息(机器人当前位置对应的坐标信息和设定朝向对应的朝向信息)与目标地点名称的对应关系为例进行说明。
步骤202、输出第二提示信息。
在本步骤中，机器人控制器可以输出第二提示信息，提示用户开始建立地图。
步骤203、扫描建立地图。
在本步骤中，机器人控制器可以控制机器人通过激光雷达等相关设备，开始扫描建立地图。
步骤204、接收预备定位语音指令。
在本步骤中，机器人控制器接收预备定位语音指令。
步骤205、输出反馈语音。
如果机器人控制器接收到预备定位语音指令，可以控制机器人输出反馈语音，如“好的，请说”。
步骤206、启动焦点跟随。
在本步骤中，机器人控制器可以利用焦点跟随方法，控制机器人跟随设定目标转动并在设定目标停止运动后，将底盘朝向调整为与云台朝向一致，并使云台和底盘停止转动，实现控制机器人跟随设定目标转动到设定朝向。
步骤207、接收定位语音指令。
机器人控制器使云台和底盘停止转动后，如果在设定时长内，如60s内，接收到定位语音指令，则执行步骤208。
如果超过60s，机器人控制器仍没有接收到定位语音指令，则可以返回执行步骤204，重新等待接收预备定位语音指令。
步骤208、记录信息。
机器人控制器记录当前方位对应的坐标信息和朝向信息(此时的朝向信息对应设定朝向)，以及定位语音指令中携带的目标地点名称，从而确定出该目标地点名称对应的坐标信息和朝向信息。
需要说明的是，在扫描建立地图的过程中，机器人控制器随时监测是否接收到停止扫描指令，如果接收到停止扫描指令则停止扫描，并执行步骤210，否则，循环执行步骤203-步骤208，即在接收到停止扫描指令之前，根据接收到的指令在该地图上确定多个导航目标地点。基于此，本申请实施例提供的对应关系建立方法还可以包括以下步骤：
步骤209、接收停止扫描指令。
在本步骤中，机器人控制器接收停止扫描指令。
步骤210、保存地图和目标地点信息。
在机器人扫描过程中，如果机器人控制器接收到停止扫描指令，控制机器人停止扫描，并保存机器人扫描得到的地图和扫描过程中确定出的所述地图上的目标地点信息。
基于同一发明构思，本申请实施例中还提供了一种对应关系建立装置，由于该装置解决问题的原理与本申请实施例一提供的方法相似，因此该装置的实施可以参见方法的实施，重复之处不再赘述。
实施例三
如图3所示，为本申请实施例三提供的对应关系建立装置结构示意图，该装置包括接收模块11、获取模块12和确定模块13，其中：
接收模块11用于在机器人扫描环境建立地图的过程中，接收定位语音指令，所述定位语音指令中携带目标地点名称；获取模块12用于在所述接收模块接收到所述定位语音指令时，获取机器人当前方位对应的坐标信息和所述目标地点名称；确定模块13用于建立所述地图上的目标地点信息和所述获取模块获取的所述目标地点名称的对应关系，所述目标地点信息与所述获取模块获取的所述坐标信息相对应。
所述获取模块12还用于获取机器人当前方位对应的朝向信息；所述确定模块13具体用于建立所述地图上的目标地点信息和所述目标地点名称的对应关系，所述目标地点信息与所述坐标信息以及所述朝向信息相对应。
所述接收模块11还用于接收预备定位语音指令，所述预备定位语音指令用于指示控制机器人跟随设定目标移动；
所述装置还包括控制模块14，用于在所述接收模块11接收到预备定位语音指令时，控制机器人跟随设定目标移动到设定方位；
所述获取模块12具体用于获取所述设定方位对应的坐标信息，以及获取所述设定方位对应的朝向信息。
所述接收模块11具体用于在所述控制模块14控制机器人跟随设定目标移动到设定方位之后的设定时长内，接收定位语音指令。
所述控制模块14具体用于所述接收模块接收到预备定位语音指令时，利用焦点跟随方法，控制云台和底盘跟随设定目标转动，在该设定目标停止运动后，将底盘朝向调整为与云台朝向一致，并控制云台和底盘停止转动；所述获取模块12具体用于获取所述底盘中心所在位置对应的坐标信息，以及获取所述底盘对应的朝向信息。
所述接收模块11还用于接收停止扫描指令；所述控制模块14还用于在所述接收模块11接收到停止扫描指令时，控制机器人停止扫描；
所述装置还包括保存模块15，用于在所述接收模块11接收到停止扫描指 令时，保存机器人扫描得到的地图和扫描过程中确定出的所述地图上所述目标地点名称对应的目标地点信息。
所述装置还包括第一提示模块16，用于输出第一提示信息，所述第一提示信息用于告知确定导航目标地点信息的流程。
所述装置还包括第二提示模块17，用于输出第二提示信息，所述第二提示信息用于告知开始建立地图。
实施例四、
本申请实施例四提供一种非易失性计算机存储介质，所述计算机存储介质存储有可执行程序，该可执行程序被处理器执行实现实施例一和实施例二所述方法的步骤。
实施例五、
本申请实施例五提供一种电子设备，如图4所示，包括存储器21、处理器22及存储在存储器21上的计算机程序，所述处理器22执行所述程序时实现实施例一和实施例二所述方法的步骤。
实施例五提供的电子设备可以为机器人。该机器人可以包括扫描装置，如激光雷达等，用于扫描环境建立地图。当然，如果是利用焦点跟随方法，控制机器人跟随设定目标移动到设定朝向，该机器人还可以进一步包括焦点跟随装置，如摄像头等，使机器人具有焦点跟随功能。并可以包括云台，底盘，来实现焦点跟随方法。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、装置(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功 能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (16)

  1. 一种对应关系建立方法，其特征在于，所述方法包括：
    在机器人扫描环境建立地图的过程中，接收定位语音指令，所述定位语音指令中携带目标地点名称；
    在接收到所述定位语音指令时，获取机器人当前方位对应的坐标信息和所述目标地点名称；
    建立所述地图上的目标地点信息和所述目标地点名称的对应关系，所述目标地点信息与所述坐标信息相对应。
  2. 如权利要求1所述的方法，其特征在于，在接收到所述定位语音指令时，所述方法还包括：获取机器人当前方位对应的朝向信息；
    所述目标地点信息与所述坐标信息相对应，具体包括：
    所述目标地点信息与所述坐标信息以及所述朝向信息相对应。
  3. 如权利要求1或2所述的方法，其特征在于，接收定位语音指令之前，所述方法还包括：
    接收预备定位语音指令，所述预备定位语音指令用于指示控制机器人跟随设定目标移动；
    在接收到预备定位语音指令时，控制机器人跟随设定目标移动到设定方位；
    获取机器人当前方位对应的坐标信息，具体包括：
    获取所述设定方位对应的坐标信息；
    获取机器人当前方位对应的朝向信息，具体包括：
    获取所述设定方位对应的朝向信息。
  4. 如权利要求1～3任一所述的方法，其特征在于，接收定位语音指令具体包括：
    在控制机器人跟随设定目标移动到设定方位之后的设定时长内，接收定位语音指令。
  5. 如权利要求1～4任一所述的方法，其特征在于，所述方法还包括：
    接收停止扫描指令；
    在接收到停止扫描指令时，控制机器人停止扫描，并保存机器人扫描得到的地图和扫描过程中确定出的所述地图上所述目标地点名称对应的目标地点信息。
  6. 如权利要求1～5任一所述的方法，其特征在于，机器人开始扫描环境建立地图之前，所述方法还包括：
    输出第一提示信息，所述第一提示信息用于告知确定导航目标地点信息的流程。
  7. 如权利要求1～6任一所述的方法，其特征在于，机器人开始扫描环境建立地图之前，所述方法还包括：
    输出第二提示信息，所述第二提示信息用于告知开始建立地图。
  8. 一种对应关系建立装置，其特征在于，所述装置包括：
    接收模块，用于在机器人扫描环境建立地图的过程中，接收定位语音指令，所述定位语音指令中携带目标地点名称；
    获取模块，用于在所述接收模块接收到所述定位语音指令时，获取机器人当前方位对应的坐标信息和所述目标地点名称；
    确定模块，用于建立所述地图上的目标地点信息和所述获取模块获取的所述目标地点名称的对应关系，所述目标地点信息与所述获取模块获取的所述坐标信息相对应。
  9. 如权利要求8所述的装置，其特征在于，所述获取模块，还用于获取机器人当前方位对应的朝向信息；
    所述确定模块，具体用于建立所述地图上的目标地点信息和所述目标地点名称的对应关系，所述目标地点信息与所述坐标信息以及所述朝向信息相对应。
  10. 如权利要求8或9所述的装置，其特征在于，所述接收模块，还用于接收预备定位语音指令，所述预备定位语音指令用于指示控制机器人跟随设定目标移动；
    所述装置还包括控制模块，用于所述接收模块接收到预备定位语音指令时，控制机器人跟随设定目标移动到设定方位；
    所述获取模块，具体用于获取所述设定方位对应的坐标信息，以及获取所述设定方位对应的朝向信息。
  11. 如权利要求8～10任一所述的装置，其特征在于，所述接收模块，具体用于在所述控制模块控制机器人跟随设定目标移动到设定方位之后的设定时长内，接收定位语音指令。
  12. 如权利要求8～11任一所述的装置，其特征在于，所述接收模块，还 用于接收停止扫描指令；
    所述控制模块，还用于在所述接收模块接收到停止扫描指令时，控制机器人停止扫描；
    所述装置还包括保存模块，用于在所述接收模块接收到停止扫描指令时，保存机器人扫描得到的地图和扫描过程中确定出的所述地图上所述目标地点名称对应的目标地点信息。
  13. 如权利要求8～12任一所述的装置，其特征在于，所述装置还包括第一提示模块，用于输出第一提示信息，所述第一提示信息用于告知确定导航目标地点信息的流程。
  14. 如权利要求8～13任一所述的装置，其特征在于，所述装置还包括第二提示模块，用于输出第二提示信息，所述第二提示信息用于告知开始建立地图。
  15. 一种非易失性计算机存储介质，其特征在于，所述计算机存储介质存储有可执行程序，该可执行程序被处理器执行实现权利要求1～7任一所述方法的步骤。
  16. 一种电子设备，其特征在于，包括存储器、处理器及存储在存储器上的计算机程序，所述处理器执行所述程序时实现权利要求1～7任一所述方法的步骤。
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