WO2022068781A1

WO2022068781A1 - Guided mapping method and device, and computer-readable storage medium

Info

Publication number: WO2022068781A1
Application number: PCT/CN2021/121123
Authority: WO
Inventors: 杨志钦; 邝丽艳
Original assignee: 炬星科技（深圳）有限公司
Priority date: 2020-09-29
Filing date: 2021-09-28
Publication date: 2022-04-07
Also published as: CN112146662A; CN112146662B

Abstract

A guided mapping method and device, and a computer-readable storage medium. The method comprises: dividing an area to be mapped into a plurality of circulation subareas, and marking circulation paths of the plurality of circulation subareas by means of ground identifiers (S1); determining, from among the ground identifiers, color identifiers for indicating adjacent circulation subareas, arrow identifiers for determining moving directions in the circulation paths, and circulation closing points for determining the circulation paths (S2); and taking the circulation closing points as a traveling start point and a traveling end point of a mapping robot, and pushing the mapping robot to advance along the arrow identifiers in the circulation paths of the same color identifier until the mapping operation of the circulation subareas is completed (S3). By means of the method, a low-difficulty robot-assisted mapping guide solution is realized, the accuracy and availability of a mapping result are improved, mapping costs are reduced, and the production efficiency is improved.

Description

A guide mapping method, device and computer-readable storage medium

technical field

The present invention relates to the field of robotics, and in particular, to a guided mapping method, device and computer-readable storage medium.

Background technique

In the prior art, autonomous mobile robots generally use SLAM technology (Simultaneous Localization And Mapping, real-time positioning and map construction) for map construction, in a standard SLAM program flow, first, scan the unfamiliar environment once, create a map, then save the created map, and finally, when running later, Open this map to locate. As we all know, the goal of SLAM technology is to establish a globally consistent representation of the environment. By utilizing self-motion measurement and loop closure, the key to this technical solution is "loop closure". If "loop closure" is sacrificed, SLAM becomes mileage At the same time, there will inevitably be accumulated errors.

In the prior art, loop closure is a process in which the machine continuously explores new areas, "resetting" the positioning error by reorienting the known area, allowing the environmental information to intersect with itself, thereby ensuring the accuracy and usability of the map. The limitations of the mapping process mean that the job must be performed by professionals, and the accuracy and usability of the map file can only be determined by running tests and making constant adjustments. It is currently impossible if the work is handed over to the client without professional backgrounds such as algorithm engineering. Therefore, the above problems may bring costs and obstacles to both job deployment and client use.

technical problem

In view of this, the present invention provides a guided mapping method, device and computer-readable storage medium to solve the problem that the accuracy and usability of the mapping results in the prior art are not high, and there are technical limitations in the mapping operation process Affected technical issues.

technical solutions

According to an aspect of the present invention, a method for guiding mapping is provided, comprising:

Dividing the to-be-built area into a plurality of circulation sub-areas, and marking the circulation paths of the plurality of circulation sub-areas by ground markers;

Among the ground signs, determine a color sign used to indicate the adjacent circulation sub-regions, an arrow sign used to determine the moving direction in the circulation path, and a circulation closing point in the circulation path;

Taking the loop closing point as the driving start point and the driving end point of the mapping robot, push the mapping robot to travel along the arrow mark in the loop path marked by the same color until the completion of the loop sub-area. Mapping work.

The present invention also provides a boot mapping device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, when the computer program is executed by the processor Implement a guided mapping method.

The present invention also provides a computer-readable storage medium, where a guided mapping program is stored thereon, and when the guided mapping program is executed by a processor, the steps of the above-mentioned guided mapping method are implemented.

beneficial effect

In the method, device, and computer-readable storage medium for guided mapping according to the embodiments of the present invention, the area to be mapped is divided into a plurality of circulation sub-areas, and the circulation paths of the plurality of circulation sub-areas are marked by ground markers; then, in Among the ground signs, a color sign used to indicate the adjacent circulation sub-regions, an arrow sign used to determine the moving direction in the circulation path, and a loop closing point in the circulation path are determined; The cycle closing point is used as the driving start point and the driving end point of the mapping robot, and the mapping robot is pushed along the arrow mark in the loop path marked by the same color until the construction of the loop sub-area is completed. Figure work. A low-difficulty robot-assisted mapping guidance scheme is realized, which improves the accuracy and usability of mapping results, reduces mapping costs, weakens the impact of technical limitations during mapping operations, and improves production efficiency.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

1 is a flowchart of a first embodiment of a method for guiding mapping of the present invention;

2 is a flowchart of a second embodiment of the method for guiding mapping of the present invention;

3 is a flowchart of a third embodiment of the method for guiding mapping of the present invention;

4 is a flowchart of a fourth embodiment of a method for guiding mapping of the present invention;

5 is a flowchart of a fifth embodiment of the method for guiding mapping of the present invention;

6 is a schematic diagram of a first ground mark of the method for guiding mapping of the present invention;

7 is a schematic diagram of a second ground marker of the method for guiding mapping of the present invention;

8 is a schematic diagram of a third ground marker of the method for guiding mapping of the present invention;

FIG. 9 is a schematic diagram of a fourth ground marker of the method for guiding mapping according to the present invention.

Embodiments of the present invention

It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In the following description, suffixes such as 'module', 'component' or 'unit' used to represent elements are used only to facilitate the description of the present invention and have no specific meaning per se. Thus, "module", "component" or "unit" may be used interchangeably.

Example 1

FIG. 3 is a flow chart of the first embodiment of the method for guiding mapping according to the present invention. A guided mapping method, the method comprising:

S1, the area to be built is divided into a plurality of circulation sub-areas, and the circulation paths of the plurality of described circulation sub-areas are marked by ground markers;

S2. In the ground signs, determine a color sign used to indicate the adjacent circulation sub-regions, an arrow sign used to determine the moving direction in the circulation path, and a loop closing point in the circulation path;

S3. Use the loop closing point as the driving start point and the driving end point of the mapping robot, and push the mapping robot to travel along the arrow mark in the loop path marked by the same color until the loop subsection is completed. Area mapping work.

First of all, it should be noted that in this embodiment, considering the prior art, the technical requirements of the operator based on cycle closing are relatively high, and the work cannot be handed over to the customer or personnel with no professional background such as algorithm engineering for independent construction. Map operation may bring costs and obstacles to work deployment and customer use. Therefore, this embodiment proposes a set of external and auxiliary guidance signs for the current high requirements of map construction. At the same time, combined with The system visual reminder in the process of mapping software helps operators without any technical background to complete the mapping work, thereby ensuring the pass rate of map file output.

Specifically, in this embodiment, first, the area to be mapped is divided into a plurality of circulation sub-areas, and the circulation paths of the plurality of circulation sub-areas are marked by ground markers. On the one hand, in this implementation step, considering that the customer sites where AMR (Autonomous Mobile Robots, autonomous mobile robots) machines are deployed are diverse, the final mapping scheme may have certain rules but cannot guarantee the final can be unified into one rule. Therefore, the mapping guidance system designed in this embodiment needs to take into account the adaptability and scalability of different occasions, as well as the implementation cost of deployment, including the rules of deployment and the relationship with the site. , Implementation methods of personnel of different cultural levels. On the other hand, in this implementation step, considering that the "loop closure" in the mapping process is a relatively abstract concept for the above operators, the deployers and users do not need to care about the mapping principle, but are more concerned about is the mapping result. Therefore, in this embodiment, first, the area to be mapped is divided into a plurality of circulation sub-areas, so as to assist the operator to complete the division of the site range, and then, the circulation paths of the plurality of circulation sub-areas are marked by ground marks , so that the above two prerequisite problems to be solved are solved through the division and identification of the site range. Optionally, in this embodiment, taking into account the role of the proposed ground sign as a guide sign, the core is to convey to the operator intuitive information on how to execute and how to use it through external explicit information, Therefore, in this embodiment, the design of the above-mentioned ground signs will be carried out by using indicative signs including colors and directions.

Specifically, in this embodiment, during the operation of marking the circulation paths of a plurality of the circulation sub-areas with ground marks, it includes determining a color mark for indicating the adjacent circulation sub-areas, which is used for determining the circulation sub-areas. The arrow mark of the moving direction in the loop path is used to determine the loop closing point in the loop path. Optionally, referring to the schematic diagram of the first ground sign of the method for guiding mapping of the present invention shown in FIG. 6 , in this figure, the direction to be moved in the circular path is indicated to the operator by the arrow, and the color block where the arrow is located. The cycle sub-area used to determine the current cycle path, that is, in the cycle path of the same cycle sub-region, the same color block is used as the color identification, so that the operator can accurately push the robot to build a map. Distinguish the current circulation path and the adjacent circulation path; optionally, refer to the second ground marking schematic diagram of the method for guiding the mapping of the present invention shown in FIG. The operator indicates the loop closing point in the loop path, so that the operator can accurately start from a loop closing point in the process of pushing the robot to build a map, and return to the same loop when the current loop path is completed. Close the point to complete a completed cyclic subregion mapping operation.

Specifically, in this embodiment, the cycle closing point is used as the driving starting point and the driving end point of the mapping robot, and the mapping robot is pushed to travel along the arrow mark in the loop path marked by the same color , until the mapping work of the loop sub-region is completed. In this embodiment, according to the principle of intimacy, the same color mark indicates the same cluster relationship. Therefore, when dividing the site range, the deployer only needs to ensure that the mapping range of each loop sub-region is a color attribute , the adjacent loop sub-regions can be distinguished. For example, the deployer uses the ground markings of the same color to paste along the boundary of the circulation sub-area, so that the operator can push the robot to perform mobile mapping operations according to the ground markings of the same color.

In this embodiment, the area to be mapped is divided into a plurality of circulation sub-areas, and the circulation paths of the plurality of circulation sub-areas are marked by ground marks; The color identification of the sub-area is used to determine the arrow identification of the moving direction in the cycle path, and is used to determine the cycle closing point in the cycle path; finally, the cycle closing point is used as the driving starting point and the driving end point of the mapping robot , and push the mapping robot to travel along the arrow mark in the circulation path marked by the same color until the mapping operation of the circulation sub-area is completed. A low-difficulty robot-assisted mapping guidance scheme is realized, which improves the accuracy and usability of mapping results, reduces mapping costs, weakens the impact of technical limitations during mapping operations, and improves production efficiency.

Embodiment 2

4 is a flowchart of the second embodiment of the method for guiding map construction according to the present invention. Based on the above embodiment, the area to be built is divided into a plurality of loop sub-regions, and the loops of the plurality of loop sub-regions are marked by ground marks path, including:

S11. Determine a path restriction range of the to-be-mapped area, and divide the to-be-mapped area into a plurality of the cycle sub-areas according to the path restriction range;

S12 , in the process of driving the mapping robot, by identifying the ground signs one by one, the mapping operation of the circular path is completed one by one.

In this embodiment, first, a path restriction range of the area to be mapped is determined, and the area to be mapped is divided into a plurality of the cycle sub-areas according to the path restriction range. Among them, the deployer determines the path limit range of the area to be mapped according to the current mapping requirements of the area, and then sets multiple ground markers along the edge of the range within the scope, and determines a loop sub-area through the multiple ground markers. It can be understood that, in this embodiment, in the first deployment stage of the deployer, the area to be mapped is imported by means of virtual deployment, and then each cycle sub-area is determined in a virtual way, and the second area of the deployer is In each deployment stage, a loop sub-area is visually marked by setting multiple ground markers on the ground.

In this embodiment, after the division of multiple loop sub-regions is completed, during the process of pushing the mapping robot to travel, the mapping operation of the loop path is completed one by one by identifying the ground signs one by one. It can be understood that, after the deployer with professional mapping ability completes the above steps, the operator who does not need to have professional mapping ability pushes the mapping robot to move step by step according to the ground signs, and in the process of identifying the ground signs one by one. , and complete the mapping operation of the circular path.

Optionally, in this embodiment, there are two ways of deploying the ground signs. One is to perform range division by simulating the above-mentioned areas through a computer, so as to obtain virtual results of multiple loop sub-areas, and then, according to the virtual results, actual The second is to estimate the actual space of the above-mentioned areas. According to the estimated results and the basic standards for the division of robot mapping, the actual space is directly mapped to the ground, so as to construct this actual space through the ground maps of different colors. The various loop sub-regions of the embodiment.

In this embodiment, the path restriction range of the area to be mapped is determined, and the area to be mapped is divided into a plurality of the cyclic sub-areas according to the restriction range of the path; In the process, by identifying the ground signs one by one, the mapping operation of the circular path is completed one by one. For the subsequent realization of a low-difficulty robot-assisted mapping guidance scheme, it provides the basis for the definition of loop sub-regions and loop paths, improves the accuracy and availability of mapping results, reduces the cost of mapping, and weakens the process of mapping operations. The impact of technical limitations has improved production efficiency.

Embodiment 3

Fig. 5 is a flowchart of a third embodiment of the method for guiding mapping according to the present invention. Based on the above embodiment, in the ground signs, a color sign for indicating the adjacent circulation sub-region is determined, which is used to determine the The arrow mark of the moving direction in the circulation path is used to determine the loop closing point in the circulation path, including:

S21, in any two adjacent said circulation sub-regions, determine the ground signs marked with different colors;

S22. In any one of the circulation paths, determine a plurality of the arrow marks from the driving start point to the driving end point;

S23. In any one of the loop paths, determine a loop closing point for triggering the mapping operation.

In this embodiment, at least three types of ground signs are determined. First, in any two adjacent circulation sub-regions, ground signs with different colors are determined; second, in any of the circulation paths , determining a plurality of the arrow marks from the driving start point to the driving end point; thirdly, in any of the circular paths, determining a loop closing point for triggering the mapping operation.

Specifically, referring to the schematic diagram of the second ground mark of the method for guiding mapping of the present invention shown in FIG. 7 , the ground mark is different from the ground mark shown in FIG. 6 , and the arrow of the ground mark is replaced by concentric circles. The concentric circles mark the cycle closing points in a cycle path. Similarly, as in Figure 6, the same color is used to distinguish the paths of the same cycle sub-region. In Figure 7, the same color is also used to distinguish the cycle close points of the same cycle sub-region;

Specifically, referring to the schematic diagram of the third ground marking of the method for guiding mapping of the present invention shown in FIG. 8 , which is different from the marking of the circular path proposed in the above-mentioned FIG. 6 and FIG. 7 , in FIG. The ground mark is used to guide the operator to use this place as the starting point of the setting in the process of pushing the robot, so as to start the mapping operation of each cycle sub-area in the next stage.

Specifically, referring to the schematic diagram of the fourth ground marking of the method for guiding mapping of the present invention shown in FIG. 9 , which is different from the marking of the setting area proposed in the above-mentioned FIG. 8 , in FIG. In this way, the operator can be guided as a location guide when the current position is uncertain, so as to facilitate the determination of the next cycle sub-area to be constructed, or to determine the current position of the operator, thereby reducing the difficulty and difficulty of the operator's operation. memory difficulty.

The beneficial effect of this embodiment is that in any two adjacent circulation sub-regions, ground signs marked with different colors are determined; then, in any of the circulation paths, from the driving starting point to the driving The end point is determined by a plurality of the arrow marks; finally, in any of the loop paths, a loop closing point for triggering the mapping operation is determined. It provides a design basis for various types of ground markings for the subsequent realization of a low-difficulty robot-assisted mapping guidance scheme, improves the accuracy and usability of mapping results, reduces mapping costs, and weakens the technology in the process of mapping operations. Limitation influence, improve production efficiency.

Embodiment 4

6 is a flowchart of the fourth embodiment of the method for guiding mapping according to the present invention. Based on the above-mentioned embodiment, the cycle closing point is used as the driving starting point and the driving end point of the mapping robot. In the circular path, the mapping robot is pushed to travel along the arrow mark until the mapping operation of the circular sub-area is completed, including:

S31, in the process of pushing the mapping robot to perform the mapping operation, display the current mapping information in real time through the display screen of the mapping robot;

S32. Generate guidance information in combination with the mapping information, and modulate or verify the travel route of the mapping robot based on the guidance information.

In this embodiment, first, during the process of pushing the mapping robot to perform the mapping operation, the current mapping information is displayed in real time through the display screen of the mapping robot, wherein one or more of the robot's The display screen is used to display the current construction information, assist or guide the operator to interact with the robot through various types of construction information, so as to provide the operator with corresponding operation prompts, respectively, through a display screen or one of a display screen. The display area displays the interactive information with the operator, and displays the current operating status information of the robot through another display screen or another display area of one display screen, so that it is more convenient for the operator to intuitively obtain the travel information related to pushing the robot; then, Generating guidance information in combination with the mapping information, modulating or verifying the travel route of the mapping robot through the guidance information, specifically, the guidance image on the display screen is more intuitive and concise than the ground signs, thereby facilitating operation The operator can intuitively obtain the current and future travel routes, so that it is convenient for the operator to continue to execute the current cycle path, switch the cycle path, pause mapping, continue mapping, and stop mapping.

Optionally, in this embodiment, after the robot recognizes the current ground mark, the guidance information corresponding to the ground mark is displayed, thereby generating guidance information in time to guide the operator to perform future operations;

Optionally, in this embodiment, after the robot recognizes the current ground mark, the guidance information corresponding to the ground mark is displayed, and at the same time, the guidance information provided to the operator is further strengthened through the sound and light reminder signal;

Optionally, in this embodiment, as described in the above example, since each ground mark has a two-dimensional code, and the ID number of the two-dimensional code contains attribute information such as the color and type of the landmark, therefore, in the subsequent During the mapping process, when the robot recognizes a two-dimensional code information, it reads the content contained in the two-dimensional code information, and displays the result feedback on the interface of the robot's display screen, and then informs the operation through the content of the interface. Therefore, under the guidance of the dual information of the physical identification in the real world and the robot system interface, the operator is guided to complete the mapping operation of each cycle closed.

In the embodiment, during the process of pushing the mapping robot to perform the mapping operation, the current mapping information is displayed in real time through the display screen of the mapping robot; then, guidance information is generated in combination with the mapping information, and The guidance information modulates or verifies the travel route of the mapping robot. It provides a basis for determining the guidance information for the subsequent realization of a low-difficulty robot-assisted mapping guidance scheme, improves the accuracy and usability of the mapping results, reduces the cost of mapping, and weakens the technical limitations in the process of mapping operations. impact and improve production efficiency.

Embodiment 5

7 is a flowchart of a fifth embodiment of the method for guiding mapping according to the present invention. Based on the above embodiment, the cycle closing point is used as the driving start point and the driving end point of the mapping robot. Pushing the mapping robot to travel along the arrow marks in the circular path until the mapping operation of the circular sub-area is completed, further comprising:

S33, when the mapping operation in one of the loop sub-areas is completed, update the guidance information according to the completion status of the mapping operation in the area to be constructed;

S34. Push the mapping robot to travel to another loop closing point in the loop sub-region according to the updated guidance information, and start to execute a new mapping operation.

In this embodiment, first, after the mapping operation in one of the loop sub-areas is completed, the guidance information is updated according to the completion status of the mapping operation in the to-be-mapping area, wherein the robot uploads the information to the server. and update the guidance information and/or mapping data of the server; then, according to the updated guidance information, push the mapping robot to move to another loop closing point in the loop sub-region, and start to execute a new mapping operation, in which the server analyzes the above-mentioned guidance information and/or mapping data, so as to determine the next cycle sub-region to be mapped, and then guides the operator to push the robot to the target cycle sub-region through the robot's display screen to continue to execute the new cycle sub-region. construction work.

Optionally, in this embodiment, by adding light signs to each ground sign, after the operator pushes the robot to complete the mapping operation of a cycle sub-area, the robot sends a light switch instruction to the light control of the cycle sub-area. , so that the operator can more intuitively determine the implemented area, the non-implemented area, the adjacent circulation sub-areas, etc.;

Optionally, in this embodiment, by adding light signs to each ground sign, it is avoided that the operator cannot accurately identify the color blocks in the ground sign when the light is weak, thereby enhancing the adaptability of the guide design. sex;

Optionally, in this embodiment, the above-mentioned ground signs are made of electronic materials, for example, the electronic materials may be pressure-sensitive materials. The pressure exerted by the ground sign in the circulation sub-area changes the display color or light color of the ground sign, so that the operator can more intuitively determine the implemented area, the non-implemented area, and the adjacent circulation sub-areas.

This embodiment updates the guide information according to the completion status of the mapping operation in the to-be-built area after recognizing that the mapping operation in one of the loop sub-areas is completed; then, according to the updated guide The information pushes the mapping robot to travel to another loop closing point in the loop sub-region, and starts executing a new mapping job. A low-difficulty robot-assisted mapping guidance scheme is realized, which improves the accuracy and usability of mapping results, reduces mapping costs, weakens the impact of technical limitations during mapping operations, and improves production efficiency.

Embodiment 6

Based on the first embodiment to the fifth embodiment, the present invention further provides a boot mapping device, the device includes a memory, a processor, and a computer program stored in the memory and running on the processor, the When the computer program is executed by the processor, any one of the above-mentioned embodiments 1 to 5 can be implemented.

It should be noted that the guidance mapping device in this embodiment and the method embodiments in Embodiments 1 to 5 belong to the same concept, and the specific implementation process is detailed in the corresponding method embodiments, and the technical features in the method embodiments are described in this embodiment. Both are applicable and will not be repeated here.

Embodiment 7

Based on the above-mentioned first to fifth embodiments, the present invention further provides a computer-readable storage medium, where a guide mapping program is stored on the computer-readable storage medium, and when the guide mapping program is executed by the processor, the above-mentioned embodiments are implemented The steps of the guided mapping method described in any one of the first to fifth embodiments.

It should be noted that the guide mapping program on the computer-readable storage medium of this embodiment belongs to the same concept as the method embodiments of Embodiments 1 to 5. For the specific implementation process, please refer to the corresponding method embodiments, and in the method embodiments The technical features of the above are correspondingly applicable in this embodiment, and will not be repeated here.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solutions of the present invention essentially or the parts that contribute to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present invention.

The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative rather than restrictive. Under the inspiration of the present invention, without departing from the scope of protection of the present invention and the claims, many forms can be made, which all belong to the protection of the present invention.

Industrial Applicability

In the method, device, and computer-readable storage medium for guided mapping according to the embodiments of the present invention, the area to be mapped is divided into a plurality of circulation sub-areas, and the circulation paths of the plurality of circulation sub-areas are marked by ground markers; then, in Among the ground signs, a color sign used to indicate the adjacent circulation sub-regions, an arrow sign used to determine the moving direction in the circulation path, and a loop closing point in the circulation path are determined; The cycle closing point is used as the driving starting point and the driving end point of the mapping robot, and the mapping robot is pushed along the arrow mark in the loop path marked by the same color until the construction of the loop sub-area is completed. Figure work. Therefore, a low-difficulty robot-assisted mapping guidance scheme is realized, the accuracy and usability of the mapping results are improved, the mapping cost is reduced, the influence of technical limitations in the mapping operation process is weakened, and the production efficiency is improved. Therefore, it has industrial applicability.

Claims

A guided mapping method, comprising:

Dividing the area to be built into a plurality of circulation sub-areas, and marking the circulation paths of the plurality of circulation sub-areas by ground marks;

Among the ground signs, determine a color sign used to indicate the adjacent circulation sub-regions, an arrow sign used to determine the moving direction in the circulation path, and a circulation closing point in the circulation path;

Taking the loop closing point as the driving start point and the driving end point of the mapping robot, push the mapping robot to travel along the arrow mark in the loop path marked by the same color until the completion of the loop sub-area. Mapping work.
The guided mapping method according to claim 1, wherein the dividing the area to be built into a plurality of circulation sub-areas, and marking the circulation paths of the plurality of circulation sub-areas by ground marks, comprising:

determining a path restriction range of the to-be-mapped area, and dividing the to-be-mapped area into a plurality of the cycle sub-areas according to the path restriction range;

In the process of pushing the mapping robot to travel, the mapping operation of the circular path is completed one by one by identifying the ground signs one by one.
The guided mapping method according to claim 2, wherein, in the ground markings, a color marking for indicating the adjacent circulation sub-regions is determined, and an arrow marking for determining the moving direction in the circulation path is determined. , used to determine the loop closing point in the loop path, including:

In any two adjacent said circulation sub-regions, determine the ground signs marked with different colors;

In any one of the circulation paths, a plurality of the arrow marks are determined from the travel start point to the travel end point;

In any of the loop paths, a loop closure point for triggering the mapping job is determined.
The guided mapping method according to claim 3, wherein the mapping robot is driven by using the loop closing point as the driving start point and the driving end point of the mapping robot in the circular path marked by the same color. The robot travels along the arrow mark until the mapping operation of the cycle sub-area is completed, including:

During the process of pushing the mapping robot to perform the mapping operation, the current mapping information is displayed in real time through the display screen of the mapping robot;

Guidance information is generated in combination with the mapping information, and the travel route of the mapping robot is modulated or verified by the guidance information.
The guided mapping method according to claim 4, wherein the mapping robot is driven by using the loop closing point as the driving start point and the driving end point of the mapping robot in the circular path marked by the same color. The robot travels along the arrow mark until the mapping operation of the cycle sub-area is completed, and further includes:

When the mapping operation in one of the loop sub-areas is completed, the guidance information is updated according to the completion status of the mapping operation in the to-be-mapping area;

According to the updated guidance information, the mapping robot is pushed to travel to another loop closing point in the loop sub-region, and starts to execute a new mapping operation.
According to the guided mapping method according to any one of claims 1-5, the ground signs include light signs.
According to the guided mapping method according to any one of claims 1-5, the ground signs are made of electronic materials.
According to the guided mapping method according to any one of claims 1 to 5, the ground mark is provided with a two-dimensional code, and the two-dimensional code includes color and type information of the landmark.
A boot mapping device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, the computer program being executed by the processor to implement the above claims 1-8 The guided mapping method of any one.
A computer-readable storage medium on which a guide mapping program is stored, and when the guide mapping program is executed by a processor, the guide construction program according to any one of claims 1 to 8 is implemented. Diagram method steps.