WO2022135372A1

WO2022135372A1 - Map construction method, and robot

Info

Publication number: WO2022135372A1
Application number: PCT/CN2021/139951
Authority: WO
Inventors: 杨勇; 吴泽晓; 杨敬伟
Original assignee: 深圳市杉川机器人有限公司
Priority date: 2020-12-23
Filing date: 2021-12-21
Publication date: 2022-06-30
Also published as: CN112650250A

Abstract

A map construction method, and a robot. The map construction method comprises: at the beginning of a coverage line, determining a coverage beginning mark point according to a first real-time position of a robot, and controlling the movement of the robot according to a preset movement policy (S101); at the end of the coverage line, recording a coverage termination mark point according to a second real-time position of the robot, and determining a first search area according to the coverage termination mark point (S102); if there is a coverage correction mark point, in addition to the coverage termination mark point, in the first search area, correcting the position of the coverage termination mark point according to the position of the coverage correction mark point, so as to obtain a corrected coverage termination mark point (S103); and constructing a coverage line map of the coverage line according to the coverage beginning mark point and the corrected coverage termination mark point (S104).

Description

A map construction method and robot

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application with the application number 202011547372.8 filed on December 23, 2020 and entitled "A Map Construction Method and Robot", the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of robotics, and in particular, to a map construction method and a robot.

Background technique

The existing way of building a map is that the robot builds the coverage line map by obtaining the start and end points of the coverage line. However, during the coverage phase, the robot only fills the grid map around a single coverage line. When the robot runs for a period of time and the position deviates, it will cause the final generated map to be uneven or even wrong.

public content

The present application proposes a map construction method and a robot to solve the problem that when the robot is building a map, when the robot runs for a period of time and the position deviates, the final generated map will be uneven or even wrong.

In a first aspect, the present application proposes a map construction method, which is applied to a robot. The method includes: at the beginning of an overlay line, determining an initial overlay marker point according to a first real-time position of the robot, and moving according to a preset The strategy controls the robot to move; at the end of the coverage line, the end coverage marker is recorded according to the second real-time position of the robot, and the first search area is determined according to the end coverage marker; if the first If there is a correction coverage marker point other than the termination coverage marker point in the search area, then correct the position of the termination coverage marker point according to the position of the correction coverage marker point to obtain the corrected termination coverage marker point; The starting coverage marker point and the corrected end coverage marker point are used to construct a coverage line map of the coverage line.

According to the map construction method of the embodiment of the present application, when the coverage line starts, the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy; The second real-time location records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then the termination is determined according to the position of the correction coverage marker. The position of the coverage marker is corrected, and the corrected termination coverage marker is obtained; the coverage line map of the coverage line is constructed according to the initial coverage marker and the corrected termination coverage marker. In the above scheme, every time a termination coverage marker is obtained, correction must be performed, and a coverage line map is constructed according to the corrected termination coverage marker. In this way, even if the position of the robot deviates or the robot slips, the constructed coverage line map can be kept flush with the coverage line map corresponding to the previous coverage line, which avoids the problem of unevenness in the final constructed map and improves the construction of the map. accuracy.

In a second aspect, the present application proposes a robot, comprising: a first processing unit, configured to determine a start coverage mark point according to a first real-time position of the robot when the coverage line starts, and control it according to a preset movement strategy the robot moves; the second processing unit is used to record the termination coverage mark point according to the second real-time position of the robot when the coverage line ends, and determine the first search area according to the termination coverage mark point; A third processing unit, configured to correct the position of the termination coverage marker according to the position of the rectified coverage marker if there is a rectified coverage marker other than the termination coverage marker in the first search area , to obtain the corrected termination coverage marker point; the fourth processing unit is configured to construct a coverage line map of the coverage line according to the initial coverage marker point and the corrected termination coverage marker point.

According to the robot of the embodiment of the present application, when the coverage line starts, the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy; The real-time location records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then the termination coverage marker is determined according to the position of the correction coverage marker. The position of the point is corrected to obtain the corrected termination coverage marker point; according to the initial coverage marker point and the corrected termination coverage marker point, the coverage line map of the coverage line is constructed. In the above scheme, every time a termination coverage marker is obtained, correction must be performed, and a coverage line map is constructed according to the corrected termination coverage marker. In this way, even if the position of the robot deviates or the robot slips, the constructed coverage line map can be kept flush with the coverage line map corresponding to the previous coverage line, which avoids the problem of unevenness in the final constructed map and improves the construction of the map. accuracy.

In a third aspect, the present application proposes another robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned computer program when the processor executes the computer program Methods.

In a fourth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method is implemented.

According to the computer-readable storage medium of the embodiment of the present application, when the coverage line starts, the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy; when the coverage line ends, according to the The second real-time position of the robot records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then according to the correction coverage marker Correct the position of the termination coverage marker to obtain the corrected termination coverage marker; build the coverage line map of the coverage line according to the initial coverage marker and the corrected termination coverage marker. In the above scheme, every time a termination coverage marker is obtained, correction must be performed, and a coverage line map is constructed according to the corrected termination coverage marker. In this way, even if the position of the robot deviates or the robot slips, the constructed coverage line map can be kept flush with the coverage line map corresponding to the previous coverage line, which avoids the problem of unevenness in the final constructed map and improves the construction of the map. accuracy.

Additional aspects and advantages of the present application will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

1 is a schematic flowchart of a map construction method provided by the first embodiment of the present application;

FIG. 2 is a schematic flowchart of S105 to S107 in a map construction method provided by the first embodiment of the present application;

3 is a schematic diagram of a robot provided by a second embodiment of the present application;

FIG. 4 is a schematic diagram of a robot provided by a third embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details, such as specific system structures and technologies, are provided for a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

As used in the specification of this application and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a map construction method provided by the first embodiment of the present application. The execution subject of a map construction method in this embodiment is a robot. The map construction method shown in Figure 1 may include:

S101: At the beginning of the coverage line, determine an initial coverage mark point according to the first real-time position of the robot, and control the robot to move according to a preset movement strategy.

When the robot is building a map, the robot needs to move according to the preset movement strategy. Generally, when the robot moves, it will adopt the "bow" route. The route the robot travels when it does not move along the edge is the overlay line. When the overlay line ends, The robot can enter the edgewise movement, and after moving along the edge for a certain distance, it enters the next covering line. The robot can construct a coverage line map based on the coverage lines acquired during the movement.

At the beginning of the coverage line, the robot obtains the first real-time position of the robot, marks the first real-time position as the initial coverage mark point, and controls the robot to move according to the preset movement strategy.

S102: When the coverage line ends, record a termination coverage marker point according to the second real-time position of the robot, and determine a first search area according to the termination coverage marker point.

The end condition of the coverage line is set in the robot. When the end condition of the coverage line is satisfied, that is, the end of the coverage line, the second real-time position of the robot is obtained, and the end coverage mark point is recorded according to the second real-time position of the robot.

When the robot collides, it can be determined that the robot has moved to the boundary, and the coverage line can be terminated. Therefore, if it is detected that the robot collides, the second real-time position of the robot is obtained, and the second real-time position is marked as the termination coverage mark point.

The robot determines the end-coverage mark point, and determines the first search area according to the end-coverage mark point. The first search area determination rule can be preset in the robot, and the robot determines the first search area according to the termination coverage mark point and the first search area determination rule. For example, the robot can take the end-coverage mark point as the center and the preset value as the radius to obtain a circular area, and use the circular area as the first search area. The preset value can be set according to the actual situation, for example, the preset value is set to 10cm.

S103: If there is a correction coverage mark point other than the termination coverage mark point in the first search area, correct the position of the correction coverage mark point according to the position of the correction coverage mark point, and obtain a corrected Terminate overwriting points.

After the robot obtains the first search area, the robot obtains the correction coverage mark point in the first search area, and the correction coverage mark point is used to correct the position of the end coverage mark point. Therefore, it can be understood that the correction coverage mark point and the end coverage mark point are Marker points cannot be the same point.

Since the purpose of correction is to make the edges of the two cover lines flush, the correction cover mark point must be determined according to the previous cover line. The correction coverage mark point may be the end point of the previous coverage line in the first search area, and the correction coverage mark point may also be a new point determined by the robot according to the end point of the previous coverage line. In this way, if the position of the robot deviates or the robot slips when it moves, it can also ensure that the edges of the two covering lines are flush.

The robot corrects the position of the end-coverage mark point according to the position of the correction-coverage mark point, and obtains the corrected end-coverage mark point. During the specific correction, the robot can align the position of the termination coverage marker with the position of the correction coverage marker to obtain the corrected termination coverage marker; a calculation rule can also be set in the robot, and the robot can correct the coverage marker according to the position and calculation of the coverage marker. The rule calculates the position of the corrected termination coverage marker, which is not limited here.

If there are candidate coverage markers other than the termination coverage marker in the search area, obtain the first target distance between each candidate coverage marker and the termination coverage marker; determine the candidate coverage marker corresponding to the smallest first target distance Overlay marker points for correction. The first target distance may be the Euclidean distance. The robot obtains the first Euclidean distance between each candidate coverage marker and the termination coverage marker, sorts all the first Euclidean distances, and obtains the candidate coverage marker corresponding to the smallest first Euclidean distance. The point is determined as the correction overlay mark point. Then, the robot corrects the position of the end-coverage mark point according to the position of the correction-coverage mark point, and obtains the corrected end-coverage mark point.

S104: Construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.

Build coverage lines based on the start coverage markers and the corrected end coverage markers, fill all the raster maps on the coverage lines with white, that is, fill them with coverage colors, and build a coverage line map of the coverage lines.

When the robot collides and the marker stops covering the marker point, the edge position of the preset body distance from the robot's current position in the robot's motion direction can be obtained. Taking the edge position as the center, the grid map filled with the preset number is black. , which is filled with the wall color.

When the robot moves along the edge, an edge map can be constructed. In order to avoid the unevenness of the edge map in the final generated map, this embodiment can also include S105-S107, as shown in Figure 2, S105-S107 are as follows:

S105: When the robot moves along the edge, determine the target edge mark point according to the real-time position of the robot and the edge mark point marking rule, and determine the second search area according to the target edge mark point.

The robot detects that it is currently moving along the edge and starts to determine the target edge mark point. Among them, the robot can judge whether the current edge movement is carried out through the sensor.

The robot has pre-stored edge marking rules. When the robot moves along the edge, the robot can determine the current position as the target edge marking point at every preset interval. The robot moves along the edge, and determines the target edge mark point according to the real-time position of the robot and the edge mark point marking rule. Specifically, during the edge-edge process, the robot can obtain the current position every 25cm, and determine the current position as the target edge-edge mark point.

After the robot obtains the target edge point, the second search area is determined according to the target edge mark point. For specific details of determining the second search area according to the target edge marker point, please refer to the relevant description of determining the first search area according to the end coverage marker point in S102, which will not be repeated here.

S106: If there are corrected edgewise marking points other than the target edgewise marking point in the second search area, correct the position of the target edgewise marking point according to the position of the corrected edgewise marking point to obtain the corrected edgewise marking point. The target marks points along the edge.

After the robot obtains the second search area, the robot obtains the correction edge mark point in the second search area, and the correction edge mark point is used to correct the position of the target edge mark point. Therefore, it can be understood that the correction edge mark point and the target edge mark point Marker points cannot be the same point.

Since the purpose of the correction is to make the edge of the edgewise map flush, the corrected edgewise marker point must be determined according to the last target edgewise marker point. The corrected edgewise marking point may be the last target edgewise marking point, and the corrected edgewise marking point may also be a new point determined by the robot according to the last target edgewise marking point. In this way, the position of the robot deviates or the robot slips when it moves, and it can also ensure that the edges of the map along the edge are flush.

The robot corrects the position of the target edge mark point according to the position of the corrected edge mark point, and obtains the corrected target edge mark point. During the specific correction, the robot can align the position of the target edge mark point with the position of the corrected edge mark point to obtain the corrected termination coverage mark point; a calculation rule can also be set in the robot, and the robot can correct the cover mark point according to the position and calculation The rule calculates the position of the corrected termination coverage marker, which is not limited here.

If there are candidate edge marking points other than the target edge marking points in the second search area, obtain the second target distance between each candidate edge marking point and the target edge marking point; determine the candidate edge marking point corresponding to the smallest second target distance In order to correct the edge marking points; wherein, the second target distance can be the Euclidean distance, the robot obtains the second Euclidean distance between each candidate edge marking point and the target edge marking point, sorts all the second Euclidean distances, and obtains the smallest second Euclidean distance The candidate edge marking points corresponding to the distance are determined as the corrected edge marking points. Then, the robot corrects the position of the target edge mark point according to the position of the corrected edge mark point, and obtains the corrected target edge mark point.

S107: Build an edge map according to the corrected target edge marking points.

The robot constructs an edge map based on the corrected target edge markers, and fills the grid map. Specifically, the robot can directly fill the raster map with the position of the corrected target edge marking point as the center 5*5 during the edge-edge process as white, and the left or right 20cm of the position of the corrected target edge-edge marking point is the The raster map with a center fill of 5*5 size is black.

After the robot obtains each coverage line map and each edge map, an initial global map is constructed according to all the coverage line maps and all edge maps. In order to improve the aesthetics of the overall map, an optimization strategy can be preset in the robot to optimize the initial global map. The optimization strategy includes one or more of: wall optimization strategy, outer contour optimization strategy, and obstacle optimization strategy kind. The robot optimizes the initial global map according to the optimization strategy to obtain the target global map. For example, the robot can binarize the initial global map and reduce the size of the wall, or shrink the outer contour of the initial global map to make the overall layout more distinct, or expand the convex part of the outer contour. Straighten processing, or you can fill in obstacles in the map, etc.

In the embodiment of the present application, at the beginning of the coverage line, the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy; when the coverage line ends, according to the second real-time position of the robot Record the termination coverage marker point, and determine the first search area according to the termination coverage marker point; if there is a correction coverage marker point other than the termination coverage marker point in the first search area, then according to the position of the correction coverage marker point, the termination coverage marker point is determined. Correct the position to obtain the corrected end coverage marker; build the coverage map of the coverage line according to the initial coverage marker and the corrected end coverage marker. In the above scheme, every time a termination coverage marker is obtained, correction must be performed, and a coverage line map is constructed according to the corrected termination coverage marker. In this way, even if the position of the robot deviates or the robot slips, the constructed overlay line map can be kept flush with the overlay line map corresponding to the previous overlay line, which avoids the problem of unevenness in the final constructed map and improves the construction of the map. accuracy.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Please refer to FIG. 3 , which is a schematic diagram of a robot provided by a second embodiment of the present application. The included units are used to execute the steps in the embodiments corresponding to FIGS. 1 to 2 . For details, please refer to the relevant descriptions in the embodiments corresponding to FIGS. 1 to 2 . For convenience of explanation, only the parts related to this embodiment are shown. Referring to Figure 3, the robot 3 includes:

a first processing unit 310, configured to determine an initial coverage mark point according to the first real-time position of the robot when the coverage line starts, and control the robot to move according to a preset movement strategy;

The second processing unit 320 is configured to, when the coverage line ends, record a termination coverage marker point according to the second real-time position of the robot, and determine a first search area according to the termination coverage marker point;

The third processing unit 330 is configured to, if there is a correction coverage marker point other than the termination coverage marker point in the first search area, perform a correction on the position of the termination coverage marker point according to the position of the correction coverage marker point Correction, get the corrected termination coverage mark point;

The fourth processing unit 340 is configured to construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.

The second processing unit 320 is specifically used for:

If a collision is detected, a second real-time position of the robot is acquired, and the second real-time position is marked as a termination coverage mark point.

The third processing unit 330 is specifically used for:

If there are candidate coverage markers other than the termination coverage marker in the search area, acquiring the first target distance between each candidate coverage marker and the termination coverage marker;

Determining the candidate coverage marker corresponding to the minimum first target distance as the correction coverage marker;

Correct the position of the terminating coverage marker according to the position of the rectifying coverage marker to obtain a corrected terminating coverage marker.

The robot 3 also includes:

a fifth processing unit, configured to determine a target edge mark point according to the real-time position of the robot and the edge mark point marking rule when the robot moves along the edge, and determine a second search area according to the target edge mark point;

A sixth processing unit, configured to correct the position of the target edgewise marking point according to the position of the corrected edgewise marking point if there is a corrected edgewise marking point other than the target edgewise marking point in the second search area , get the corrected target edge mark points;

The seventh processing unit is configured to construct an edge map according to the corrected target edge marking points.

The sixth processing unit is specifically used for:

If there are candidate edge marking points other than the target edge marking points in the second search area, acquiring a second target distance between each of the candidate edge marking points and the target edge marking point;

Determining the candidate edgewise marking point corresponding to the smallest second target distance as the corrected edgewise marking point;

Correct the position of the target edge mark point according to the position of the corrected edge mark point, so as to obtain the corrected target edge mark point.

The robot 3 also includes:

an eighth processing unit, configured to construct an initial global map according to all the coverage line maps and all the edgewise maps;

A ninth processing unit, configured to optimize the initial global map according to an optimization strategy to obtain a target global map.

The optimization strategy includes: one or more of a wall optimization strategy, an outer contour optimization strategy, and an obstacle optimization strategy.

FIG. 4 is a schematic diagram of a robot provided by a third embodiment of the present application. As shown in Fig. 4, the robot 4 of this embodiment includes a processor 40, a memory 41, and a computer program 42, such as a map construction program, stored in the memory 41 and executable on the processor 40. When the processor 40 executes the computer program 42 , the steps in each of the above-mentioned embodiments of the map construction method are implemented, for example, steps 101 to 104 shown in FIG. 1 . Alternatively, when the processor 40 executes the computer program 42, the functions of the modules/units in the above-mentioned apparatus embodiments, for example, the functions of the modules 310 to 340 shown in FIG. 3 are implemented.

Exemplarily, the computer program 42 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 41 and executed by the processor 40 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the robot 4 . For example, the computer program 42 can be divided into a first processing unit, a second processing unit, a third processing unit, and a fourth processing unit, and the specific functions of each unit are as follows:

a first processing unit, configured to determine an initial coverage mark point according to the first real-time position of the robot when the coverage line starts, and control the robot to move according to a preset movement strategy;

a second processing unit, configured to record a termination coverage marker point according to the second real-time position of the robot when the coverage line ends, and determine a first search area according to the termination coverage marker point;

A third processing unit, configured to correct the position of the termination coverage marker according to the position of the rectified coverage marker if there is a rectified coverage marker other than the termination coverage marker in the first search area , get the corrected termination coverage mark point;

The fourth processing unit is configured to construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.

The robot may include, but is not limited to, a processor 40 and a memory 41 . Those skilled in the art can understand that FIG. 4 is only an example of the robot 4, and does not constitute a limitation to the robot 4. It may include more or less components than the one shown in the figure, or combine some components, or different components, such as The robot may also include input and output devices, network access devices, buses, and the like.

The so-called processor 40 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 41 may be an internal storage unit of the robot 4 , such as a hard disk or a memory of the robot 4 . The memory 41 can also be an external storage device of the robot 4, such as a plug-in hard disk equipped on the robot 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (Flash Card) and so on. The robot 4 may also include both an internal storage unit of the robot 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the robot. The memory 41 can also be used to temporarily store data that has been output or will be output.

It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

An embodiment of the present application also provides a network device, the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor executing The computer program implements the steps in any of the foregoing method embodiments.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, when the computer program product runs on a mobile terminal, the steps in the foregoing method embodiments can be implemented when the mobile terminal executes the computer program product.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the present application realizes all or part of the processes in the methods of the above embodiments, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps of each of the above method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include at least: any entity or device capable of carrying the computer program code to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electrical carrier signals, telecommunication signals, and software distribution media. For example, U disk, mobile hard disk, disk or CD, etc. In some jurisdictions, under legislation and patent practice, computer readable media may not be electrical carrier signals and telecommunications signals.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For the parts that are not described or recorded in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments applied herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims

A map construction method, applied to a robot, comprising:

At the beginning of the coverage line, determining the initial coverage mark point according to the first real-time position of the robot, and controlling the robot to move according to a preset movement strategy;

When the coverage line ends, record the termination coverage marker according to the second real-time position of the robot, and determine a first search area according to the termination coverage marker;

If there is a correction coverage mark point other than the end coverage mark point in the first search area, correct the position of the correction coverage mark point according to the position of the correction coverage mark point to obtain the corrected end coverage mark point mark point;

A coverage line map of the coverage line is constructed according to the start coverage marker point and the corrected end coverage marker point.
The map construction method according to claim 1, wherein, when the coverage line ends, terminating the coverage mark point according to the second real-time position record of the robot, comprising:

If a collision is detected, a second real-time position of the robot is acquired, and the second real-time position is marked as a termination coverage mark point.
The map construction method according to any one of claims 1 to 2, wherein, if there is a correction coverage marker point other than the termination coverage marker point in the search area, according to the position of the correction coverage marker point Correct the position of the termination coverage mark point to obtain the corrected termination coverage mark point, including:

If there are candidate coverage markers other than the termination coverage marker in the search area, acquiring the first target distance between each candidate coverage marker and the termination coverage marker;

Determining the candidate coverage marker corresponding to the minimum first target distance as the correction coverage marker;

Correct the position of the terminating coverage marker according to the position of the rectifying coverage marker to obtain a corrected terminating coverage marker.
The map construction method according to any one of claims 1 to 3, wherein the method further comprises:

When the robot moves along the edge, determine the target edge mark point according to the real-time position of the robot and the edge mark point marking rule, and determine the second search area according to the target edge mark point;

If there is a corrected edge marker point other than the target edge marker point in the second search area, correct the position of the target edge marker point according to the position of the corrected edge marker point to obtain the corrected edge edge marker mark point;

An edge map is constructed according to the corrected target edge marker points.
The map construction method according to claim 4, wherein, if there is a corrected edge marker point other than the target edge marker point in the second search area, then according to the position of the corrected edge marker point Correct the position of the target edge mark point, and obtain the corrected target edge mark point, including:

If there are candidate edge marking points other than the target edge marking points in the second search area, acquiring a second target distance between each of the candidate edge marking points and the target edge marking point;

Determining the candidate edgewise marking point corresponding to the smallest second target distance as the corrected edgewise marking point;

Correct the position of the target edge mark point according to the position of the corrected edge mark point, so as to obtain the corrected target edge mark point.
The method for constructing a map according to any one of claims 4 to 5, wherein after constructing an edgewise map according to the corrected target edgewise marking points, the method further comprises:

constructing an initial global map from all of the coverage line maps and all of the edgewise maps;

The initial global map is optimized according to the optimization strategy to obtain the target global map.
The map construction method according to claim 6, wherein the optimization strategy includes one or more of a wall optimization strategy, an outer contour optimization strategy, and an obstacle optimization strategy.
A robot comprising:

a first processing unit, configured to determine an initial coverage mark point according to the first real-time position of the robot when the coverage line starts, and control the robot to move according to a preset movement strategy;

a second processing unit, configured to record a termination coverage marker point according to the second real-time position of the robot when the coverage line ends, and determine a first search area according to the termination coverage marker point;

a third processing unit, configured to correct the position of the termination coverage marker according to the position of the correction coverage marker if there is a correction coverage marker point other than the termination coverage marker point in the first search area , get the corrected termination coverage mark point;

The fourth processing unit is configured to construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.
A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the computer program as claimed in any one of claims 1 to 7 when the processor executes the computer program method described.
A computer-readable storage medium storing a computer program, the computer program implementing the method according to any one of claims 1 to 7 when executed by a processor.