CN113762140A

CN113762140A - Robot-based mapping method, electronic device and storage medium

Info

Publication number: CN113762140A
Application number: CN202111030847.0A
Authority: CN
Inventors: 张飞; 吴俊镐; 唐旋来; 李通
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2021-12-07
Anticipated expiration: 2041-09-03
Also published as: CN113762140B

Abstract

The embodiment of the invention discloses a robot-based drawing establishing method, electronic equipment and a storage medium. Wherein, the method comprises the following steps: identifying a label to be added preset in an actual operation place of the robot through image acquisition equipment arranged on a target robot body; judging whether the label to be added exists in the target map, if so, determining the driving path range of the target robot according to the label coordinate in the target map; acquiring a current position point of a target robot, judging whether the current position point of the target robot is in a path range, and if so, determining whether the current position point of the target robot meets a preset path point establishment condition; if so, determining the current position point as the current path point of the traveling path of the target robot, and establishing a connecting line between the current path point and the previous path point as the traveling path of the target robot; and responding to the map synchronization instruction, determining the network address of the synchronous robot, and sending the target map to the synchronous robot.

Description

Robot-based mapping method, electronic device and storage medium

Technical Field

The embodiment of the invention relates to a robot mapping technology, in particular to a robot-based mapping method, electronic equipment and a storage medium.

Background

In order to safely travel within a predetermined area, it is necessary to create a map for the robot and automatically travel the robot based on the created map before the robot is actually used.

In the prior art, a worker uses a World Wide WEB (WEB) to create a map, and a robot end and a computer end for creating the map need to be considered. The robot cannot be pushed to walk, and meanwhile, the robot can be used for building a picture. When a plurality of robots exist, each robot needs to be mapped, manpower and time for mapping are wasted, and mapping efficiency and accuracy are affected.

Disclosure of Invention

The embodiment of the invention provides a robot-based mapping method, electronic equipment and a storage medium, so as to improve the mapping efficiency of a robot.

In a first aspect, an embodiment of the present invention provides a robot-based mapping method, where the method includes:

identifying a label to be added preset in an actual operation place of the robot through image acquisition equipment arranged on a target robot body;

judging whether the label to be added exists in a target map, if so, determining the driving path range of the target robot according to the label coordinate in the target map; the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot;

acquiring a current position point of a target robot, judging whether the current position point of the target robot is in a path range, and if so, determining whether the current position point of the target robot meets a preset path point establishment condition; wherein the current location point is a location other than a first waypoint;

if so, determining the current position point as the current path point of the traveling path of the target robot, establishing a connecting line between the current path point and the previous path point as the traveling path of the target robot, and completing the establishment of a target map;

and responding to a map synchronization instruction, determining a network address of a synchronous robot, and sending the established target map to the synchronous robot according to the network address of the synchronous robot so as to finish the synchronization of the target map.

In a second aspect, an embodiment of the present invention further provides a robot-based mapping apparatus, where the apparatus includes:

the label identification module is used for identifying a label to be added, which is preset in an actual operation place of the robot, through image acquisition equipment arranged on a target robot body;

the path range determining module is used for judging whether the label to be added exists in a target map or not, and if so, determining the driving path range of the target robot according to the label coordinate in the target map; the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot;

the path point determining module is used for acquiring the current position point of the target robot, judging whether the current position point of the target robot is within the path range, and if so, determining whether the current position point of the target robot meets the preset path point establishing condition; wherein the current location point is a location other than a first waypoint;

the path establishing module is used for determining the current position point as the current path point of the target robot driving path and establishing a connecting line between the current path point and the previous path point as the driving path of the target robot so as to complete the establishment of the target map if the current position point is the current path point of the target robot driving path;

and the map synchronization module is used for responding to a map synchronization instruction, determining the network address of the synchronous robot, and sending the established target map to the synchronous robot according to the network address of the synchronous robot so as to complete the synchronization of the target map.

In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the robot-based mapping method according to any embodiment of the present invention.

In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a robot-based mapping method according to any of the embodiments of the present invention.

According to the embodiment of the invention, the labels to be added in the surrounding environment are identified, and the maximum path range when the path points are added is determined according to the label coordinates, so that the path points are all positioned in the path range, and the influence on the normal walking of the robot caused by the fact that the path points exceed the range is avoided. After each path point is determined, a path of a path section can be formed, so that a worker can check the path of each small section in real time, and the path error is avoided when the path is generated. After the target map of the target robot is determined, the target map is synchronized to other robots, and the process of building maps for other robots is reduced. The problem of among the prior art, promote the robot walking and can not go on simultaneously with building the picture is solved, reduce user operation, improved the efficiency and the precision that the robot built the picture.

Drawings

FIG. 1 is a schematic flowchart of a robot-based mapping method according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of a tag to be added according to a first embodiment of the present invention;

FIG. 3 is a flowchart illustrating a robot-based mapping method according to a second embodiment of the present invention;

FIG. 4 is a flowchart illustrating a robot-based mapping method according to a third embodiment of the present invention;

FIG. 5 is a flowchart illustrating a robot-based mapping method according to a fourth embodiment of the present invention;

fig. 6 is a block diagram of a robot-based drawing setup apparatus according to a fifth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot-based drawing setup apparatus in a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart illustrating a robot-based mapping method according to an embodiment of the present invention, where the embodiment is applicable to mapping a robot, and the method can be executed by a robot-based mapping apparatus. As shown in fig. 1, the method specifically includes the following steps:

and 110, identifying a label to be added preset in an actual operation place of the robot through image acquisition equipment arranged on a target robot body.

The robot body may be provided with an image capturing device, for example, a camera may be mounted on the top of the robot head. The worker sets a plurality of labels in advance in the actual operation site of the robot, and for example, the labels may be attached to the ceiling. A plurality of robots can work in the actual operation place of the robot, and a target map needs to be set in the robot before the robot works, so that the robot can automatically run according to the target map. After the label is set, the staff can push a certain robot in a plurality of robots to walk in the actual operation place, the pushed robot is the target robot, and the staff builds the picture on the target robot. In the walking process, the image acquisition equipment arranged at the top of the head of the target robot can acquire the labels on the ceiling in real time, the images acquired by the image acquisition equipment are label images in the actual operation place of the robot, the label images are subjected to label identification, and the identified labels are to be added. The preset label can be a specific two-dimensional code or a special material, for example, the label is a two-dimensional code label, and if the camera of the target robot collects the specific two-dimensional code, the position of the two-dimensional code is determined to be the position of the label. As the working personnel push the target robot to walk, the target robot can identify all the preset labels to be added in the whole actual operation place.

Through installing the image acquisition equipment on the target robot, before the label that waits to add that sets up in advance in the discernment robot actual operation place, still include: and judging whether the label of the second icon exists in the target map, if so, displaying the label of the second icon in the target map in a third icon form.

Specifically, the worker pushes the mobile robot to walk in a work scene, and the label image is collected while the mobile robot walks. The label that has been added to the target map before the new label image is captured is a representation of the second icon. After the new label to be added is identified, the label to be added is added in the target map in the form of the second icon, so that in order to distinguish the label which is collected and the label which is to be collected, the label of the second icon which is added can be changed into the third icon before the new label is collected. Namely, on the target map, the currently added label is the second icon, and the historically added label is the third icon. For example, the second icon is a blue icon, the third icon is a green icon, the green icon is added by the past time identification confirmation, and the blue is added by the current time identification confirmation. After the target map is completed, the labels on the map are all displayed in the form of third icons. The beneficial effect that sets up like this lies in, can distinguish the label of current discernment and the label of discernment in the past in real time, plays the effect of emphasizing and reminding to the staff, improves the efficiency that the label added.

In this embodiment, optionally, the identification of the tag to be added preset in the actual operation site of the robot through the image capturing device installed on the target robot body includes: acquiring a label to be added in an actual operation place of the robot through image acquisition equipment arranged on a target robot body; wherein, the labels to be added have label points, and the arrangement modes of the label points on any label to be added are different; and identifying the label code of the label to be added and the arrangement mode of the label points on the label to be added.

Specifically, the image acquisition equipment installed on the body of the target robot can be used as a depth vision module of the target robot to acquire the surrounding environment in real time, so that a label to be added in a preset acquisition range is obtained. The acquisition range of the image acquisition device may be preset, for example, the preset acquisition range may be a range centered on the target robot and having a preset distance as a radius. In this embodiment, the label to be added may be pasted on the ceiling, and at least one label point is also present on the label to be added, and the label point is made of a reflective material. For example, the light-reflecting material of the label dots may be made into a circular material with a preset size, and one or more label dots are attached to the label, that is, one label may be formed by arranging a plurality of label dots. The arrangement mode of the label points on each label is different, different labels are pasted at different positions, and the arrangement mode of the label points on the labels corresponds to the positions of the labels one to one, so that the labels can be distinguished. Fig. 2 is a schematic diagram of the label to be added in the embodiment, and the label points in fig. 2 form an "L" shape. And after the label to be added exists in the preset acquisition range, acquiring the label code of the label to be added and the arrangement mode of the label points on the label to be added. For example, the to-be-added label is placed on the ceiling, the ceiling is taken as a plane, and the coordinate position of the to-be-added label on the plane is determined, so that the corresponding coordinate position of the to-be-added label on the target map is obtained. The label code can be coded for the label in advance by a worker, the code can be displayed on the label, and the target robot acquires the label code from the label after recognizing the label. Or the target robot automatically codes the labels according to the recognized label sequence. The positions of the labels to be added, the label codes and the arrangement modes of the label points on the labels to be added are in one-to-one correspondence, namely, one label has a unique label code and a unique arrangement mode of the label points, and only one label can be pasted at the same position. The beneficial effect who sets up like this lies in, through image acquisition equipment, has realized that the target robot is when being promoted, real-time automatic discernment label reduces staff's operating procedure, through the arrangement mode who obtains code and label point, is favorable to the definite to the label, effectively improves label identification efficiency.

Step 120, judging whether the label to be added exists in the target map, if so, determining the driving path range of the target robot according to the label coordinate in the target map; and the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot.

The target robot can judge whether the label to be added exists in the target map or not when identifying one label to be added, can also firstly identify all labels to be added in the actual operation place, and then sequentially judges whether all the identified labels to be added exist in the target map or not. And if the tags to be added in the actual operation place are all added into the target map, determining the tag coordinates of the tags to be added in the target map, wherein the tag coordinates correspond to the positions of the tags to be added in the actual operation place one by one. And determining the maximum path range which can be traveled by the target robot according to the label coordinates of each label to be added. In this embodiment, a label closed loop is formed by each label to be added, and the area in the label closed loop is the area where the target robot can travel. For example, if the label to be added is pasted along four sides of the rectangular ceiling, the path range is a range in which the rectangular ceiling is vertically mapped to the floor. When the target robot identifies the labels to be added, the target robot can sequentially connect two labels to be added according to the identification sequence until the first identified labels to be added are identified again.

In this embodiment, optionally, the determining whether the tag to be added exists in the target map includes: and judging whether the label to be added exists in the target map or not according to the label code of the label to be added or the arrangement mode of the label points on the label to be added.

Specifically, the target robot may determine whether the tag to be added exists in the target map according to the tag information, and the tag information may include a position of the tag, a tag code, and an arrangement manner of tag points on the tag. Because only one label can be arranged at one position and the arrangement modes of the label points on each label are different, the label positions, the label codes and the arrangement modes of the label points are stored in a one-to-one correlation mode, and whether the label to be added exists in the target map can be judged according to any information of the positions, the label codes and the arrangement modes of the label points on the labels. For example, whether a tag code of a tag to be added exists in the stored tags may be checked, and if so, it may be determined that the tag to be added already exists in the target map. And after judging that the tag to be added exists in the target map through any information in the tag information, checking by adopting other information in the tag information. For example, the arrangement mode of the tag points is adopted to judge that the tag to be added exists in the target map, then the examination is carried out according to the tag code of the tag to be added, if the tag code does not exist in the stored tag information, the tag to be added is determined not to exist in the target map, and the arrangement mode of the tag points of the tag to be added is repeated with other tags, so that a worker can be prompted to carry out adjustment. The beneficial effect that sets up like this lies in, can be according to the label information of storage and the label information that current discernment arrived, judge whether the label of waiting to add of current discernment has been stored, avoid carrying out repetition or wrong storage to the label, be favorable to managing the label, improve the efficiency and the precision of label discernment.

In this embodiment, optionally, after determining whether the tag to be added exists in the target map, the method further includes: if the label to be added does not exist in the target map, displaying the label to be added in the target map in a first icon form according to the position of the label to be added; replacing the first icon with the label to be added in a second icon form, and displaying the label to be added in the target map to realize the addition of the label; wherein the target map is displayed in a screen mounted on the target robot.

Specifically, after a tag is identified, it is determined whether the tag already exists in the target map. The target map is the basis for the robot to automatically drive, and in the process of establishing the target map, the target robot needs to add a label on the target map. And the target robot can perform associated storage on the label information of each label added on the target map. The target robot identifies the label to be added, whether the label information of the label to be added exists is searched from the stored label information, if yes, the label to be added is determined to be added to the target map, if not, the label to be added does not exist in the target map, and the label to be added is identified for the first time. And if the target map does not have the label to be added, acquiring the position information of the label to be added, and determining the coordinate corresponding to the position in the target map according to the position information of the label, namely the coordinate of the label to be added in the target map. And displaying the label to be added in a target map of a target robot screen in a preset first icon mode according to the coordinate of the label to be added, so that a user can directly see the displayed label icon while pushing the target robot. For example, the first icon may be a yellow icon, indicating that the robot has seen a label, but has not yet added the label to the target map. The beneficial effect who sets up like this lies in, demonstrates the label in the screen, makes the staff can confirm whether the label exists in the target map according to the icon form, avoids the label to omit, improves label identification accuracy.

After the label to be added of the first icon is determined to be newly added in the target map, the label to be added of the first icon is displayed in the target map through a preset second icon, and the label to be added of the second icon represents that the label is added to the target map, namely the label to be added is added. If the label of the first icon appears in the screen, the staff can know that the label does not exist in the target map. The staff can send the label and add the order, also can set up the automatic function of sending of label and adding the order in advance, and the automatic label of sending out and adding the order appears after the first icon promptly on the screen. And the server responds to the label sending instruction, stores the label information of the currently identified first icon, and updates the icon form of the label in the target map. The first icon of the label in the screen may be changed to a second icon, for example, a yellow triangle may be changed to a blue triangle. In this embodiment, the first icon represents that the tag is recognized for the first time and does not exist in the map; the second icon represents presence in the map, which the robot has also identified. When a tag is added, tag information of the tag to be added may be stored. The label information may include position information of the label to be added, a label code, an arrangement manner of label points on the label to be added, and the like. The beneficial effect that sets up like this lies in, and the staff can be through the difference of icon, look over the interpolation process of label on the screen in real time. The tags identified for the first time are stored in time, the representation form of the tags on the target map is updated, the tags can be conveniently checked by workers, tag omission or repeated addition is avoided, and tag addition efficiency and accuracy are improved.

After the tag addition is finished, the user can inquire about the added tag. And responding to the label inquiry instruction, and determining the label code of the label to be inquired. And determining whether the label to be inquired exists in the target map or not according to the label code of the label to be inquired, and determining the arrangement mode of the reflective material on the label to be inquired.

After the addition of the tags is completed, the tags can be queried, for example, whether the tags are already added to a target map can be queried according to tag codes, and tag omission is avoided. The staff can send out label inquiry command, input the label code of the label to be inquired. According to the tag code, whether the tag exists is searched from the stored data, and the query result is displayed on the screen, for example, the tag status can be displayed as used, unused, reused, and the like. The arrangement mode of the reflective materials on the labels and the coordinates of the labels can be displayed, and the problem that the plurality of labels are attached to the same position to cause positioning errors of the robot is avoided. Through using the inquiry, make things convenient for the staff to supply and revise the label after the robot discernment label, effectively avoid label used repeatedly, improve label and add efficiency.

Step 130, acquiring a current position point of the target robot, judging whether the current position point of the target robot is in a path range, and if so, determining whether the current position point of the target robot meets a preset path point establishment condition; wherein the current location point is a location other than the first waypoint.

After the label is added, the staff pushes the target robot to walk again in the actual operation place, and the robot can walk according to the path planned for the robot in advance. The method comprises the steps that in the walking process of a target robot, the current position point of the target robot is obtained in real time, whether the target robot is in a path range or not is determined according to the current position point and the path range, and if not, prompt information is sent out on a screen to remind a worker to push the target robot into the path range; if yes, further judging whether the current position point of the target robot meets the preset path point establishment condition. The waypoint establishment condition is a condition for determining the current position point as a waypoint, which is a position point that the robot passes through when actually operating, and the first waypoint may be a travel start point. The staff member may also add waypoints manually, for example, the corner positions may be set as waypoints.

And 140, if so, determining the current position point as the current path point of the traveling path of the target robot, and establishing a connecting line between the current path point and the previous path point as the traveling path of the target robot so as to complete the establishment of the target map.

And if the current position point of the target robot meets the preset path point establishing condition, determining the current position point as the current path point. And establishing a connecting line between the current path point and the previous path point on a target map, wherein the target map is displayed on a screen, the screen is installed on the target robot body, the connecting line can be a bidirectional line, and the bidirectional line means that the running direction of the robot can run from the current path point to the previous path point and can also run from the previous path point to the current path point. And when the staff pushes the target robot to move to the path end point, the driving path addition of the target robot is completed.

And 150, responding to the map synchronization instruction, determining the network address of the synchronous robot, and sending the built target map to the synchronous robot according to the network address of the synchronous robot so as to complete the synchronization of the target map.

The method comprises the steps of establishing a driving path in a target map on a target robot screen, storing the established target map, and enabling the target robot to automatically walk according to the target map. A plurality of robots need to work simultaneously in an actual operation place, in order to reduce the mapping process of each robot, the target map of the target robot can be synchronously sent to other robots, and the other robots to be synchronized are synchronous robots. After the target robot is mapped, the worker sends a map synchronization instruction to determine a network Address of the synchronous robot input by the worker, wherein the network Address can be an Internet Protocol (IP) Address, the target robot and the synchronous robot are both located in a local area network, and the target map can be sent to the synchronous robot according to the IP Address of the synchronous robot.

According to the technical scheme, the maximum path range is determined when the path is added by identifying the tags to be added in the surrounding environment, so that the path points are all located within the path range, and the influence on the normal walking of the robot caused by the fact that the path points exceed the range is avoided. After each path point is determined, a path of a path section can be formed, so that a worker can check the path of each small section in real time, and the path error is avoided when the path is generated. After the target map of the target robot is determined, the target map is synchronized to other robots, and the process of building maps for other robots is reduced. The problem of among the prior art, promote the robot walking and can not go on simultaneously with building the picture is solved, reduce user operation, improved the efficiency and the precision that the robot built the picture.

Example two

Fig. 3 is a flowchart illustrating a robot-based drawing method according to a second embodiment of the present invention, which is an alternative embodiment of the above embodiments, and the method can be executed by a robot-based drawing device. As shown in fig. 3, the method specifically includes the following steps:

and 310, identifying a label to be added preset in an actual operation place of the robot through image acquisition equipment arranged on a target robot body.

Step 320, judging whether the label to be added exists in the target map, if so, determining the driving path range of the target robot according to the label coordinate in the target map; and the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot.

The target robot adds the labels to be added in the actual operation place to the target map, and determines the maximum path range in which the target robot can run according to the label coordinates of the labels to be added. In this embodiment, a label closed loop is formed by each label to be added, and the area in the label closed loop is the area where the target robot can travel. For example, if the label to be added is pasted along four sides of the rectangular ceiling, the path range is a range in which the rectangular ceiling is vertically mapped to the floor. When the target robot identifies the labels to be added, the target robot can sequentially connect two labels to be added according to the identification sequence until the first identified labels to be added are identified again.

In this embodiment, optionally, determining the range of the path traveled by the target robot according to the coordinates of the tag in the target map includes: connecting the label to be added with the label added in the previous step; determining whether the coordinate position of the tag to be added is the same as the coordinate position of the first added tag on the target map; and if so, generating a label closed loop in the target map, and determining the driving path range of the target robot according to the range of the label closed loop.

Specifically, the staff promotes the target robot and walks in the actual operation scene, and the target robot adds the label of waiting to add in the actual operation scene, all labels all added to the target map in until the actual operation scene in, for example, the staff can look over the screen on the robot, if the label on target map and the label one-to-one in the actual operation scene, then confirm to wait to add the label and add the completion, can stop the label and add the process. When the robot adds the label, the currently added label and the last label added are connected by a line segment every time the label is added, and whether the coordinate position of the currently to-be-added label is the same as the coordinate position of the first label added on the target map or not is determined. If the label is the same as the label, a label closed loop can be formed after all the labels to be added are determined to be completely added. According to the coordinates of each label in the target map, the closed-loop range of the label can be determined. And (3) corresponding the range of the closed loop of the label to an actual running scene, so that the range of the path traveled by the robot can be determined. The beneficial effect that sets up like this lies in, confirms the scope that the robot traveled through the label coordinate, avoids the robot walking in-process to break away from the jurisdiction scope, improves the walking precision of robot.

In this embodiment, the image capturing device may capture at least two tags to be added in a working scene. If a plurality of labels to be added are collected, a label adding instruction of a user can be responded, and prompt information for determining the labels to be added is sent out on a screen; and responding to a selection instruction of the user for the tag to be added, replacing the first icon with the second icon for the selected tag to be added, and displaying the selected tag to be added on the target map.

Specifically, the image acquisition device may acquire the tags to be added within a preset acquisition range, and one or more tags to be added may exist within the preset acquisition range. If only one label exists in the preset acquisition range, the label can be updated after a label adding instruction is sent, and the label is added.

The image acquisition equipment page can acquire two or more labels to be added at the same time, and the acquired labels to be added can be identified for the first time or identified for the second time. And if the plurality of labels to be added are initially identified, displaying the labels by using the first icon. After the tag adding instruction is responded, prompt information for determining tags to be added can be sent out on a screen, and a worker is prompted to select a target tag from the tags to be added of the first icons, so that the tag information of the target tag is stored. And in response to a selection instruction of the user for the tags, determining a target tag selected by the staff, storing tag information of the target tag, replacing a first icon of the target tag with a second icon, and displaying the second icon in the target map on the screen. The user can also set default options, set all the tags to be added of the first icons as target tags, and store the tags to be added of the first icons at the same time. The beneficial effect who sets up like this lies in, and the user can directly operate on the robot, confirms the target label according to actual conditions, improves the flexibility that the label added, improves label and adds efficiency, satisfies user's actual demand.

After the label to be added is displayed in the target map in the form of the second icon in response to the label adding instruction, the label to be added can be connected with the previous added label; determining whether the coordinate position of the tag to be added is the same as the coordinate position of the first added tag on the target map; if yes, generating a closed-loop label connecting line in the target map; according to a preset graph optimization algorithm, adjusting the position of a label to be added in a closed loop and the connection information between two labels to be added; the connection information includes a line direction and a line angle.

Specifically, the target robot identifies all labels in the current place in real time, and when the target robot identifies the first time when winding the field, if the current label to be added is identified as the first label to be added identified by the target map, the target robot can be determined to finish winding the field. Namely, the target robot can judge whether the field winding is finished or not according to the current coordinate position of the label to be added and the first identified coordinate position of the label to be added. If the coordinate position of the current label to be added is the same as the coordinate position of the first label to be added on the target map, determining that the field winding is finished; if the coordinate position of the current label to be added is different from the coordinate position of the first label to be added on the target map, the target robot can be pushed to continue to walk. And if the coordinate position of the current label to be added is the same as the coordinate position of the first label to be added on the target map, indicating that the current walking route of the target robot is a closed loop, and connecting all labels on the target map to form a closed loop label connecting line. According to a preset graph optimization algorithm, the closed-loop label connection line is adjusted, for example, the coordinate position of a label to be added in the closed loop and connection information between two labels to be added can be adjusted, wherein the connection information can include a line direction and a line angle, for example, the connection between the two labels is a large-range circular arc, and through optimization, the length of the connection circular arc can be reduced, so that the range in the closed loop is consistent with an actual operation place. Each link to be added with a label can be generated in the walking process of the target robot, when the target robot identifies a new label, a link between the label and the previously identified label is established on the target map, and when the first label is identified, a closed-loop label link can be generated. Each time a link between tags is established, a small deviation occurs, for example, the coordinates of the tag to be added on the target map deviate from the actual position. The error can be reduced by optimization, so that the label coordinate on the map corresponds to the actual label position. The method has the beneficial effect that the accuracy of the label position in the target map can be improved by optimizing the closed-loop label connection line.

Step 330, acquiring a current position point of the target robot, judging whether the current position point of the target robot is in a path range, and if so, determining whether the current position point of the target robot meets a preset path point establishment condition; wherein the current location point is a location other than the first waypoint.

After the label is added, the staff pushes the target robot to walk again in the actual operation place, and the robot can walk according to the path planned for the robot in advance. The method comprises the steps that in the walking process of a target robot, the current position point of the target robot is obtained in real time, whether the target robot is in a path range or not is determined according to the current position point and the path range, and if not, prompt information is sent out on a screen to remind a worker to push the target robot into the path range; if yes, further judging whether the current position point of the target robot meets the preset path point establishment condition.

In this embodiment, optionally, if the current position point of the target robot is within the path range, determining whether the current position point of the target robot meets a preset path point establishing condition includes: if the current position point of the target robot is within the path range, determining the distance between the current position point of the target robot and the previous path point according to the positions of the current position point of the target robot and the previous path point; and judging whether the distance between the current position point of the target robot and the previous path point exceeds a preset distance threshold value, if so, determining that the current position point of the target robot meets a preset path point establishment condition.

Specifically, the first waypoint is the starting point of travel, a location predetermined for the worker. The worker pushes the target robot to walk from the driving start point, and the target robot constantly acquires a current position point, which is a position point other than the first path point, that is, the current position point is a position point other than the driving start point. And after determining that the current position point is within the path range, determining whether the current position point of the target robot meets a preset path point establishment condition. The path point establishing condition may be whether a distance between the current position point and the previous path point exceeds a preset distance threshold, and if so, it is determined that the current position point of the target robot meets the preset path point establishing condition. For example, if the preset distance threshold is 1.5 meters, a waypoint is established every 1.5 meters. Every time a waypoint is established, the position information of the waypoint is stored and the waypoint is displayed at the corresponding coordinates on the target map, and the position information can be the coordinates of the waypoint on the target map.

After the current position point of the target robot is obtained, the position information of the previous path point is searched, and the distance between the current position point and the previous path point is determined according to the current position point of the target robot and the position of the previous path point. Comparing the distance between the current position point and the previous path point with a preset distance threshold, if the distance between the current position point and the previous path point exceeds the preset distance threshold, determining that the current position point meets a preset path point establishment condition, and determining the current position point as a path point. And if the distance between the current position point and the previous path point does not exceed the preset distance threshold, determining that the current position point does not meet the preset path point establishment condition, and continuously acquiring a new current position point by the target robot. The beneficial effect who sets up like this lies in, through setting up the distance threshold value, can judge in real time whether current position point can regard as the path point, makes the staff in the in-process of promoting the walking of target robot, and the target robot can generate the path point automatically in real time, improves the interpolation efficiency of path point.

And 340, if so, determining the current position point as the current path point of the traveling path of the target robot, and establishing a connecting line between the current path point and the previous path point as the traveling path of the target robot.

If the current position point of the target robot meets the preset path point establishing condition, the current position point is determined to be the current path point, and a bidirectional line between the current path point and the previous path point is established on the target map. And when the staff pushes the target robot to move to the path end point, the driving path addition of the target robot is completed.

In this embodiment, optionally, the establishing a connection line between the current path point and the previous path point includes: determining a road section distance between the current path point and any candidate path point in the target map; and judging whether the current path point and the candidate path point meet the preset path point connection condition or not according to the distance of the road section, and if so, establishing a bidirectional line between the current path point and the candidate path point.

Specifically, the target robot may also obtain a link distance between the current path point and any one of candidate path points after determining the current path point, where the candidate path point is a path point that has been generated in addition to the current path. And presetting a path point connection condition, and if the distance of the road section meets the path point connection condition, performing bidirectional line connection on the current path point and the candidate path point corresponding to the distance of the road section. Namely, one path point can be connected with one or more other path points, so that the diversity of the traveling paths of the robot during actual work is improved.

In this embodiment, optionally, determining whether the current waypoint and the candidate waypoint satisfy a preset waypoint connection condition according to the distance between the road sections includes: comparing the road section distance with a preset road section length threshold; and judging whether the road section distance exceeds a preset road section length threshold value, and if not, determining that the preset path point connection condition is met between the current path point and the candidate path point.

Specifically, the preset route point connection condition may be that the distance between the route sections does not exceed a preset route length threshold, and after determining the distance between the current route point and the candidate route point, each distance between the route sections is compared with the preset route length threshold. If the distance of the road section does not exceed the preset road section length threshold value, it is determined that the preset path point connection condition is met between the current path point and the candidate path point, and the current path point and the candidate path point can be connected. And determining all path points, sequentially determining the distance between each path point and other path points after the path points are determined, comparing the distance between the path points with a path length threshold value, and generating connecting lines between the path points, wherein the connecting lines between all the path points are the driving paths of the target robot. The robot has the advantages that the problem that the positioning of the robot is influenced due to the fact that the distance between the two path points is too long is avoided, whether a walking path is correct or not can be determined according to the path points when the robot runs, and running efficiency and precision of the robot are improved.

Because the line between two path points is two-way line, consequently, when the target robot walks to the repeated route, can close the function that the target robot automatically generated the path point, avoid the repeated path point and the path section that generates of target robot, cause the data confusion. When the target robot walks out of the repeated road section, the function of automatically generating the path points can be turned on again, so that the target robot can generate one path point at a certain distance, and the accuracy of determining the path is improved.

Step 350, responding to a target point setting instruction, and acquiring the current position and the current orientation of the target robot; and determining the current position of the target robot as the position of the target point in the target map, and determining the current orientation of the target robot as the docking orientation of the target robot at the target point.

After the path is added, a target point can be added into the target map, wherein the target point is a point where the robot can stop in the driving process, and for example, the target point can be an avoidance point or a charging pile. The avoidance point can be a position where the robot meets an obstacle in the driving process and waits for avoiding the obstacle. The staff can promote the target robot to the position of the planned target point to turn the target robot to the planned direction, and send out the target point setting instruction. And responding to a target point setting instruction, acquiring the current position and the current orientation of the target robot, and taking the direction of the front face of the target robot as the current orientation. And determining the current position of the target robot as the position of a target point, displaying the target point at a corresponding coordinate on a target map by using a preset target point icon, and determining the current orientation of the target robot as the direction of the robot stopping at the target point. When the robot needs to stop, the robot automatically walks to a target point and stops according to the current direction. A plurality of target points can be set, and in the working process of the robot, if the robot needs to stop, the distances between the current position of the robot and all the target points are determined, and the target point with the closest distance is selected for stopping.

In this embodiment, optionally, after acquiring the current position and the current orientation of the target robot in response to the target point setting instruction, the method further includes: determining the stopping distance between any path point on the target map and the current position of the target robot according to the current position of the target robot; comparing the stopping distance with a preset stopping distance threshold; and if any stopping distance is smaller than or equal to the preset stopping distance threshold, determining that the current position of the target robot cannot be set as the target point, and sending prompt information for resetting the target point on the screen of the target robot.

Specifically, the determination condition of the target point may be preset, for example, the determination condition of the target point may be that the distance between the target point and any one of the waypoints is greater than the stopping distance threshold, so as to avoid that the position of the target point is too close to the position of the waypoint, so as to ensure the meaning of setting the target point. The working personnel push the target robot to the position of a preset target point, the robot acquires the current position and the positions of all path points on the target map, and the stopping distance between the current position and any path point is determined. And comparing the docking distance with a preset docking distance threshold, if at least one docking distance is smaller than or equal to the preset docking distance threshold, determining that the current position of the target robot cannot be set as a target point, and sending prompt information for resetting the target point on a screen of the target robot to remind a worker to push the target robot to a new position to set the target point. If each stopping distance at the current position is greater than the stopping distance threshold, the current position may be set as the target point. The beneficial effect of the arrangement is that the target point is prevented from being too close to the path point and losing the significance of the target point, so that the robot can effectively avoid when staying at the target point, and the running efficiency and the running safety of the robot are improved.

And step 360, responding to the map synchronization instruction, determining the network address of the synchronous robot, and sending the built target map to the synchronous robot according to the network address of the synchronous robot so as to complete the synchronization of the target map.

According to the embodiment of the invention, the maximum path range when the path is added is determined by identifying the labels to be added in the surrounding environment, so that the path points are all positioned in the path range, and the influence on the normal walking of the robot caused by the fact that the path points exceed the range is avoided. After each path point is determined, a path of a path section can be formed, so that a worker can check the path of each small section in real time, and the path error is avoided when the path is generated. After the path is added, a plurality of target points can be added, and safety guarantee is provided for the running of the robot. After the tags, paths and target points are determined, the target map of the target robot can be synchronized to other robots. The problem of among the prior art, promote the robot walking and can not go on simultaneously with building the picture is solved, reduce user operation, improved the efficiency and the precision that the robot built the picture.

EXAMPLE III

Fig. 4 is a flowchart illustrating a robot-based drawing method according to a third embodiment of the present invention, which is an alternative embodiment of the above embodiments, and the method may be executed by a robot-based drawing device. As shown in fig. 4, the method specifically includes the following steps:

and 410, identifying a label to be added preset in an actual operation site of the robot through image acquisition equipment arranged on a target robot body.

Step 420, judging whether the label to be added exists in the target map, if so, determining the driving path range of the target robot according to the label coordinate in the target map; and the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot.

Step 430, acquiring a current position point of the target robot, judging whether the current position point of the target robot is in a path range, and if so, determining whether the current position point of the target robot meets a preset path point establishment condition; wherein the current location point is a location other than the first waypoint.

And step 440, if yes, determining the current position point as the current path point of the target robot driving path, and establishing a connecting line between the current path point and the previous path point as the driving path of the target robot.

Step 450, judging whether the obstacle is positioned on the driving path or not according to the obstacle scanned by the radar in real time in the moving process of the target robot; and if not, displaying the obstacle point in the target map according to the position of the obstacle.

After adding the path points, the staff continues to push the target robot to walk in the actual operation place, and at the moment, the target robot can walk on the traveling path or not. The target robot is provided with a radar device, and the scanning range of the radar device can be preset. When the target robot is pushed to walk, the radar device scans the surrounding environment in real time and determines whether an obstacle exists in the current scanning range of the radar device. For example, the obstacle may be a wall, a flowerpot, a table, or the like. And determining the position of the obstacle according to the obstacle scanned by the radar in real time. From the position of the obstacle and the travel path, it is possible to determine whether the obstacle is located on the travel path. If the barrier is on the driving path, prompt information can be sent to the staff to remind the staff to move the barrier, and the situation that the robot cannot normally travel on the driving path during working is avoided. If the obstacle is on the travel path, the obstacle point can be displayed on the target map according to the position of the obstacle. For example, the corresponding coordinates in the target map are determined according to the position of the obstacle, and the obstacle point is displayed at the coordinates, which may be displayed as a preset obstacle point icon.

In this embodiment, optionally, displaying the obstacle point in the target map according to the position of the obstacle may include: and determining candidate obstacle points according to the positions of the obstacles, and displaying the candidate obstacle points in the target map.

Specifically, when the target robot is pushed to walk, the radar device scans the surrounding environment in real time to determine whether an obstacle exists in the current scanning range of the radar device. For example, the obstacle may be a wall, a flowerpot, a table, or the like. If the obstacles are not on the driving path, candidate obstacle points are determined according to the obstacles scanned by the radar in real time, and the candidate obstacle points of one obstacle can be one or more. For example, the position of the obstacle is determined, and the position of the obstacle is used as the position of the candidate obstacle point. For another example, the position of the obstacle is determined, and the position of the obstacle, the position at the preset distance to the left of the obstacle point, and the position at the preset distance to the right of the obstacle point are all used as candidate obstacle points. Every time the target robot determines an obstacle which is not on the driving path, all candidate obstacle points of the obstacle can be displayed on the target map in real time.

In this embodiment, optionally, the determining the candidate obstacle point according to the position of the obstacle includes: and generating at least two candidate obstacle points of the obstacle according to the position of the obstacle and a preset obstacle point distribution rule.

Specifically, an obstacle point distribution rule is preset, for example, the obstacle point distribution rule is to set the position of the obstacle as the position of the candidate obstacle point, or the candidate obstacle points are distributed around the obstacle to surround the obstacle. The method comprises the steps of acquiring obstacles of a radar in a current scanning range in real time, determining the positions of the obstacles, and determining whether the obstacles are on a preset driving path. If not, determining candidate obstacle points of the obstacles according to the positions of the obstacles and the obstacle point distribution rule. In this embodiment, the number of candidate obstacle points of one obstacle is at least two, and preferably, the number of candidate obstacle points of one obstacle is at least three, so that the obstacle can be surrounded by the candidate obstacle points. For example, if the obstacle is a flowerpot, four candidate obstacle points may be generated to surround the position of the flowerpot, and the staff may know that the obstacle exists in the middle of the four obstacle points on the candidate obstacle point display screen. If the obstacle is a wall, a plurality of candidate obstacle points may be distributed along the wall, indicating that the edges where the candidate obstacle points are located are the positions of the obstacle. The beneficial effect who sets up like this lies in, to a barrier generation a plurality of obstacle points, is favorable to the position scope at accurate barrier place, improves the definite precision of obstacle point, and then improves the security of robot operation.

In this embodiment, optionally, after establishing a connection line between the current path point and the previous path point as the traveling path of the target robot, the method further includes: collecting environmental information in a preset scanning range through radar scanning equipment arranged on a target robot body; acquiring a current position point of a target robot, judging whether the current position point of the target robot meets a preset radar point determination condition, if so, displaying candidate radar points to a target map at the current position of the target robot, and determining and storing environmental information; and responding to the obstacle point adding instruction, determining a target radar point in the candidate radar points, searching target environment information of the target radar point, and adding at least one obstacle point in the target environment information to the target map.

Specifically, the staff promotes the target robot and walks in the actual motion scene, installs radar scanning equipment on the target robot body, and radar scanning equipment's scanning range can preset. When the target robot is pushed to walk, the radar scanning equipment scans the surrounding environment in real time to acquire the environmental information of the radar scanning equipment in the preset scanning range. For example, the environmental information within the preset scanning range may be acquired in the form of an image.

The target robot obtains the current position of the target robot in real time while walking. A radar point determination condition is set in advance, and for example, the radar point determination condition may be that a candidate radar point is set every 5 meters. After the target robot obtains the current position, whether the current position point meets the preset radar point determination condition or not can be automatically judged. If not, the robot continues to acquire a new current position point; if yes, the current position point is used as a candidate radar point to be displayed in the target map, and all the candidate radar points which are determined currently can be displayed in the target map. The target map is a workplace map of the robot, and the target map may include an automatic travel path, a radar point, an obstacle point, a stop point, and the like. The target robot is provided with radar scanning equipment, and after the current position point is determined to be a candidate radar point, the acquired environmental information in the preset scanning range of the current position point is stored, so that the environmental information can be stored in the form of an image. For example, environment information within a range of 3 meters as a radius centered on the current position is acquired. The candidate radar points can be numbered, and the acquired environment information and the numbers of the candidate radar points are stored in a correlation mode, so that the environment information can be called conveniently in the follow-up process.

The working personnel can check the environmental information of any candidate radar point in the target map at any time in the process of pushing the target robot to walk or after walking is finished. The staff can send out obstacle point on the robot screen and add the instruction, and the robot responds to obstacle point and adds the instruction, selects the target radar point from the candidate radar point, looks up the environmental information of target radar point from the environmental information of each candidate radar point that stores, and as target environmental information to show target environmental information on the screen of target robot. For example, a new layer may be added on the screen to show the image of the target environment information. After the target environment information scanned by the candidate radar points is checked, whether an obstacle exists in the target environment information or not can be determined, and the position of the obstacle can be determined, wherein the position of the obstacle is the obstacle point. According to the position of the obstacle, the worker can add the obstacle point on the target map, for example, the worker performs double click on the target map, and determines the coordinate of the obstacle point to be added on the target map according to the coordinate position of the double click sent by the worker on the target map, for example, the position of the double click performed by the worker on the target map is the coordinate position of the obstacle point to be added.

In this embodiment, optionally, the determining whether the current position point of the target robot meets the preset radar point determination condition includes: determining whether the distance between the current position point of the target robot and the last candidate radar point exceeds a preset radar point distance threshold value or not; and if so, determining that the current position point of the target robot meets a preset radar point determination condition.

Specifically, a radar point distance threshold between two candidate radar points may be preset, and one candidate radar point may be generated when the target robot walks for one radar point distance threshold, that is, the preset radar point determination condition may be that the distance between the two candidate radar points exceeds the preset radar point distance threshold. The first candidate radar point may be preset as the starting point for the robot action. And in the process of pushing the target robot, acquiring the current position point of the target robot in real time, comparing the current position point with the position of the previous candidate radar point, and determining the distance between the current position point and the previous candidate radar point. And if the distance between the current position point of the target robot and the last candidate radar point exceeds a preset radar point distance threshold value, determining that the current position point of the target robot meets a preset radar point determination condition, and setting the current position point of the target robot as the candidate radar point to be displayed in the target map. And if the distance between the current position point of the target robot and the last candidate radar point does not exceed the preset radar point distance threshold, determining that the current position point of the target robot does not meet the preset radar point determination condition, and continuously acquiring a new current position by the target robot until the distance between the current position point and the last candidate radar point exceeds the preset radar point distance threshold. For example, the target robot may be set to set one candidate radar point per 2 meters of walking. The beneficial effect who sets up like this lies in, can reduce staff's operation according to radar point distance threshold value automatic determination candidate radar point, and can make candidate radar point evenly distributed, avoids the omission of surrounding environment information, improves the interpolation efficiency and the precision of obstacle point.

In this embodiment, optionally, determining whether the current position point of the target robot meets a preset radar point determination condition further includes: determining the current time of the target robot at the current position point and the historical time of the target robot for generating a previous candidate radar point; judging whether the time difference between the current time and the historical time exceeds a preset time threshold value or not; and if so, determining that the current position point of the target robot meets a preset radar point determination condition.

Specifically, a radar point determination condition is preset, and the radar point determination condition may be that a time difference between two candidate radar points is generated to exceed a preset time threshold. And recording the generation time of the candidate radar point every time the target robot generates one candidate radar point, and storing the generation time as historical time. And the target robot acquires the current time at the current position in real time, and determines the time difference between the current time and the historical time according to the current time and the historical time of the last candidate radar point. And comparing the obtained time difference with a preset time threshold value, and judging whether the time difference between the current time and the historical time exceeds the preset time threshold value. If not, determining that the current position point is not set as a candidate radar point, and continuously acquiring new current time by the target robot; if the current position point of the target robot meets the preset radar point determination condition, the current position point can be set as a candidate radar point, and the current position point is displayed on the target map by using the preset icon of the candidate radar point. For example, the target robot may be set to generate one candidate radar point every 10 seconds. The beneficial effect who sets up like this lies in, realizes that the robot automatically generation candidate radar point reduces user operation, improves the generation efficiency of radar point, and then improves the definite efficiency of obstacle point.

In this embodiment, optionally, the determining a target radar point in the candidate radar points includes: determining at least one target radar point selected by a user from the candidate radar points in response to the radar point viewing instruction; alternatively, all candidate radar points are determined as target radar points in response to the all radar point view instruction.

Specifically, the user may select at least one target radar point from the candidate radar points one or more times, or all the candidate radar points may be used as the target radar points. The user can select one or more target radar points from the candidate radar points and send out a radar point viewing instruction to view the environment information. For example, the worker may click on the candidate radar points on the target map in a touch manner to serve as the target radar points, and the environment information scanned by all the candidate radar points is not displayed on the screen of the robot, but only the environment information of the selected target radar points is displayed. The staff member can also trigger the control of displaying all radar point information without selecting candidate radar points. If the staff sends out all radar point viewing instructions, all candidate radar points can be used as target radar points, radar information scanned by all candidate radar points can be displayed on the screen, for example, the environmental information of all candidate radar points can be spliced into the overall environmental information of the actual operation place, so that the staff can view the obstacle distribution situation of the whole actual operation place. The beneficial effect who sets up like this lies in, through selecting target radar point, can show whole or local barrier distribution condition on the screen, makes the staff can look over everywhere barrier directly perceivedly, confirms the position of barrier, avoids the omission of information, improves the definite efficiency and the precision of barrier point.

In this embodiment, adding at least one obstacle point in the target environment information to the target map includes: in response to an obstacle point selection instruction, determining obstacle point coordinates of the selected obstacle point to be added in the target map; and judging whether the coordinates of the obstacle points are located in the target environment information, if so, adding the obstacle points to be added into the target map.

Specifically, after looking up the target environment information of the target radar point, the user may know the obstacle information in the environment, for example, obtain the obstacle position and the like. According to the obstacle information, an obstacle point may be added on the target map. The user can send out an obstacle point selection instruction on the target map, for example, the user can perform double-click on any position on the target map, the double-click operation is sending out the obstacle point selection instruction, and the position of the double-click is the position of the obstacle point to be added. The robot determines the position of the obstacle point selected by the user, and adds the position of the obstacle point selected by the user as the obstacle point to the target map. When the user adds the obstacle point, the location of the double click may not be the location within the viewed target environment information. That is, although the user can view the target environment information of the target radar point, when the user adds the obstacle point, it cannot be guaranteed that the obstacle point is always within the target environment information. In this embodiment, to avoid the error of the obstacle point adding position, after the position of the obstacle point is selected, it may be determined whether the position of this point is in the target environment information. The staff can select the target radar point first, look over the target environmental information of target radar point, confirm the position of barrier according to target environmental information. After the obstacle point to be added is selected, whether the coordinate of the obstacle point to be added is located in the target environment information or not can be determined, if not, a worker is prompted to have an error in the adding position of the obstacle point, and the worker checks the error; if yes, the obstacle point to be added can be added into the target map. The coordinates of the obstacle points can be not compared with the environment information range of each radar point, and the obstacle points can be added to the target map as long as the obstacle point adding instruction of the staff is received

In this embodiment, after the step of "determining a target radar point among the candidate radar points in response to the obstacle point adding instruction, searching for target environment information of the target radar point, and adding at least one obstacle point among the target environment information to the target map" is performed, the addition of the obstacle point can be completed without performing step 460.

And step 460, adding the obstacle point into the target map in response to an obstacle point adding instruction sent by the user.

The method comprises the steps that a worker can check barrier points in a current scanning range on a target map of a robot screen in real time, select target barrier points from the displayed barrier points, send a barrier point adding instruction on the screen of the robot, add the target barrier points on the target map and store the target barrier points, and the barrier points which are not selected can be deleted from the target map. After the target obstacle point in the current scanning range is determined, the working personnel can continue to push the target robot to drive, scan a new obstacle, and realize the instant addition of the obstacle point.

In this embodiment, optionally, adding the obstacle point to the target map in response to an obstacle point adding instruction issued by the user includes: determining at least two target obstacle points in the candidate obstacle points in response to an obstacle point adding instruction sent by a user on a screen of the target robot; and connecting the two adjacent target obstacle points, and displaying the target obstacle points and the connecting line in a target map.

Specifically, the worker sends out an obstacle point adding instruction on a screen of the target robot, determines a target obstacle point selected by the worker in the candidate obstacle points according to the obstacle point adding instruction of the worker, and adds the target obstacle point to the target map. The number of the target obstacle points of one obstacle is at least two, and the two adjacent target obstacle points are connected, for example, the target obstacle points and the connecting lines between the obstacle points can be sequentially connected according to the arrangement sequence of the target obstacle points, and the target obstacle points and the connecting lines between the obstacle points are displayed in a target map. For example, the obstacle is a flowerpot, the target obstacle points are eight and are respectively arranged in four directions of the front, the back, the left and the right of the position of the flowerpot, and each direction is provided with two target obstacle points, so that the eight target obstacle points can be connected into a square to indicate that the flowerpot is positioned in the square. If the obstacles are the surrounding walls and each wall has six target obstacle points, twenty-four obstacle points of the four walls can be connected in sequence to obtain a quadrangle, and the robot can walk in the quadrangle and cannot touch the positions of the four sides of the quadrangle. The robot has the advantages that the target barrier points are connected to form a line or a plane of the space where the barrier is located, the determination accuracy of the position of the barrier is improved, and the walking safety of the robot is further improved.

Step 470, responding to the map synchronization command, determining the network address of the synchronous robot, and sending the established target map to the synchronous robot according to the network address of the synchronous robot to complete the synchronization of the target map.

According to the embodiment of the invention, the maximum path range when the path is added is determined by identifying the labels to be added in the surrounding environment, so that the path points are all positioned in the path range, and the influence on the normal walking of the robot caused by the fact that the path points exceed the range is avoided. The current position of the robot is obtained, and the running path of the robot is established in real time while the robot is pushed. After the driving path is determined, the robot is continuously pushed to walk, obstacles in the surrounding environment are scanned in real time by adopting the radar, and a plurality of candidate obstacle points are generated around the obstacles. The staff can select the target obstacle point from the candidate obstacle points, and the target obstacle point is displayed in the target map in real time to realize the addition of the obstacle point. The problem that the barrier points cannot be added in real time in the prior art is solved, and the adding efficiency and the adding precision of the barrier points are improved through the real-time scanning of the radar.

Example four

Fig. 5 is a flowchart illustrating a robot-based drawing method according to a fourth embodiment of the present invention, which is an alternative embodiment of the foregoing embodiments, and the method may be executed by a robot-based drawing device.

In this embodiment, in response to the map synchronization instruction, the network address of the synchronous robot is determined, and the established target map is sent to the synchronous robot according to the network address of the synchronous robot to complete synchronization of the target map, which can be detailed as follows: in response to a map synchronization instruction, determining a robot number of a synchronous robot; determining the IP address of the synchronous robot according to the robot number of the synchronous robot; and sending the established target map from the target robot to the synchronous robot in the local area network according to the IP address of the synchronous robot.

As shown in fig. 5, the method specifically includes the following steps:

and 510, identifying a label to be added preset in an actual operation place of the robot through image acquisition equipment arranged on a target robot body.

Step 520, judging whether the label to be added exists in the target map, if so, determining the driving path range of the target robot according to the label coordinate in the target map; and the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot.

Step 530, acquiring a current position point of the target robot, judging whether the current position point of the target robot is in a path range, and if so, determining whether the current position point of the target robot meets a preset path point establishment condition; wherein the current location point is a location other than the first waypoint.

And 540, if so, determining the current position point as the current path point of the traveling path of the target robot, and establishing a connecting line between the current path point and the previous path point as the traveling path of the target robot so as to complete the establishment of the target map.

Step 550, responding to the map synchronization instruction, and determining a robot number of the synchronous robot; determining the IP address of the synchronous robot according to the robot number of the synchronous robot; and sending the established target map from the target robot to the synchronous robot in the local area network according to the IP address of the synchronous robot.

Each robot has a unique robot number, and when a worker sends a map synchronization instruction, the worker can input the robot number, so that the synchronous robot can be determined according to the robot number. The target robot and the synchronous robot are connected with the same WIFI network, and each robot has an IP address, namely the robot number is associated with the IP address one by one. After determining the robot number of the synchronous robot, the IP address of the synchronous robot may be determined. In the local area network, the target robot synchronizes the established target map to the synchronous machine through the IP address of the synchronous robot, and the image establishment of all the robots is completed. The beneficial effect who sets up like this lies in, reduces the process of building the picture to all robots, through being connected to the robot in same LAN, realizes the quick synchronization of target map, practices thrift manpower and time, effectively improves the robot and builds the picture efficiency.

In this embodiment, optionally, sending the established target map to the synchronous robot further includes: and responding to a map synchronization instruction, storing the established target map to a server in a local area network, and sending the target map to the synchronous robot by the server according to the synchronous robot appointed by the user.

Specifically, the worker sends a map synchronization instruction, and can download the target map of the target robot to the server for storage. The staff can call the target map in the server at any time, and sends a new synchronization instruction to the server again, so that the server acquires the IP address of the synchronous robot and sends the target map to the specified synchronous robot. In the local area network, the target robot can directly synchronize the established target map to the synchronous robot through the IP address of the synchronous robot, and can also synchronize the target map to a server firstly and send the target map to the synchronous robot. The beneficial effect who sets up like this lies in, reduces the process of building the picture to all robots, through sending the target map for the server, realizes the quick synchronization of target map and obtains at any time, practices thrift manpower and time, effectively improves the robot and builds the picture efficiency.

According to the embodiment of the invention, whether the current position of the robot meets the preset radar point adding condition is judged, a plurality of radar points are added on the target map, the environment information in the preset range can be scanned at each radar point, and the environment information of each radar point is stored. After the robot is pushed to walk, the worker can check the environment information of any radar point on the robot screen at any time, and determine whether obstacles exist around the radar point according to the environment information, so that the obstacle point is added on the target map. The problem of among the prior art, can't scan the barrier with the radar is solved, the process of user's manual editting drawing has been reduced, through storage environmental information, avoids the user to add wrong barrier point, improves the interpolation precision and the efficiency of barrier point.

EXAMPLE five

Fig. 6 is a block diagram of a robot-based drawing device according to a fifth embodiment of the present invention, which is capable of executing a robot-based drawing method according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 6, the apparatus specifically includes:

the tag identification module 601 is used for identifying a tag to be added, which is preset in an actual operation place of the robot, through image acquisition equipment arranged on a target robot body;

a path range determining module 602, configured to determine whether the tag to be added exists in a target map, and if so, determine a path range in which the target robot travels according to a tag coordinate in the target map; the labels in the target map are connected into a label closed loop according to the identification sequence of the target robot;

a path point determining module 603, configured to obtain a current position point of the target robot, determine whether the current position point of the target robot is within a path range, and if so, determine whether the current position point of the target robot meets a preset path point establishing condition; wherein the current location point is a location other than a first waypoint;

a path establishing module 604, configured to determine, if the current position point is the current path point of the travel path of the target robot, and establish a connection line between the current path point and a previous path point as the travel path of the target robot, so as to complete establishment of the target map;

and the map synchronization module 605 is configured to determine a network address of the synchronous robot in response to a map synchronization instruction, and send the established target map to the synchronous robot according to the network address of the synchronous robot, so as to complete synchronization of the target map.

Optionally, the tag identification module 601 includes:

the label acquisition unit is used for acquiring labels to be added in the actual operation place of the robot through image acquisition equipment arranged on the body of the target robot; wherein, the labels to be added have label points, and the arrangement modes of the label points on any label to be added are different;

and the information identification unit is used for identifying the label code of the label to be added and the arrangement mode of the label points on the label to be added.

Optionally, the apparatus further comprises:

the first icon display module is used for displaying the label to be added in the target map in a first icon form according to the position of the label to be added after judging whether the label to be added exists in the target map or not and if the label to be added does not exist in the target map;

the second icon display module is used for replacing the first icon with the label to be added in a second icon form and displaying the label to be added in the target map so as to realize the addition of the label; wherein the target map is displayed in a screen mounted on a target robot.

Optionally, the apparatus further comprises:

and the third icon display module is used for judging whether the label of the second icon exists in the target map or not before the label to be added, which is preset in the actual operation place of the robot, is identified through the image acquisition equipment arranged on the target robot, and if so, displaying the label of the second icon in the target map in the form of the third icon.

Optionally, the path range determining module 602 includes:

the label connecting unit is used for connecting the label to be added with the label added before;

the tag position determining unit is used for determining whether the coordinate position of the tag to be added is the same as the coordinate position of the first added tag on the target map;

and if so, generating a label closed loop in the target map, and determining the travel path range of the target robot according to the range of the label closed loop.

Optionally, the waypoint determining module 603 is specifically configured to:

if the current position point of the target robot is within the path range, determining the distance between the current position point of the target robot and the previous path point according to the positions of the current position point of the target robot and the previous path point;

and judging whether the distance between the current position point of the target robot and the previous path point exceeds a preset distance threshold value, if so, determining that the current position point of the target robot meets a preset path point establishment condition.

Optionally, the apparatus further comprises:

the target point setting module is used for responding to a target point setting instruction to acquire the current position and the current orientation of the target robot after determining that the current position point is the current path point of the traveling path of the target robot and establishing a connecting line between the current path point and the previous path point as the traveling path of the target robot;

and the target point determining module is used for determining the current position of the target robot as the position of the target point and determining the current orientation of the target robot as the docking orientation of the target robot at the target point.

Optionally, the apparatus further comprises:

the target point judging module is used for determining the stopping distance between any path point on the target map and the current position of the target robot according to the current position of the target robot after responding to a target point setting instruction and acquiring the current position and the current orientation of the target robot;

comparing the stopping distance with a preset stopping distance threshold;

and if any stopping distance is smaller than or equal to the preset stopping distance threshold, determining that the current position of the target robot cannot be set as the target point, and sending prompt information for resetting the target point on the screen of the target robot.

Optionally, the apparatus further comprises:

the obstacle scanning module is used for judging whether the obstacle is positioned on a driving path or not according to the obstacle scanned by the radar in real time in the moving process of the target robot after a connecting line between the current path point and the previous path point is established and used as the driving path of the target robot;

the obstacle point display module is used for displaying obstacle points in the target map according to the positions of the obstacles if the obstacle points are not located in the target map;

and the barrier point adding module is used for responding to a barrier point adding instruction sent by a user and adding the barrier point into the target map.

Optionally, the apparatus further comprises:

the system comprises an environmental information acquisition module, a data acquisition module and a data acquisition module, wherein the environmental information acquisition module is used for acquiring environmental information in a preset scanning range through radar scanning equipment arranged on the body of a target robot after a connecting line between a current path point and a previous path point is established and used as a running path of the target robot;

the radar point determining module is used for acquiring a current position point of the target robot, judging whether the current position point of the target robot meets a preset radar point determining condition or not, if so, displaying a candidate radar point to a target map at the current position of the target robot, and determining and storing the environment information;

and the obstacle point determining module is used for responding to an obstacle point adding instruction, determining a target radar point in the candidate radar points, searching target environment information of the target radar point, and adding at least one obstacle point in the target environment information to the target map.

Optionally, the radar point determining module is specifically configured to:

determining whether the distance between the current position point of the target robot and the position of the last candidate radar point exceeds a preset radar point distance threshold value;

and if so, determining that the current position point of the target robot meets a preset radar point determination condition.

Optionally, the map synchronization module 605 is specifically configured to:

in response to a map synchronization instruction, determining a robot number of a synchronous robot;

determining the IP address of the synchronous robot according to the robot number of the synchronous robot;

and sending the established target map from the target robot to the synchronous robot in the local area network according to the IP address of the synchronous robot.

Optionally, the map synchronization module 605 is further specifically configured to:

and responding to a map synchronization instruction, storing the established target map to a server in a local area network, and sending the target map to the synchronous robot by the server according to the synchronous robot appointed by a user.

According to the embodiment of the invention, the maximum path range when the path is added is determined by identifying the labels to be added in the surrounding environment, so that the path points are all positioned in the path range, and the influence on the normal walking of the robot caused by the fact that the path points exceed the range is avoided. After each path point is determined, a path of a path section can be formed, so that a worker can check the path of each small section in real time, and the path error is avoided when the path is generated. After the target map of the target robot is determined, the target map is synchronized to other robots, and the process of building maps for other robots is reduced. The problem of among the prior art, promote the robot walking and can not go on simultaneously with building the picture is solved, reduce user operation, improved the efficiency and the precision that the robot built the picture.

EXAMPLE six

Fig. 7 is a schematic structural diagram of a robot-based drawing setup apparatus according to a sixth embodiment of the present invention. The robot-based mapping apparatus is an electronic apparatus, and FIG. 7 illustrates a block diagram of an exemplary electronic apparatus 700 suitable for use in implementing embodiments of the present invention. The electronic device 700 shown in fig. 7 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 7, electronic device 700 is embodied in the form of a general purpose computing device. The components of the electronic device 700 may include, but are not limited to: one or more processors or processing units 701, a system memory 702, and a bus 703 that couples various system components including the system memory 702 and the processing unit 701.

Bus 703 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 700 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 700 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 702 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)704 and/or cache memory 705. The electronic device 700 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 706 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 703 via one or more data media interfaces. Memory 702 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 708 having a set (at least one) of program modules 707 may be stored, for example, in memory 702, such program modules 707 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 707 generally perform the functions and/or methodologies of the described embodiments of the invention.

The electronic device 700 may also communicate with one or more external devices 709 (e.g., keyboard, pointing device, display 710, etc.), with one or more devices that enable a user to interact with the electronic device 700, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 700 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 711. Also, the electronic device 700 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 712. As shown in FIG. 7, the network adapter 712 communicates with the other modules of the electronic device 700 over the bus 703. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 701 executes various functional applications and data processing by running a program stored in the system memory 702, for example, to implement a robot-based mapping method provided by an embodiment of the present invention, including:

and responding to a map synchronization instruction, determining a network address of the synchronous robot, and sending the established target map to the synchronous robot according to the network address of the synchronous robot so as to complete the synchronization of the target map.

EXAMPLE seven

The seventh embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the storage medium stores a computer program, and the computer program, when executed by a processor, implements a robot-based mapping method according to the seventh embodiment of the present invention, where the method includes:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot-based mapping method is characterized by comprising the following steps:

2. The method of claim 1, wherein the step of identifying the label to be added preset in the actual operation site of the robot through an image acquisition device installed on the target robot comprises the following steps:

acquiring a label to be added in an actual operation place of the robot through image acquisition equipment arranged on a target robot body; wherein, the labels to be added have label points, and the arrangement modes of the label points on any label to be added are different;

and identifying the label code of the label to be added and the arrangement mode of the label points on the label to be added.

3. The method of claim 1, after determining whether the tag to be added exists in the target map, further comprising:

if the label to be added does not exist in the target map, displaying the label to be added in the target map in a first icon form according to the position of the label to be added;

replacing the first icon with the label to be added in a second icon form, and displaying the label to be added in a target map to realize the addition of the label; wherein the target map is displayed in a screen mounted on a target robot.

4. The method according to claim 3, before identifying the label to be added preset in the actual operation site of the robot through the image acquisition device installed on the target robot, further comprising:

and judging whether the label of the second icon exists in the target map, if so, displaying the label of the second icon in the target map in a third icon form.

5. The method of claim 1, wherein determining the range of the path traveled by the target robot based on the tag coordinates in the target map comprises:

connecting the label to be added with the label added before;

determining whether the coordinate position of the tag to be added is the same as the coordinate position of the first added tag on the target map;

and if so, generating a label closed loop in the target map, and determining the driving path range of the target robot according to the range of the label closed loop.

6. The method of claim 1, wherein determining whether the current position point of the target robot satisfies a predetermined path point establishment condition if the current position point of the target robot is within the path range comprises:

7. The method of claim 1, wherein after determining the current position point as the current waypoint of the travel path of the target robot and establishing a connection line between the current waypoint and the previous waypoint as the travel path of the target robot, further comprising:

responding to a target point setting instruction, and acquiring the current position and the current orientation of the target robot;

and determining the current position of the target robot as the position of the target point, and determining the current orientation of the target robot as the docking orientation of the target robot at the target point.

8. The method of claim 7, further comprising, after acquiring the current position and the current orientation of the target robot in response to the target point setting instruction:

determining the stopping distance between any path point on the target map and the current position of the target robot according to the current position of the target robot;

comparing the stopping distance with a preset stopping distance threshold;

9. The method according to claim 1, further comprising, after establishing a connection line between the current path point and the previous path point as a traveling path of the target robot:

judging whether the obstacle is positioned on a driving path or not according to the obstacle scanned by the radar in real time in the moving process of the target robot;

if not, displaying obstacle points in a target map according to the positions of the obstacles;

and adding the obstacle point into the target map in response to an obstacle point adding instruction issued by a user.

10. The method according to claim 1, further comprising, after establishing a connection line between the current path point and the previous path point as a traveling path of the target robot:

collecting environmental information in a preset scanning range through radar scanning equipment arranged on a target robot body;

acquiring a current position point of a target robot, judging whether the current position point of the target robot meets a preset radar point determination condition, if so, displaying candidate radar points to a target map at the current position of the target robot, and determining and storing the environmental information;

and responding to a barrier point adding instruction, determining a target radar point in the candidate radar points, searching target environment information of the target radar point, and adding at least one barrier point in the target environment information to the target map.

11. The method of claim 10, wherein the determining whether the current position point of the target robot satisfies a preset radar point determination condition comprises:

12. The method of claim 1, wherein determining a network address of a synchronous robot in response to a map synchronization command, and sending a built target map to the synchronous robot according to the network address of the synchronous robot comprises:

13. The method of claim 1, wherein sending the built target map to the synchronized robot further comprises:

14. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the robot-based mapping method according to any of claims 1-13.

15. A storage medium containing computer-executable instructions for performing the robot-based mapping method of any one of claims 1-13 when executed by a computer processor.