Map creating method and apparatus for autonomous robot, device, and storage medium

Patent metadata

Field	Value
Publication number	US-12393206-B2
Application number	US-202017790695-A
Country	US
Kind code	B2
Filing date	Nov 11, 2020
Priority date	Jan 2, 2020
Publication date	Aug 19, 2025
Grant date	Aug 19, 2025

Abstract

Embodiments of this specification provide a map creating method and apparatus for an autonomous robot, a device, and a storage medium. The map creating method for an autonomous robot includes: acquiring an initial map selected from a target database, wherein the initial map includes an initial boundary; causing the autonomous robot to perform boundary detection to acquire a measured boundary, wherein positioning precision of the autonomous robot satisfies a preset condition; and correcting the initial boundary according to the measured boundary.

First claim

What is claimed is:

1. A map creating method for an autonomous robot, comprising:
acquiring an initial map selected from an external database, wherein the initial map comprises an initial boundary;
in response to acquiring the initial map, causing the autonomous robot to perform boundary detection to acquire a measured boundary, wherein causing the autonomous robot to perform the boundary detection to acquire the measured boundary comprises:
causing the autonomous robot to move near the initial boundary,
performing, by a boundary detection sensor of the autonomous robot, the boundary detection on the initial boundary, and
acquiring, by a positioning sensor of the autonomous robot, the measured boundary during a boundary detection process, wherein a positioning precision of the positioning sensor satisfies a preset condition; and

correcting the initial boundary according to the measured boundary.

2. The map creating method according to claim 1 , wherein acquiring the initial map selected from the external database comprises:
sending, to a server, a plot selection request carrying plot identification information; and
receiving a plot selection response carrying a plot map, and using the plot map as the initial map, wherein the plot map is obtained by matching from a plot database by the server according to the plot identification information.

3. The map creating method according to claim 1 , wherein acquiring the initial map selected from the external database comprises:
receiving the initial map sent by a third party, wherein the initial map is selected from the plot database or an electronic map by the third party.

4. The map creating method according to claim 1 , wherein the causing the autonomous robot to perform boundary detection comprises:
determining, according to detection data collected by a boundary detection apparatus of the autonomous robot, whether a boundary point is detected;
recording a heading angle of the autonomous robot and first coordinates outputted by a positioning apparatus of the autonomous robot at a time when the boundary point is detected;
determining second coordinates of the boundary point according to the first coordinates, the heading angle, a distance between the positioning apparatus and the boundary detection apparatus, and the detection data; and
forming the measured boundary according to respective second coordinates of each detected boundary point.

5. The map creating method according to claim 1 , further comprising:
causing the autonomous robot to maintain a preset safe distance from the initial boundary in a process of causing the autonomous robot to perform the boundary detection; wherein causing the autonomous robot to maintain the preset safe distance from the initial boundary comprises: causing the autonomous robot to maintain a first safe distance from a dangerous boundary segment in the initial boundary; and
causing the autonomous robot to maintain a second safe distance from a non-dangerous boundary segment in the initial boundary, wherein the second safe distance is less than the first safe distance.

6. The map creating method according to claim 5 , further comprising:
determining, in the process of causing the autonomous robot to perform the boundary detection, whether a to-be-detected boundary segment is the dangerous boundary segment;
determining whether a detection site is equipped with manual monitoring when the to-be-detected boundary segment is the dangerous boundary segment; and
causing the autonomous robot to start or continue the boundary detection in response to determining that the detection site is equipped with the manual monitoring; and
stopping the autonomous robot in response to determining that the detection site is not equipped with the manual monitoring.

7. The map creating method according to claim 6 , wherein determining whether the detection site is equipped with the manual monitoring comprises any one or more of:
determining, based on whether a wireless communication module of the autonomous robot receives a wireless signal transmitted by a specified device, whether the detection site is equipped with the manual monitoring, wherein the specified device is carried by an on-site monitoring personnel; or
determining, based on whether an imaging detector of the autonomous robot detects a human body signal within a specified detection radius, whether the detection site is equipped with the manual monitoring.

8. The map creating method according to claim 1 , wherein correcting the initial boundary according to the measured boundary comprises:
replacing the initial boundary with the measured boundary.

9. An autonomous robot, comprising:
a control apparatus configured to:
acquire an initial map selected from an external database, wherein the initial map comprises an initial boundary; and
control the autonomous robot to move near the initial boundary in response to obtaining the initial map;

a boundary detection sensor configured to perform boundary detection to acquire a measured boundary on the initial boundary; and
a positioning sensor configured to acquire the measured boundary during a boundary detection process, wherein a positioning precision of the positioning sensor satisfies a preset condition, and the control apparatus is further configured to correct the initial boundary according to the measured boundary.

10. The autonomous robot according to claim 9 , wherein acquiring the initial map selected from the external database comprises:
sending, to a server, a plot selection request carrying plot identification information; and
receiving a plot selection response carrying a plot map, and using the plot map as the initial map, wherein the plot map is obtained by matching from a plot database by the server according to the plot identification information.

11. The autonomous robot according to claim 9 , wherein acquiring the initial map selected from the external database comprises:
receiving the initial map sent by a third party, wherein the initial map is selected from the plot database or an electronic map by the third party.

12. The autonomous robot according to claim 9 , wherein performing the boundary detection comprises:
determining, according to detection data collected by a boundary detection apparatus of the autonomous robot, whether a boundary point is detected;
recording a heading angle of the autonomous robot and first coordinates outputted by a positioning apparatus of the autonomous robot at a time point when the boundary point is detected;
determining second coordinates of the boundary point according to the first coordinates, the heading angle, a distance between the positioning apparatus and the boundary detection apparatus, and the detection data; and
forming the measured boundary according to respective second coordinates of each detected boundary point.

13. The autonomous robot according to claim 9 , wherein the autonomous robot is further configured to:
maintain a preset safe distance from the initial boundary when the boundary detection is performed, wherein maintaining the preset safe distance from the initial boundary comprises:
causing the autonomous robot to maintain a first safe distance from a dangerous boundary segment in the initial boundary; and
causing the autonomous robot to maintain a second safe distance from a non-dangerous boundary segment in the initial boundary, wherein the second safe distance is less than the first safe distance.

14. The autonomous robot according to claim 13 , wherein the autonomous robot is further configured to:
determine, when the boundary detection i

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming

Classifications

• G05D1/0285

  using signals transmitted via a public communication network, e.g. GSM network · CPC title

• G05D1/0214

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0263

  using magnetic strips · CPC title

• G05D1/0257

  using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931) · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title