WO2023274177A1

WO2023274177A1 - Map construction method and apparatus, device, warehousing system, and storage medium

Info

Publication number: WO2023274177A1
Application number: PCT/CN2022/101649
Authority: WO
Inventors: 何家伟; 李汇祥
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2021-06-30
Filing date: 2022-06-27
Publication date: 2023-01-05
Also published as: CN113387099A; CN113387099B

Abstract

A map construction method and apparatus, a device, a warehousing system, and a storage medium. The map construction method comprises: obtaining detection data collected by a robot fleet, the robot fleet comprising a first robot and at least one second robot, the first robot being a robot at the head of the robot fleet, and a subsequent robot of the robot fleet moving following a previous robot; according to the detection data, constructing a map of a warehouse of the warehousing system, so as to achieve construction of a map of the warehouse on the basis of the robot fleet, improving map construction efficiency, and also achieve accurate robot navigation on the basis of the constructed map.

Description

地图构建方法、装置、设备、仓储***及存储介质Map construction method, device, equipment, storage system and storage medium

本申请要求于2021年06月30日提交中国专利局、申请号为202110745094.5、申请名称为“地图构建方法、装置、设备、仓储***及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application submitted to the China Patent Office on June 30, 2021, with the application number 202110745094.5, and the application name is "map construction method, device, equipment, storage system and storage medium", the entire content of which is passed References are incorporated in this application.

技术领域technical field

本公开涉及智能仓储技术领域，尤其涉及一种地图构建方法、装置、设备、仓储***及存储介质。The present disclosure relates to the technical field of intelligent storage, and in particular to a map construction method, device, equipment, storage system and storage medium.

背景技术Background technique

基于机器人的智能仓储***采用智能操作***，通过***指令实现货物的自动提取和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛的应用和青睐。The robot-based intelligent warehousing system adopts an intelligent operating system, realizes the automatic extraction and storage of goods through system instructions, and can run 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored. .

机器人在智能仓储***的仓库中移动，执行作业任务时，需要基于传感器确定自身所处的位置，即对机器人进行定位，进而基于机器人的定位进行路径规划和导航，从而到达指定位置进行作业。可以通过预先构建的仓库的地图，进行机器人的定位和导航。The robot moves in the warehouse of the intelligent warehousing system. When performing tasks, it needs to determine its own position based on the sensor, that is, position the robot, and then perform path planning and navigation based on the positioning of the robot, so as to reach the designated location for operation. Robot positioning and navigation can be performed through a pre-built warehouse map.

在现有技术中，仓库的地图往往是由一个机器人遍历整个仓库的方式进行构建，地图构建效率较低，无法满足需求。In the existing technology, the map of the warehouse is often constructed by a robot traversing the entire warehouse. The efficiency of map construction is low and cannot meet the demand.

发明内容Contents of the invention

本公开提供一种地图构建方法、装置、设备、仓储***及存储介质，通过机器人车队构建环境的地图，提高了地图构建的效率，实现了对机器人的可靠定位和导航。The present disclosure provides a map construction method, device, equipment, storage system, and storage medium, which improves the efficiency of map construction and realizes reliable positioning and navigation of robots by constructing an environmental map by a robot fleet.

第一方面，本公开实施例提供了一种地图构建方法，该方法应用于仓储***，该方法包括：In the first aspect, the embodiment of the present disclosure provides a method for constructing a map, the method is applied to a storage system, and the method includes:

得到机器人车队采集的检测数据，其中，所述机器人车队包括第一机器人和至少一个第二机器人，所述第一机器人为所述机器人车队队首的机器人，所述机器人车队的后一机器人跟随前一机器人进行移动；根据所述检测数据，构建仓储***的仓库的地图。The detection data collected by the robot fleet is obtained, wherein the robot fleet includes a first robot and at least one second robot, the first robot is the robot at the head of the robot fleet, and the latter robot of the robot fleet follows the former robot. A robot moves; according to the detection data, a warehouse map of the storage system is constructed.

可选的，得到机器人车队采集的检测数据，包括：Optionally, obtain the detection data collected by the robot fleet, including:

得到所述第一机器人的第一传感器采集的第一检测数据；得到所述至少一个第二机器人的第二传感器采集的第二检测数据；其中，所述第一检测数据包括所述机器人车队的前方区域的环境信息，所述第二检测数据包括所述机器人车队的左侧区域和右侧区域的环境信息。Obtaining the first detection data collected by the first sensor of the first robot; obtaining the second detection data collected by the second sensor of the at least one second robot; wherein the first detection data includes the robot fleet The environment information of the front area, the second detection data includes the environment information of the left area and the right area of the robot convoy.

可选的，所述机器人车队还包括第三机器人，其中，所述第三机器人为所述机器人车队队尾的机器人，所述检测数据还包括所述第三机器人的第三传感器采集的第三检测数据，所述第三检测数据包括所述机器人车队的后方区域的环境信息。Optionally, the robot convoy also includes a third robot, where the third robot is the robot at the end of the robot convoy, and the detection data also includes the third robot collected by the third sensor of the third robot. detection data, the third detection data includes environmental information of the rear area of the robot convoy.

可选的，当所述机器人车队移动至预设位置时，所述机器人车队拆分为多个机器人子车队，得到机器人车队采集的检测数据，包括：Optionally, when the robot fleet moves to a preset position, the robot fleet is split into multiple robot sub-fleets to obtain detection data collected by the robot fleet, including:

得到各个机器人子车队采集的检测子数据，以基于各个检测子数据构建所述仓库预设区域的地图。The detection sub-data collected by each robot sub-team is obtained, so as to build a map of the preset area of the warehouse based on each detection sub-data.

可选的，所述方法还包括：Optionally, the method also includes:

根据所述检测数据，判断所述机器人车队所处位置是否包括分支路线；若是，则将所述机器人车队拆分为预设数量的机器人子车队，以由各个机器人子车队检测所述分支路线，其中，所述预设数量小于或等于所述分支路线的数量。According to the detection data, it is judged whether the position of the robot fleet includes a branch route; if so, the robot fleet is split into a preset number of robot sub-teams, so that each robot sub-team can detect the branch route, Wherein, the preset number is less than or equal to the number of branch routes.

可选的，将所述机器人车队拆分为预设数量的机器人子车队，包括：Optionally, the robot fleet is split into a preset number of robot sub-teams, including:

获取所述分支路线的类型；根据所述分支路线的类型以及所述分支路线的数量，将所述机器人车队拆分为预设数量的机器人子车队。Obtaining the type of the branch route; splitting the robot fleet into a preset number of robot sub-convoys according to the type of the branch route and the number of the branch routes.

可选的，根据所述分支路线的类型以及所述分支路线的数量，将所述机器人车队拆分为预设数量的机器人子车队，包括：Optionally, according to the type of the branch route and the number of the branch routes, the robot fleet is split into a preset number of robot sub-teams, including:

针对每个分支路线，若当前分支路线的类型为立柱分支类型时，从所述机器人车队中确定至少一个机器人为所述当前分支路线的机器人子车队；或，针对每个分支路线，若当前分支路线的类型为地面类型、天轨分支类型或货架环形分支类型时，从所述机器人车队中确定至少两个机器人为所述当前分支路线的机器人子车队；其中，所述立柱分支为所述仓库的货架的立柱对应的分支，所述天轨分支为所述货架顶部的天轨上路径对应的分支，所述货架环形分支为所述货架四周设置的具有设定水平高度的环形轨道上的路径对应的分支。For each branch route, if the type of the current branch route is a column branch type, determine at least one robot from the robot fleet as the robot sub-team of the current branch route; or, for each branch route, if the current branch route When the type of the route is the ground type, the sky rail branch type or the shelf ring branch type, at least two robots are determined from the robot fleet as the robot sub-team of the current branch route; wherein, the column branch is the warehouse The branch corresponding to the column of the shelf, the branch of the sky rail is the branch corresponding to the path on the sky rail at the top of the shelf, and the annular branch of the shelf is the path on the circular track with a set horizontal height set around the shelf the corresponding branch.

从所述机器人车队的队首或队尾，依次将所述机器人车队拆分为预设数量的机器人子车队。From the head or tail of the robot fleet, the robot fleet is sequentially split into a preset number of robot sub-teams.

可选的，在将所述机器人车队拆分为预设数量的机器人子车队之后，所述方法还包括：Optionally, after the robot fleet is split into a preset number of robot sub-teams, the method further includes:

针对每个机器人子车队的各个机器人，根据所述机器人子车队的机器人的数量以及所述机器人在所述机器人子车队的位置，确定所述机器人用于采集数据的传感器。For each robot of each robot sub-convoy, according to the number of robots in the robot sub-convoy and the positions of the robots in the robot sub-convoy, determine the sensors used by the robots for collecting data.

可选的，当所述机器人车队所处位置包括分支路线时，所述方法还包括：Optionally, when the location of the robot fleet includes a branch route, the method further includes:

判断所述机器人车队的机器人数量是否大于或等于预设阈值。Judging whether the number of robots in the robot fleet is greater than or equal to a preset threshold.

相应的，将所述机器人车队拆分为预设数量的机器人子车队，包括：Correspondingly, the robot fleet is split into a preset number of robot sub-teams, including:

若所述机器人车队的机器人数量大于或等于预设阈值，则将所述机器人车队拆分为预设数量的机器人子车队。If the number of robots in the robot fleet is greater than or equal to a preset threshold, the robot fleet is split into a preset number of robot sub-fleets.

可选的，在得到各个机器人子车队采集的检测子数据之后，所述方法还包括：Optionally, after obtaining the detection sub-data collected by each robot sub-team, the method further includes:

根据多个机器人子车队经过的重叠区域，对各个机器人子车队的检测子数据进行校正；基于校正后的各个检测子数据构建所述仓库预设区域的地图。Correcting the detection sub-data of each robot sub-convoy according to the overlapping areas passed by multiple robot sub-convoys; constructing a map of the preset area of the warehouse based on the corrected detection sub-data.

可选的，当所述机器人子车队所处位置包括分支路线时，所述方法还包括：Optionally, when the location of the robot sub-team includes a branch route, the method further includes:

判断所述机器人子车队所处位置对应的分支路线是否存在未检测路线；若是，则确定所述机器人子车队的移动方向为所述未检测路线对应的方向，以由所述机器人子车队采集所述未检测路线的检测子数据；若否，则确定所述机器人子车队的移动方向为目标子车队对应的方向，或控制所述机器人子车队进入待机状态，其中，目标子车队为与所述机器人子车队距离最近的其他机器人子车队，或者为机器人的数量最多的其他机器人子车队。Judging whether there is an undetected route in the branch route corresponding to the position of the robot sub-team; If not, then determine that the moving direction of the robot sub-team is the direction corresponding to the target sub-team, or control the robot sub-team to enter a standby state, wherein the target sub-team is the same as the target sub-team The robot sub-team is the closest other robot sub-team, or the other robot sub-team with the largest number of robots.

可选的，当所述机器人子车队所处位置对应的分支路线不存在未检测路线时，所述方法还包括：Optionally, when there is no undetected route in the branch route corresponding to the location of the robot sub-convoy, the method further includes:

获取所述仓库的预设检测路线，其中，所述预设检测路线为未被机器人车队或机器人子车队检测的路线；控制所述机器人子车队移动至所述预设检测路线，以得到所述预设检测路线的监测数据。Obtaining the preset detection route of the warehouse, wherein the preset detection route is a route that has not been detected by the robot fleet or the robot sub-team; controlling the robot sub-team to move to the preset detection route, so as to obtain the The monitoring data of the preset detection route.

根据各个机器人子车队采集的检测子数据，确定各个机器人子车队的子车队位置；根据所述子车队位置以及各个机器人子车队的移动方向，将各个机器人子车队进行合并，以得到机器人合并车队；根据各个机器人在所述机器人合并车队的位置，确定各个机器人用于采集数据的传感器。According to the detection sub-data collected by each robot sub-team, determine the sub-team position of each robot sub-team; according to the sub-team position and the moving direction of each robot sub-team, merge each robot sub-team to obtain the robot merged fleet; According to the position of each robot in the combined robot fleet, the sensors used by each robot to collect data are determined.

针对每个机器人子车队，根据所述机器人子车队采集的检测子数据和/或各机器人子车队反馈的定位信息，判断所述机器人子车队的检测范围内是否存在其他机器人子车队；若是，则将所述机器人子车队与其他机器人子车队进行合并，以得到机器人合并车队；根据各个机器人在所述机器人合并车队的位置，确定各个机器人用于采集数据的传感器。For each robot sub-team, judge whether there are other robot sub-teams within the detection range of the robot sub-team according to the detection sub-data collected by the robot sub-team and/or the positioning information fed back by each robot sub-team; if so, then Combining the robot sub-convoy with other robot sub-convoys to obtain a robot convoy; according to the position of each robot in the robot convoy, determine the sensors used by each robot to collect data.

当确定第一数量的机器人子车队在预设时间内在预设分支点汇合时，判断所述预设分支点对应的未检测方向的数量是否小于所述第一数量，其中，预设分支点对应多个分支路线，未检测方向为预设分支点对应的未被检测的分支路线所在的方向；若是，则根据所述第一数量以及所述预设分支点对应的未检测方向的数量，确定第一数量的机器人子车队的合并策略，以基于所述合并策略进行机器人子车队的合并，得到机器人合并车队，其中，所述合并策略包括合并的机器人子车队及其合并方式。When it is determined that the first number of robot sub-convoys meet at a preset branch point within a preset time, it is judged whether the number of undetected directions corresponding to the preset branch point is less than the first number, wherein the preset branch point corresponds to Multiple branch routes, the undetected direction is the direction of the undetected branch route corresponding to the preset branch point; if so, determine according to the first number and the number of undetected directions corresponding to the preset branch point The merging strategy of the first number of robot sub-fleets is used to merge the robot sub-fleets based on the merging strategy to obtain the robot merging fleet, wherein the merging strategy includes the merged robot sub-fleets and their merging methods.

可选的，在构建仓储***的仓库的地图之后，所述方法还包括：Optionally, after constructing the warehouse map of the storage system, the method further includes:

得到作业机器人或第二机器人车队采集的更新检测数据，其中，所述作业机器人为仓储任务的机器人，仓储任务包括料箱搬运、理库和货架巡视中的一项或多项；根据所述更新检测数据更新所构建的所述仓库的地图。Obtain the updated detection data collected by the operating robot or the second robot fleet, wherein the operating robot is a robot for storage tasks, and the storage tasks include one or more of material box handling, warehouse sorting and shelf inspection; according to the update The detection data updates the constructed map of the warehouse.

第二方面，本公开实施例还提供了一种地图构建装置，该装置包括：In a second aspect, an embodiment of the present disclosure further provides a map construction device, which includes:

数据获取模块，用于得到机器人车队采集的检测数据，其中，所述机器人车队包括第一机器人和至少一个第二机器人，所述第一机器人为所述机器人车队队首的机器人，所述机器人车队的后一机器人跟随前一机器人进行移动；地图构建模块，用于根据所述检测数据，构建仓储***的仓库的地图。The data acquisition module is used to obtain the detection data collected by the robot fleet, wherein the robot fleet includes a first robot and at least one second robot, the first robot is the robot at the head of the robot fleet, and the robot fleet The latter robot follows the previous robot to move; the map construction module is used to construct a warehouse map of the storage system according to the detection data.

第三方面，本公开实施例还提供了一种地图构建设备，包括：存储器和至少一个处理器；所述存储器存储计算机执行指令；所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行本公开第一方面对应的任意实施例提供的地图构建方法。In a third aspect, an embodiment of the present disclosure further provides a map construction device, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, The at least one processor is made to execute the map construction method provided in any embodiment corresponding to the first aspect of the present disclosure.

第四方面，本公开实施例还提供了一种仓储***，包括仓库、多个机器人以及本公开第三方面对应的实施例提供的地图构建设备。In a fourth aspect, an embodiment of the present disclosure further provides a warehouse system, including a warehouse, a plurality of robots, and the map construction device provided in the embodiment corresponding to the third aspect of the present disclosure.

第五方面，本公开实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如本公开第一方面对应的任意实施例提供的地图构建方法。In the fifth aspect, the embodiment of the present disclosure also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the first method of the present disclosure is realized. The map construction method provided by any embodiment corresponding to the aspect.

第六方面，本公开实施例还提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如本公开第一方面对应的任意实施例提供的地图构建方法。In a sixth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the map construction method provided in any embodiment corresponding to the first aspect of the present disclosure is implemented.

本公开实施例提供的地图构建方法、装置、设备、仓储***及存储介质，针对包括多个机器人的仓储***，基于由多个机器人组成的机器人车队进行仓库检测数据的采集，进而基于检测数据构建仓储***仓库的地图，通过机器人车队的方式进行数据采集，使得在一次采集中，可以采集较多的检测数据，提高了数据采集的速度，使得机器人车队可以以较快地速度采集仓库的全部数据，减少了构建地图所需的时间，提高了仓库地图构建的效率。The map construction method, device, equipment, storage system, and storage medium provided by the embodiments of the present disclosure aim at a storage system including multiple robots, collect warehouse detection data based on a robot fleet composed of multiple robots, and then construct a map based on the detection data. The warehouse map of the warehousing system collects data through the robot fleet, so that more detection data can be collected in one collection, and the speed of data collection is improved, so that the robot fleet can collect all the data of the warehouse at a faster speed. , which reduces the time required to build maps and improves the efficiency of warehouse map construction.

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

图1为本公开实施例提供的地图构建方法的一种应用场景图；FIG. 1 is an application scenario diagram of a map construction method provided by an embodiment of the present disclosure;

图2为本公开一个实施例提供的地图构建方法的流程图；FIG. 2 is a flowchart of a map construction method provided by an embodiment of the present disclosure;

图3A为本公开图2所示实施例中机器人车队在仓库中检测的示意图；FIG. 3A is a schematic diagram of the detection of the robot fleet in the warehouse in the embodiment shown in FIG. 2 of the present disclosure;

图3B为本公开图3A所示实施例中机器人车队拆分的示意图；FIG. 3B is a schematic diagram of the splitting of the robot fleet in the embodiment shown in FIG. 3A of the present disclosure;

图4为本公开另一个实施例提供的地图构建方法的流程图；FIG. 4 is a flowchart of a map construction method provided by another embodiment of the present disclosure;

图5A至图5C为本申请图4所示实施例中机器人车队拆分过程的示意图；5A to 5C are schematic diagrams of the splitting process of the robot fleet in the embodiment shown in FIG. 4 of the present application;

图5D至图5F为本申请图4所示实施例中另一种机器人车队拆分过程的示意图；5D to 5F are schematic diagrams of another robot fleet splitting process in the embodiment shown in FIG. 4 of the present application;

图5G为本申请图4所示实施例中机器人子车队合并的示意图；Figure 5G is a schematic diagram of the merging of robot sub-teams in the embodiment shown in Figure 4 of the present application;

图5H为本申请图4所示实施例中另一种机器人子车队合并的示意图；FIG. 5H is a schematic diagram of another robot sub-team merging in the embodiment shown in FIG. 4 of the present application;

图5I为本申请图4所示实施例中另一种机器人子车队的合并的示意图；FIG. 5I is a schematic diagram of the merger of another robot sub-team in the embodiment shown in FIG. 4 of the present application;

图5J为本公开图4所示实施例中各个机器人子车队在仓库中检测的示意图；FIG. 5J is a schematic diagram of the detection of each robot sub-team in the warehouse in the embodiment shown in FIG. 4 of the present disclosure;

图5K为本公开图5J所示实施例中机器人子车队合并的示意图；FIG. 5K is a schematic diagram of the merging of robot sub-teams in the embodiment shown in FIG. 5J of the present disclosure;

图6为本公开一个实施例提供的地图构建装置的结构示意图；FIG. 6 is a schematic structural diagram of a map construction device provided by an embodiment of the present disclosure;

图7为本公开一个实施例提供的地图构建设备的结构示意图；FIG. 7 is a schematic structural diagram of a map construction device provided by an embodiment of the present disclosure;

图8为本公开一个实施例提供的仓储***的结构示意图。Fig. 8 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.

通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。By means of the above-mentioned drawings, certain embodiments of the present disclosure have been shown and will be described in more detail hereinafter. These drawings and written description are not intended to limit the scope of the disclosed concept in any way, but to illustrate the disclosed concept for those skilled in the art by referring to specific embodiments.

具体实施方式detailed description

这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。The technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

下面对本公开实施例的应用场景进行解释：The application scenarios of the embodiments of the present disclosure are explained below:

图1为本公开实施例提供的地图构建方法的一种应用场景图，如图1所示，本公开实施例提供的地图构建方法可以地图构建设备执行，该地图构建设备的形式可以为计算机或服务器。为了实现机器人110在仓库120作业时的自动导航，需要首先绘制仓库120的地图，进而机器人110在仓库中行走时，可以基于自身的定位以及地图，进行导航，以到达目标货架130，从而进行相应的仓储作业。Figure 1 is an application scene diagram of the map construction method provided by the embodiment of the present disclosure. As shown in Figure 1, the map construction method provided by the embodiment of the present disclosure can be executed by a map construction device, and the map construction device can be in the form of a computer or server. In order to realize the automatic navigation of the robot 110 when working in the warehouse 120, it is necessary to first draw a map of the warehouse 120, and then when the robot 110 walks in the warehouse, it can navigate based on its own positioning and the map to reach the target shelf 130, so as to carry out corresponding tasks. warehousing operations.

在现有技术中，在构建仓库120的地图时，往往通过一个机器人110遍历整个仓库120的形式进行。随着物流行业的飞速发展，仓库120的面积也越来越大，仅基于一个机器人110进行仓库120地图构建的方式，效率较低，无法满足需求。In the prior art, when constructing the map of the warehouse 120 , it is usually carried out in the form of a robot 110 traversing the entire warehouse 120 . With the rapid development of the logistics industry, the area of the warehouse 120 is also getting larger and larger. The method of constructing the map of the warehouse 120 based on only one robot 110 is inefficient and cannot meet the demand.

为了提高地图构建的效率，本公开实施例提供的地图构建方法实现了基于机器人车队进行检测数据采集，从而提高了数据采集的效率，进而基于机器人车队采集的检测数据构建仓库的地图，提高了地图构建的效率。In order to improve the efficiency of map construction, the map construction method provided by the embodiment of the present disclosure realizes the collection of detection data based on the robot fleet, thereby improving the efficiency of data collection, and then builds a map of the warehouse based on the detection data collected by the robot fleet, improving the map. build efficiency.

图2为本公开一个实施例提供的地图构建方法的流程图，如图2所示，该地图构建方法适用于仓储***，可以由地图构建设备执行，该地图构建设备可以为计算机、服务器或者其他数据处理设备。本实施例提供的地图构建方法包括以下步骤：Fig. 2 is a flowchart of a map construction method provided by an embodiment of the present disclosure. As shown in Fig. 2, the map construction method is suitable for a storage system and can be executed by a map construction device, which can be a computer, server or other data processing equipment. The map construction method provided by this embodiment includes the following steps:

步骤S201，得到机器人车队采集的检测数据。Step S201, obtaining the detection data collected by the robot fleet.

其中，所述机器人车队包括第一机器人和至少一个第二机器人，所述第一机器人为所述机器人车队队首的机器人，所述机器人车队的后一机器人跟随前一机器人进行移动。第二机器人的数量可以为1个、2个、3个甚至更多，可以根据仓库的尺寸确定。Wherein, the robot convoy includes a first robot and at least one second robot, the first robot is the first robot in the robot convoy, and the subsequent robot in the robot convoy moves following the previous robot. The quantity of the second robot can be 1, 2, 3 or even more, and can be determined according to the size of the warehouse.

具体的，机器人车队的各个机器人上设置有传感器，如2D相机、3D相机、激光雷达等，以基于该各个机器人上设置的传感器进行检测数据的采集。Specifically, sensors, such as 2D cameras, 3D cameras, and laser radars, are installed on each robot of the robot fleet, so as to collect detection data based on the sensors installed on each robot.

具体的，机器人车队的各个机器人在行走时，可以实时将采集的检测数据发送至数据处理设备，如地图构建设备。或者数据处理设备可以按照设定周期获取机器人车队各个机器人采集的检测数据。Specifically, when each robot in the robot fleet is walking, it can send the collected detection data to a data processing device, such as a map construction device, in real time. Or the data processing device can acquire the detection data collected by each robot of the robot fleet according to a set period.

具体的，机器人车队的各个机器人可以将行走时所采集的检测数据发送至队首的机器人，即第一机器人，进而由第一机器人，实时或按照设定周期将各个机器人采集的检测数据发送至地图构建设备。Specifically, each robot in the robot fleet can send the detection data collected during walking to the robot at the head of the team, that is, the first robot, and then the first robot will send the detection data collected by each robot to the robot in real time or according to a set period. Map building equipment.

可选的，针对每个机器人，可以根据机器人的位置信息，确定机器人用于采集数据的传感器，即机器人启用的传感器。Optionally, for each robot, the sensor used by the robot to collect data may be determined according to the position information of the robot, that is, the sensor enabled by the robot.

其中，位置信息可以机器人所处位置的高度。Wherein, the position information may be the height of the position where the robot is located.

示例性的，当机器人位于立柱上时，启用的传感器可以包括机器人下表面设置的传感器，而当机器人位于地面或天轨上时，则禁用机器人下表面设置的传感器。Exemplarily, when the robot is on the column, the enabled sensors may include sensors arranged on the lower surface of the robot, and when the robot is on the ground or on the sky rail, the sensors arranged on the lower surface of the robot are disabled.

进一步地，若机器人所处位置为已检测位置，则禁用机器人的各个传感器。其中，已检测位置为机器人在历史时间经过并已采集检测数据的位置。Further, if the position of the robot is a detected position, each sensor of the robot is disabled. Wherein, the detected position is the position where the robot has passed and collected detection data in the historical time.

在一些实施例中，第一机器人和第二机器人上可以设置有相同数量的传感器，各个传感器的安装位置可以相同，可以分别设置在机器人的各个表面，如每个表面至少设置一个传感器。第一机器人和第二机器人用于采集数据的传感器，即启用的传感器可以不同。In some embodiments, the first robot and the second robot may be provided with the same number of sensors, each sensor may be installed at the same location, and may be respectively provided on each surface of the robot, for example, at least one sensor may be provided on each surface. The sensors used by the first robot and the second robot to collect data, ie the enabled sensors may be different.

在一些实施例中，第一机器人和第二机器人上设置的传感器的位置和数量可以不同，如第一机器人上的传感器可以至少为1个，可以设置在第一机器人的前表面；第二机器人上可以设置有至少两个传感器，分别设置在第二机器人的左右两个侧面。当然，第一机器人上设置的传感器数量还可以为2个，如分别设置在第一机器人的前表面和下表面；第二机器人上设置的传感器的数量还可以为3个，分别设置在第二机器人的左侧面、右侧面和后表面。In some embodiments, the positions and quantities of the sensors arranged on the first robot and the second robot can be different, for example, there can be at least one sensor on the first robot, which can be arranged on the front surface of the first robot; At least two sensors may be provided on the top of the second robot, which are respectively arranged on the left and right sides of the second robot. Of course, the number of sensors set on the first robot can also be 2, such as being respectively set on the front surface and the lower surface of the first robot; the number of sensors set on the second robot can also be 3, respectively set on the second Left, right and rear surfaces of the robot.

本公开对机器人车队的机器人数量，以及各个机器人上设置的传感器的数量、类型和安装位置均不进行限定，仅需确保检测数据至少包括机器人车队前方区域、左右两侧区域的环境对应的检测数据即可。This disclosure does not limit the number of robots in the robot fleet, as well as the number, type, and installation location of the sensors installed on each robot. It is only necessary to ensure that the detection data includes at least the detection data corresponding to the environment in the front area of the robot fleet and the left and right sides. That's it.

得到所述第一机器人的第一传感器采集的第一检测数据；得到所述至少一个第二机器人的第二传感器采集的第二检测数据。Obtaining first detection data collected by the first sensor of the first robot; obtaining second detection data collected by the second sensor of the at least one second robot.

其中，所述第一检测数据包括所述机器人车队的前方区域的环境信息，所述第二检测数据包括所述机器人车队的左侧区域和右侧区域的环境信息。第一传感器为第一机器人启用的传感器，第二传感器则为第二机器人启用的传感器。第一传感器的数量可以为1个，可以设置在第一机器人的前表面的任意位置。第一传感器的数量还可以多个，除了设置在第一机器人的前表面，还可以设置在第一机器人的左右两个侧面、下表面等表面的任意位置，以采集相应区域的检测数据。第二传感器的数量可以2个，分别设置在第二机器人的左侧面和右侧面。第二传感器的数量还可以3个、4个或者其他数量，除了设置在第二机器人的左侧面和右侧面，还可以第二机器人的下表面、后表面等表面。Wherein, the first detection data includes the environment information of the front area of the robot fleet, and the second detection data includes the environment information of the left area and the right area of the robot fleet. The first sensor is a sensor enabled by the first robot, and the second sensor is a sensor enabled by the second robot. The number of the first sensor may be one, and it may be arranged at any position on the front surface of the first robot. The number of first sensors can also be more than one. In addition to being set on the front surface of the first robot, it can also be set on any position on the left and right sides, the lower surface and other surfaces of the first robot to collect detection data of corresponding areas. The number of the second sensors can be 2, which are respectively arranged on the left side and the right side of the second robot. The number of the second sensors can also be 3, 4 or other numbers, in addition to being arranged on the left side and the right side of the second robot, it can also be on the lower surface, rear surface and other surfaces of the second robot.

具体的，机器人每个表面设置的传感器的数量可以为一个，也可以为多个，需要根据传感器的视野范围确定。Specifically, the number of sensors provided on each surface of the robot may be one or multiple, which needs to be determined according to the field of view of the sensors.

示例性的，第一机器人在行走时启用的传感器，即第一传感器，可以为前表面上设置的传感器，第二机器人在行走时启用的传感器，即第二传感器可以为左右两个侧面，或者左侧面、右侧面以及后表面的传感器。Exemplarily, the sensor enabled by the first robot when walking, that is, the first sensor, can be a sensor set on the front surface, and the sensor enabled by the second robot when walking, that is, the second sensor can be the left and right sides, or Sensors on the left, right and rear surfaces.

示例性的，第二机器人的数量可以为1个，第一机器人在行走时启用的传感器，即第一传感器可以为前表面以及左右两个侧面的传感器，以使第一件机器人对应的检测数据为机器人车队视野范围的前半区域，第二机器人在行走时启动的传感器，即第二传感器可以为后表面以及左右两个侧面的传感器，以使第二机器人对应的检测数据为机器人车队视野范围的后半区域。Exemplarily, the number of the second robot can be 1, and the sensors activated by the first robot when walking, that is, the first sensor can be the sensors on the front surface and the left and right sides, so that the corresponding detection data of the first robot It is the front half area of the field of vision of the robot fleet. The sensor activated by the second robot when walking, that is, the second sensor can be the sensors on the rear surface and the left and right sides, so that the detection data corresponding to the second robot is the field of vision of the robot fleet. second half area.

示例性的，第二机器人的数量可以为2个，每个第二机器人在行走时启用的传感器，即第二传感器可以为第二机器人左右两个侧面的传感器。Exemplarily, the number of the second robot may be two, and the sensors activated by each second robot when walking, that is, the second sensors may be the sensors on the left and right sides of the second robot.

相应的，得到机器人车队采集的检测数据，还包括：得到第三机器人的第三传感器采集的第三检测数据。Correspondingly, obtaining the detection data collected by the robot fleet also includes: obtaining the third detection data collected by the third sensor of the third robot.

具体的，第三机器人的启用的传感器，即第三传感器可以设置在第三传感器的后表面的任意位置。第三机器人的前表面、下表面、左右两个侧面也可以设置有传感器。Specifically, the activated sensor of the third robot, that is, the third sensor may be arranged at any position on the rear surface of the third sensor. Sensors may also be provided on the front surface, the lower surface, and the left and right sides of the third robot.

具体的，第三机器人和各个第二机器人可以将采集的检测数据，即第二检测数据和第三检测数据发送至第一机器人，进而，由第一机器人将各个机器人的检测数据发送至地图构建设备。Specifically, the third robot and each second robot can send the collected detection data, that is, the second detection data and the third detection data to the first robot, and then, the first robot sends the detection data of each robot to the map construction equipment.

进一步地，地图构建设备在得到检测数据之后，还可以对检测数据进行预处理，如降噪处理、校准处理等。从而基于处理后的检测数据进行仓库地图的构建。Further, after the map construction device obtains the detection data, it may also perform preprocessing on the detection data, such as noise reduction processing, calibration processing, and the like. In this way, the warehouse map is constructed based on the processed detection data.

进一步地，地图构建设备还可以控制机器人车队进行拆分和合并，以由拆分或合并后的机器人车队进行检测数据的采集。如当地图构建设备确定机器人车队所处位置包括多个分支路线时，可以将机器人车队进行拆分，拆分后的机器人子车队的队首的机器人即为该机器人子车队的第一机器人。而当不同机器人子车队相遇时，又可以控制机器人子车队合并，形成一个新的机器人车队。Further, the map construction device can also control the robot fleet to split and merge, so that the split or merged robot fleet can collect detection data. For example, when the map construction device determines that the location of the robot fleet includes multiple branch routes, the robot fleet can be split, and the robot at the head of the split robot fleet is the first robot of the robot fleet. And when different robot sub-teams meet, they can control the robot sub-teams to merge to form a new robot team.

得到各个机器人子车队采集的检测子数据，以基于各个检测子数据构建所述仓库预设区域的地图。The detection sub-data collected by each robot sub-team are obtained, so as to construct a map of the preset area of the warehouse based on each detection sub-data.

其中，预设位置可以为预先设置的各个位置，还可以是分岔路口。预设区域则可以为预设位置对应的区域，或者可以是分岔路口对应的分支路线所在的区域。Wherein, the preset position may be each preset position, and may also be a fork in the road. The preset area may be the area corresponding to the preset location, or may be the area where the branch route corresponding to the bifurcation intersection is located.

具体的，可以根据预设位置的类型以及机器人车队中机器人的数量，确定机器人子车队的数量。预设位置的类型可以根据预设位置对应的分支路线的数量确定。Specifically, the number of robot sub-fleets can be determined according to the type of preset positions and the number of robots in the robot fleet. The type of the preset location may be determined according to the number of branch routes corresponding to the preset location.

具体的，地图构建设备可以基于历史时间采集的检测数据，进行地图构建，并基于当前构建的地图判断机器人车队所处位置，具体为第一机器人所处位置为否为预设位置，或者是否为分岔路口。进而，控制机器人车队拆分为多个机器人子车队，并确定每个机器人子车队的移动路线，进而基于各个机器人子车队进行检测数据采集，从而得到各个检测子数据，以基于各个检测子数据进行预设区域的地图的构建。Specifically, the map construction device can construct a map based on the detection data collected in historical time, and judge the location of the robot fleet based on the currently constructed map, specifically whether the location of the first robot is a preset location, or whether it is Fork in the road. Furthermore, the control robot fleet is divided into multiple robot sub-convoys, and the moving route of each robot sub-convoy is determined, and then the detection data is collected based on each robot sub-convoy, so as to obtain each detection sub-data, and based on each detection sub-data. Construction of maps of preset areas.

示例性的，图3A为本公开图2所示实施例中机器人车队在仓库中检测的示意图，图3B为本公开图3A所示实施例中机器人车队拆分的示意图，结合图3A和3B可知，机器人车队300由机器人301至机器人304组成，其中，机器人301即为上述第一机器人，机器人302和机器人303即为上述第二机器人，机器人304则为上述第三机器人，当机器人车队300移动至分岔路口I时，该分岔路口I对应两条分支路线，即路线R1和路线R2，则地图构建设备控制机器人车队300拆分为两个机器人子车队，即机器人子车队310和机器人子车队320，其中，机器人子车队310包括机器人301和机器人302，用于检测路线R1，机器人子车队320包括机器人303和机器人304，用于检测路线R2。Exemplarily, FIG. 3A is a schematic diagram of the detection of the robot fleet in the warehouse in the embodiment shown in FIG. 2 of the present disclosure, and FIG. 3B is a schematic diagram of the splitting of the robot fleet in the embodiment shown in FIG. 3A of the present disclosure. It can be seen from FIG. 3A and 3B , the robot team 300 is composed of robots 301 to 304, wherein the robot 301 is the first robot mentioned above, the robot 302 and the robot 303 are the second robots mentioned above, and the robot 304 is the third robot mentioned above. When the robot team 300 moves to When the bifurcation intersection I, the bifurcation intersection I corresponds to two branch routes, namely route R1 and route R2, then the map construction device controls the robot fleet 300 to split into two robot sub-convoys, namely the robot sub-convoy 310 and the robot sub-convoy 320, wherein the robot sub-team 310 includes a robot 301 and a robot 302 for detecting the route R1, and the robot sub-team 320 includes a robot 303 and a robot 304 for detecting the route R2.

步骤S202，根据所述检测数据，构建仓储***的仓库的地图。Step S202, constructing a warehouse map of the storage system according to the detection data.

其中，该仓库的地图可以是拓扑图、三维地图或者其他形式的地图。该仓库的地图可以是以机器人车队当前位置为起点或原点，将机器人车队周边环境的特征数据化之后，得到的周边环境的地图。该地图还可以是机器人车队所经过的环境的地图。Wherein, the map of the warehouse may be a topological map, a three-dimensional map or other forms of maps. The map of the warehouse can be a map of the surrounding environment obtained after digitizing the characteristics of the surrounding environment of the robot fleet with the current position of the robot fleet as the starting point or origin. The map may also be a map of the environment through which the fleet of robots travels.

具体的，可以根据机器人车队采集的检测数据，提取仓库的各个环境特征，进而基于各个环境特征，构建仓库的地图。Specifically, various environmental features of the warehouse can be extracted according to the detection data collected by the robot fleet, and then a map of the warehouse can be constructed based on each environmental feature.

具体的，可以基于预设构图模型，接收检测数据，该检测数据包括第一检测数据和第二检测数据，还可以包括第三检测数据，从而得到机器人所处环境的环境地图。Specifically, detection data may be received based on a preset composition model, and the detection data may include first detection data and second detection data, and may also include third detection data, so as to obtain an environment map of the environment where the robot is located.

进一步地，该预设构图模型可以为视觉SLAM(Simultaneous Localization And Mapping，同步定位与建图)的构图模型，如ORB(Oriented FAST and Rotated BRIEF，特征检测与描述算法)-SLAM***、LSD Large-Scale Direct Monocular，基于直接法的大范围单目算法)-SLAM(***。Further, the preset composition model can be a visual SLAM (Simultaneous Localization And Mapping, synchronous positioning and mapping) composition model, such as ORB (Oriented FAST and Rotated BRIEF, feature detection and description algorithm)-SLAM system, LSD Large- Scale Direct Monocular, a large-scale monocular algorithm based on the direct method)-SLAM (system.

其中，ORB是基于FAST(Features From Accelerated Segment Test，快速特征提取和描述算法)和BRIEF(Binary Robust Independent Elementary Features，基于二进制鲁棒独立基本特征描述算法)的算法，具体为基于FAST算法快速检测提取特征或者快速确定关键点，基于BRIEF算法计算各个特征或者关键点的描述子，从而进行特征匹配和重定位。Among them, ORB is an algorithm based on FAST (Features From Accelerated Segment Test, fast feature extraction and description algorithm) and BRIEF (Binary Robust Independent Elementary Features, based on binary robust independent basic feature description algorithm), specifically for fast detection and extraction based on the FAST algorithm Features or key points are quickly determined, and the descriptors of each feature or key point are calculated based on the BRIEF algorithm to perform feature matching and relocation.

具体的，该地图可以由每个检测周期对应的局部栅格地图组成，该局部栅格地图为根据相应检测周期的检测数据生成的，以机器人当前位置为起点的局部地图。Specifically, the map may be composed of a local grid map corresponding to each detection period, and the partial grid map is a partial map generated based on the detection data of the corresponding detection period and starting from the current position of the robot.

进一步地，在根据各个局部栅格地图构建环境地图时，可以加入回环检测或者闭环检测，以优化环境地图。Further, when constructing the environment map according to each local grid map, loop closure detection or loop closure detection may be added to optimize the environment map.

可选的，根据所述检测数据，构建仓储***的仓库的地图，包括：Optionally, according to the detection data, construct a warehouse map of the storage system, including:

针对所述机器人车队的每个机器人，将所述机器人各个传感器采集的检测数据进行数据融合，得到第一融合数据；根据各个机器人的相对位置关系以及各个第一融合数据，得到第二融合数据；根据所述第二融合数据，构建所述仓储***的仓库的地图。For each robot of the robot fleet, data fusion is performed on the detection data collected by each sensor of the robot to obtain first fusion data; according to the relative positional relationship of each robot and each first fusion data, second fusion data is obtained; A map of warehouses of the storage system is constructed according to the second fusion data.

具体的，当机器人启用的传感器为多个时，可以以机器人为单位，将每个机器人的各个传感器采集的检测数据进行数据融合，得到第一融合数据；进而以机器人车队为单位，将各个机器人对应的第一融合数据进行融合，得到第二融合数据，从而基于该第二融合数据构建仓库的地图。Specifically, when there are multiple sensors enabled by the robot, the detection data collected by each sensor of each robot can be fused with the robot as a unit to obtain the first fused data; The corresponding first fused data is fused to obtain second fused data, so as to construct a map of the warehouse based on the second fused data.

针对每个检测周期，根据上一检测周期对应的环境地图、所述检测周期对应的检测数据，构建所述检测周期对应的仓库的地图。For each detection period, according to the environment map corresponding to the previous detection period and the detection data corresponding to the detection period, a map of the warehouse corresponding to the detection period is constructed.

具体的，随着机器人车队的不断移动，得到各个检测周期对应的检测数据，在后续的检测周期进行构图时，会结合上一检测周期已构建的环境地图进行，基于后一检测周期对应的检测数据，对前一检测周期的环境地图进行更新和补充，从而逐步完善机器人车队所处仓库的地图。Specifically, with the continuous movement of the robot fleet, the detection data corresponding to each detection cycle is obtained. When composing a picture in the subsequent detection cycle, it will be combined with the environment map constructed in the previous detection cycle. Based on the detection data corresponding to the subsequent detection cycle Data, update and supplement the environmental map of the previous detection cycle, so as to gradually improve the map of the warehouse where the robot fleet is located.

具体的，根据每个检测周期的检测数据可以得到每帧局部栅格地图，将相邻帧的局部栅格地图进行对比，从而根据对比结果对当前帧的局部栅格地图进行优化，进而结合历史时间获取的各帧局部栅格地图，得到当前检测周期对应的地图。随着机器人车队的不断移动，得到新的局部栅格地图，对该仓库的地图进行扩充或更新，从而得到符合所检测的仓库实况的导航地图。Specifically, according to the detection data of each detection cycle, the local grid map of each frame can be obtained, and the local grid maps of adjacent frames are compared, so that the local grid map of the current frame can be optimized according to the comparison results, and then combined with the history The local grid map of each frame acquired at time, and the map corresponding to the current detection cycle is obtained. With the continuous movement of the robot fleet, a new local grid map is obtained, and the map of the warehouse is expanded or updated, so as to obtain a navigation map that conforms to the real situation of the detected warehouse.

具体的，可以在获取一连串的连续帧的局部栅格地图之后，如5帧、10帧或者其他数量，从而对该连续帧进行对比，根据对比结果对连续帧的各帧的局部栅格地图进行优化。或者可以基于相邻帧以及连续帧的对比结果进行优化。Specifically, after obtaining a series of local grid maps of consecutive frames, such as 5 frames, 10 frames or other numbers, the consecutive frames can be compared, and the local grid maps of each frame of the consecutive frames can be compared according to the comparison results. optimization. Or it can be optimized based on the comparison results of adjacent frames and consecutive frames.

根据所述第一检测数据，构建以第一机器人位置为地图参考点的第一地图；根据各个所述第二检测数据，构建以各个第二机器人位置为地图参考点的各个第二地图；根据所述第一地图和各个第二地图，构建所述环境地图。According to the first detection data, construct a first map with the position of the first robot as a map reference point; according to each of the second detection data, construct each second map with each second robot position as a map reference point; according to The first map and each second map construct the environment map.

具体的，可以根据第一检测数据和第二检测数据分别构图，从而得到各个机器人对应的地图，即第一机器人对应的第一地图和每个第二第机器人对应的第二地图，从而基于各个机器人对应的地图，构建仓库的地图。Specifically, the maps can be composed respectively according to the first detection data and the second detection data, so as to obtain the maps corresponding to each robot, that is, the first map corresponding to the first robot and the second map corresponding to each second robot, so that based on each The map corresponding to the robot builds the map of the warehouse.

进一步地，若机器人车队还包括第三机器人，则可以根据第三检测数据构建以第三机器人位置为地图参考点的第三地图，从而根据第一地图、第三地图和各个第二地图，构建所述环境地图。Further, if the robot fleet also includes a third robot, a third map with the position of the third robot as the map reference point can be constructed according to the third detection data, so that according to the first map, the third map and each second map, construct The environment map.

进一步地，可以基于上述预设构图模型，分别建立第一地图、第二地图和第三地图。Further, the first map, the second map, and the third map may be respectively established based on the above-mentioned preset composition model.

可选的，在构建仓储***的仓库的地图之后，还包括：Optionally, after constructing the warehouse map of the warehouse system, it also includes:

根据所述仓库的地图以及任务指令，对目标机器人进行路径规划，其中，所述目标机器人为执行所述任务指令的机器人。According to the map of the warehouse and the task instructions, path planning is performed for the target robot, wherein the target robot is a robot that executes the task instructions.

其中，该任务指令可以是取货指令、放货指令、理库指令、检查指令或者其他作业指令。Wherein, the task instruction may be a pick-up instruction, a delivery instruction, a sorting instruction, an inspection instruction or other operation instructions.

具体的，可以根据任务指令所涉及的一个或多个目标位置，以及预先建立的仓库的地图，对目标机器人进行路径规划，以使目标机器人顺利、高效地移动至各个目标位置，进行相应的任务。Specifically, the path planning of the target robot can be carried out according to one or more target positions involved in the task instruction and the map of the pre-established warehouse, so that the target robot can move to each target position smoothly and efficiently, and perform corresponding tasks .

进一步地，在得到各个检测数据之后，还可以判断该检测数据中有效数据的数据量，该有效数据可以是稳定的特征点或点云数据，若机器人车队采集第二检测数据的有效数据的数据量较少时，则可以仅基于第一检测数据进行环境地图的构建，当该传感器采集的第二检测数据的有效数据长期较少，如少于预设数据量，则上报该传感器异常，以便于及时进行传感器维护。Further, after each detection data is obtained, the amount of valid data in the detection data can also be judged. The valid data can be stable feature points or point cloud data. When the amount is small, the construction of the environmental map can be carried out only based on the first detection data. When the effective data of the second detection data collected by the sensor is less for a long time, such as less than the preset data amount, the abnormality of the sensor is reported, so that For timely sensor maintenance.

本公开实施例提供的地图构建方法，针对包括多个机器人的仓储***，基于由多个机器人组成的机器人车队进行仓库检测数据的采集，进而基于检测数据构建仓储***仓库的地图，通过机器人车队的方式进行数据采集，使得在一次采集中，可以采集较多的检测数据，提高了数据采集的速度，使得机器人车队可以以较快地速度采集仓库的全部数据，减少了构建地图所需的时间，提高了仓库地图构建的效率。The map construction method provided by the embodiments of the present disclosure is aimed at a storage system including multiple robots, based on the collection of warehouse detection data based on a robot fleet composed of multiple robots, and then constructing a map of the warehouse of the storage system based on the detection data, through the robot fleet. The method of data collection makes it possible to collect more detection data in one collection, which improves the speed of data collection, enables the robot team to collect all the data of the warehouse at a faster speed, and reduces the time required for building maps. Improved the efficiency of warehouse map building.

图4为本公开另一个实施例提供的地图构建方法的流程图，本实施例提供的地图构建方法针对机器人车队拆分和合并的情况，本实施例提供的地图构建方法是在图2所示实施例的基础上，对步骤S201和步骤S202的进一步细化，以及在步骤S202之后增加更新地图的步骤，如图4所示，本实施例提供的地图构建方法包括以下步骤：Fig. 4 is a flowchart of a map construction method provided by another embodiment of the present disclosure. The map construction method provided by this embodiment is aimed at the splitting and merging of robot fleets. The map construction method provided by this embodiment is shown in Fig. 2 On the basis of the embodiment, step S201 and step S202 are further refined, and the step of updating the map is added after step S202, as shown in Figure 4, the map construction method provided by this embodiment includes the following steps:

步骤S401，得到机器人车队采集的检测数据。Step S401, obtaining the detection data collected by the robot fleet.

步骤S402，根据所述检测数据，判断所述机器人车队所处位置是否包括分支路线。Step S402, according to the detection data, it is judged whether the location of the robot convoy includes a branch route.

具体的，地图构建设备可以根据机器人车队在当前位置，即机器人所处位置，采集的检测数据，生成当前位置对应的地图，从而基于该当前位置对应的地图判断机器人车队所处位置是否包括分支路线。Specifically, the map construction device can generate a map corresponding to the current position according to the detected data collected by the robot fleet at the current position, that is, the position of the robot, so as to determine whether the position of the robot fleet includes a branch route based on the map corresponding to the current position .

步骤S403，若是，则判断所述机器人车队的机器人数量是否大于或等于预设阈值。Step S403, if yes, judge whether the number of robots in the robot fleet is greater than or equal to a preset threshold.

其中，预设阈值可以为一个默认数值，如3、4等，预设阈值可以为两个机器人子车队对应的机器人的最小数量。Wherein, the preset threshold may be a default value, such as 3, 4, etc., and the preset threshold may be the minimum number of robots corresponding to two robot sub-convoys.

具体的，不同的分支路线对应的机器人子车队的机器人的最小数量可以不同，可以预先设定各个分支路线对应的机器人子车队的机器人的最小数量。Specifically, the minimum number of robots in the robot sub-convoy corresponding to different branch routes may be different, and the minimum number of robots in the robot sub-convoy corresponding to each branch route may be preset.

示例性的，地面区域的分支路线对应的机器人子车队的机器人的最小数量可以为2，货架区域的分支路线的机器人子车队的机器人的最小数量可以为1，货架顶部的天轨的分支路线的机器人子车队的机器人的最小数量可以为2。Exemplarily, the minimum number of robots in the robot sub-convoy corresponding to the branch route in the ground area can be 2, the minimum number of robots in the robot sub-convoy corresponding to the branch route in the shelf area can be 1, and the branch route of the sky rail on the top of the shelf can be The minimum number of robots in a robot sub-fleet can be 2.

步骤S404，若所述机器人车队的机器人数量大于或等于预设阈值，则将所述机器人车队拆分为预设数量的机器人子车队。Step S404, if the number of robots in the robot fleet is greater than or equal to a preset threshold, split the robot fleet into a preset number of robot sub-fleets.

其中，所述预设数量小于或等于所述分支路线的数量。Wherein, the preset number is less than or equal to the number of branch routes.

具体的，当机器人车队的机器人数量较多，足以拆分为至少两个机器人子车队，则对机器人子车队进行拆分，以得到预设数量的机器人子车队。Specifically, when the number of robots in the robot fleet is large enough to be split into at least two robot sub-fleets, the robot sub-fleet is split to obtain a preset number of robot sub-fleets.

进一步地，当机器人车队的机器人数量充足，如大于各个分子路线的机器人子车队的机器人数量的最小数量之和，则预设数量为分支路线的数量。Further, when the number of robots in the robot fleet is sufficient, for example greater than the sum of the minimum number of robots in the robot sub-teams of each molecular route, the preset number is the number of branch routes.

其中，分支路线的类型可以包括地面类型、天轨分支类型、货架环形分支类型以及立柱分支类型中的至少一类。地面类型为位于地面的分支路线对应的类型；天轨分支类型为货架顶部的天轨上路径对应的分支的类型；货架环形分支类型为货架环形分支对应的类型，货架环形分支为货架四周设置的具有设定水平高度的环形轨道上的路径对应的分支；立柱分支类型为货架的立柱分支对应的类型。当机器人行走在立柱上时，机器人的一个侧面，可以是左侧面或右侧面，与立柱连接，以在立柱上行走。Wherein, the type of the branch route may include at least one of the ground type, the sky rail branch type, the shelf ring branch type and the column branch type. The ground type is the type corresponding to the branch route on the ground; the sky rail branch type is the branch type corresponding to the path on the sky rail at the top of the shelf; the shelf ring branch type is the type corresponding to the shelf ring branch, and the shelf ring branch is set around the shelf The branch corresponding to the path on the circular track with the set horizontal height; the column branch type is the type corresponding to the column branch of the shelf. When the robot walks on the column, one side of the robot, which may be the left side or the right side, is connected to the column to walk on the column.

具体的，由于不同类型的分支路线对机器人子车队的机器人数量的要求不同，因此，需要根据机器人车队所处位置对应的各个分支路线的类型以及分支路线的数量，将机器人车队拆分为预设数量的机器人子车队。Specifically, since different types of branch routes have different requirements for the number of robots in the robot fleet, it is necessary to split the robot fleet into preset Number of robot sub-fleets.

针对每个分支路线，若当前分支路线的类型为立柱分支类型时，从所述机器人车队中确定至少一个机器人为所述当前分支路线的机器人子车队；或，针对每个分支路线，若当前分支路线的类型为地面类型、天轨分支类型或货架环形分支类型时，从所述机器人车队中确定至少两个机器人为所述当前分支路线的机器人子车队。For each branch route, if the type of the current branch route is a column branch type, determine at least one robot from the robot fleet as the robot sub-team of the current branch route; or, for each branch route, if the current branch route When the type of the route is the ground type, the sky rail branch type or the shelf circular branch type, at least two robots from the robot fleet are determined to be the robot sub-teams of the current branch route.

其中，所述立柱分支为所述仓库的货架的立柱对应的分支，所述天轨分支为所述货架顶部的天轨上路径对应的分支，所述货架环形分支为所述货架四周设置的具有设定水平高度的环形轨道上的路径对应的分支。Wherein, the column branch is the branch corresponding to the column of the shelf in the warehouse, the sky rail branch is the branch corresponding to the path on the sky rail at the top of the shelf, and the shelf ring branch is a branch with Sets the level corresponding to the branches of the path on the circular track.

进一步地，可以按照预设顺序对机器人车队进行拆分，如从队首或队尾进行拆分。Furthermore, the robot fleet can be split according to a preset order, such as splitting from the head or tail of the team.

示例性的，图5A至图5C为本申请图4所示实施例中机器人车队拆分过程的示意图，结合图5A和图5C可知，机器人车队由机器人41至机器人44组成，当前包括两个分支路线，分支路线45和分支路线46，其中，分支路线45的类型为地面类型，分支路线46的类型则为立柱分支类型。图中的箭头为机器人或机器人所在的车队的行走方向。在图5A所示实施例中，将机器人车队分为两个子车队，分别进行分支路线45和分支路线46的检测，其中，分支路线45对应的子车队由机器人41、机器人42和机器人44组成，而分支路线46对应的机器人子车队仅包括机器人43，在图5A中是将机器人车队中的机器人，即机器人43拆分出来，形成机器人子车队，当然也可以将队尾的机器人，即机器人44拆分成机器人子车队，图5A中所示的拆分方式仅作为示例。进而如图5B所示，机器人43沿其对应的箭头方向向上行走，移动至分支路线46，以采集分支路线46的检测数据；剩余的机器人继续以车队形式，沿其对应的箭头方向向前行走，以采集分支路线45的检测数据。由于机器人43脱离了原来的机器人车队，位于机器人43后方的机器人44则需要沿其对应的箭头方向行走，从而与机器人41和机器人42组成新的机器人车队，拆分后的两个机器人子车队如图5C所示。Exemplarily, FIG. 5A to FIG. 5C are schematic diagrams of the splitting process of the robot fleet in the embodiment shown in FIG. 4 of the present application. It can be seen from FIG. 5A and FIG. Routes, a branch route 45 and a branch route 46, wherein the type of the branch route 45 is the ground type, and the type of the branch route 46 is the column branch type. The arrow in the figure is the walking direction of the robot or the team where the robot is located. In the embodiment shown in FIG. 5A , the robot convoy is divided into two sub-convoys, and the detection of the branch route 45 and the branch route 46 is performed respectively, wherein the sub-convoy corresponding to the branch route 45 is composed of a robot 41, a robot 42 and a robot 44, The robot sub-team corresponding to the branch route 46 only includes the robot 43. In FIG. Split into robot sub-fleets, the split shown in Figure 5A is just an example. Further, as shown in Figure 5B, the robot 43 walks upwards along its corresponding arrow direction and moves to the branch route 46 to collect the detection data of the branch route 46; the remaining robots continue to walk forward along the corresponding arrow direction in the form of a convoy , to collect the detection data of the branch route 45. Since the robot 43 has left the original robot fleet, the robot 44 behind the robot 43 needs to walk along its corresponding arrow direction, thereby forming a new robot fleet with the robot 41 and the robot 42. The two robot sub-teams after splitting are as follows: Figure 5C.

示例性的，假设机器人车队由6个机器人组成，若当前所处位置对应的分支路线为2 条，均为地面类型，则可以将机器人车队队尾的两个机器人确定为一条分支路线的机器人子车队，而剩余的4个机器人则为另一条分支路线的机器人子车队。当然，也可以将机器人车队等分为两个机器人子车队，以进行两条分支路线的检测。As an example, assume that the robot fleet consists of 6 robots. If there are 2 branch routes corresponding to the current location, both of which are ground types, then the two robots at the end of the robot fleet can be determined as the robot subroute of a branch route. fleet, and the remaining 4 robots are robot sub-convoys for another branch route. Of course, the robot fleet can also be equally divided into two robot sub-fleets to detect two branch routes.

示例性的，假设机器人车队由5个机器人组成，若当前所处位置对应的分支路线为3条，两条为地面类型，一条为立柱类型，则可以将队首的两个机器人确定为一条地面类型的分支路线的机器人子车队，第三个和第四个机器人确定为另一条地面类型的分支路线的机器人子车队，队尾的机器人则确定为立柱类型的分支路线的机器人。For example, suppose the robot team consists of 5 robots. If there are 3 branch routes corresponding to the current position, two of which are ground type and one is column type, then the two robots at the head of the team can be determined as a ground The robot sub-convoy of the type branch route, the third and fourth robots are determined to be the robot sub-convoy of another ground type branch route, and the robot at the end of the team is determined to be the robot of the column type branch route.

具体的，当对机器人车队进行拆分得到各个机器人子车队之后，各个机器人子车队进行各个分支路线的检测，以构建各个分支路线的地图。当机器人子车队所处位置包括分支路线时，即机器人子车队移动至分岔路口时，若该分岔路口的各个分支路线均未检测，则可以继续按照前述方式对机器人子车队件拆分，得到更多的机器人车队，进行不同的分支路线的检测，提高数据采集的效率。Specifically, after the robot fleet is split to obtain robot sub-teams, each robot sub-team detects each branch route to construct a map of each branch route. When the position of the robot sub-convoy includes a branch route, that is, when the robot sub-convoy moves to a fork, if none of the branch routes at the fork is detected, the robot sub-convoy can continue to be split according to the aforementioned method. Get more robot fleets, detect different branch routes, and improve the efficiency of data collection.

示例性的，图5D至图5F为本申请图4所示实施例中另一种机器人车队拆分过程的示意图，结合图5D至图5F可知，在本实施例中，针对分支路线45和分支路线46，将机器人车队拆分为两个机器人子车队，分别进行分支路线45和分支路线46的检测，如图5D所示，分支路线45对应的子车队由机器人41和机器人42组成，而分支路线46对应的机器人子车队则由机器人43和机器人44组成，是将原来的机器人车队平均分为两个机器人子车队，队尾的两个组成一个子车队，队首的两个组成另一个子车队。进而，如图5E所示，机器人43和机器人44向上行走，以采集分支路线46的检测信息，机器人41和机器人42则向前行走，以采集分支路线45的检测信息。当机器人43和机器人44对应的机器人子车队完成分支路线45的检测任务之后，如图5F所示，机器人43和机器人44移动至货架顶部的天轨对应的路径，以进行天轨路径的检测。Exemplarily, FIG. 5D to FIG. 5F are schematic diagrams of another robot fleet splitting process in the embodiment shown in FIG. 4 of the present application. It can be seen from FIG. 5D to FIG. Route 46, the robot fleet is split into two robot sub-convoys, and branch route 45 and branch route 46 are detected respectively. As shown in Figure 5D, the sub-team corresponding to branch route 45 is composed of robot 41 and robot 42, and branch route 45 is composed of robot 41 and robot 42. The robot sub-convoy corresponding to route 46 is composed of robot 43 and robot 44. The original robot convoy is equally divided into two robot sub-convoys. convoy. Furthermore, as shown in FIG. 5E , the robot 43 and the robot 44 walk upwards to collect the detection information of the branch route 46 , and the robot 41 and the robot 42 walk forward to collect the detection information of the branch route 45 . After the robot sub-team corresponding to the robot 43 and the robot 44 completes the detection task of the branch route 45, as shown in FIG.

判断所述机器人子车队所处位置对应的分支路线是否存在未检测路线；若是，则确定所述机器人子车队的移动方向为所述未检测路线对应的方向，以由所述机器人子车队采集所述未检测路线的检测子数据；若否，则确定所述机器人子车队的移动方向为目标子车队对应的方向，或控制所述机器人子车队进入待机状态。Judging whether there is an undetected route in the branch route corresponding to the position of the robot sub-team; If not, then determine that the moving direction of the robot sub-team is the direction corresponding to the target sub-team, or control the robot sub-team to enter a standby state.

其中，目标子车队为与所述机器人子车队距离最近的其他机器人子车队，或者为机器人的数量最多的其他机器人子车队。未检测路线即未被任意一个机器人车队或机器人子车队检测的路线。Wherein, the target sub-convoy is the other robot sub-convoy with the closest distance to the robot sub-convoy, or the other robot sub-convoy with the largest number of robots. An undetected route is a route that has not been detected by any robot fleet or robot sub-fleet.

具体的，当机器人子车队当前位置包括分支路线，可以判断各个分支路线中是否存在未检测路线，若存在，则可以控制机器人子车队的移动方向为其中一条未检测路线对应的方向，以通过机器人子车队采集该未检测路线的检测子数据。若不存在未检测路线，则可以指示该机器人子车队与其他机器人子车队汇合，以进行合并，或者指示该机器人子车队进行入待机状态。Specifically, when the current position of the robot sub-team includes branch routes, it can be judged whether there are undetected routes in each branch route. The sub-team collects the detection sub-data of the undetected route. If there is no undetected route, the robot sub-convoy can be instructed to merge with other robot sub-convoys for merging, or the robot sub-convoy can be instructed to enter a standby state.

进一步地，若机器人子车队的机器人数量较多，如大于预设数量，则可以基于前述机器人车队拆分的方式对机器人子车队进行拆分，以分别采集机器人子车队当前位置的各个分支路线的检测子数据。Further, if the number of robots in the robot sub-team is large, such as greater than the preset number, the robot sub-team can be split based on the aforementioned method of splitting the robot fleet, so as to collect the information of each branch route of the current position of the robot sub-team. Detect subdata.

具体的，若机器人子车队当前位置对应的分支路线均已被检测，则可以判断仓库中是否存在未被检测的其他路线，即上述预设检测路线，若是，则指示该机器人子车队移动至该预设检测路线，以采集该预设检测路线的检测子数据。Specifically, if the branch routes corresponding to the current position of the robot sub-team have been detected, it can be determined whether there are other routes in the warehouse that have not been detected, that is, the above-mentioned preset detection route, and if so, then instruct the robot sub-team to move to the A preset detection route is used to collect detection sub-data of the preset detection route.

步骤S405，针对每个机器人子车队的各个机器人，根据所述机器人子车队的机器人的数量以及所述机器人在所述机器人子车队的位置，确定所述机器人用于采集数据的传感器，以由各个机器人子车队检测所述分支路线。Step S405, for each robot of each robot sub-convoy, according to the number of robots in the robot sub-convoy and the position of the robot in the robot sub-convoy, determine the sensor used by the robot to collect data, so that each A sub-fleet of robots detects the branch route.

具体的，当机器人子车队的机器人数量为2个时，队首的机器人，即第一机器人，用于采集数据的传感器为设置在机器人前表面和左右两个侧面的传感器；队尾的机器人，即第二机器人，用于采集数据的传感器为设置在机器人后表面和左右两个侧面的传感器。Specifically, when the number of robots in the robot sub-convoy is 2, the robot at the head of the team, that is, the first robot, uses sensors for collecting data on the front surface and the left and right sides of the robot; the robot at the tail of the team, That is, the second robot, the sensors used to collect data are the sensors arranged on the rear surface and the left and right sides of the robot.

具体的，当机器人子车队的机器人数量为3个时，队首的机器人，即第一机器人，用于采集数据的传感器为设置在机器人前表面的传感器；队中的机器人，即第二机器人，用于采集数据的传感器为设置在机器人左右两个侧面的传感器；队尾的机器人，即第三机器人，用于采集数据的传感器为设置在机器人后表面的传感器。Specifically, when the number of robots in the robot sub-team is 3, the robot at the head of the team, that is, the first robot, uses the sensor for collecting data to be a sensor set on the front surface of the robot; the robot in the team, that is, the second robot, The sensors used to collect data are the sensors arranged on the left and right sides of the robot; the robot at the end of the team, that is, the third robot, the sensor used to collect data is the sensor arranged on the rear surface of the robot.

进一步地，当机器人子车队的机器人数量为1个，机器人子车队位于立柱上，则机器人用于采集数据的传感器可以为设置在机器人前表面、后表面以及下表面的传感器。Further, when the number of robots in the robot sub-convoy is one, and the robot sub-convoy is located on the column, the sensors used by the robot to collect data may be sensors arranged on the front surface, the rear surface and the lower surface of the robot.

在本实施例中，机器人可以依据其在车队中的位置，自适应切换用于采集数据的传感器，以满足地图构建的需求。In this embodiment, the robot can adaptively switch the sensors used to collect data according to its position in the fleet, so as to meet the requirements of map construction.

步骤S406，得到各个机器人子车队采集的检测子数据。Step S406, obtaining detection sub-data collected by each robot sub-team.

步骤S407，根据多个机器人子车队经过的重叠区域，对各个机器人子车队的检测子数据进行校正。Step S407, correcting the detection sub-data of each robot sub-convoy according to the overlapping areas passed by multiple robot sub-convoys.

其中，重叠区域即为至少两个机器人子车队均经过的区域。Wherein, the overlapping area is the area where at least two robot sub-convoys pass through.

具体的，可以基于该重叠区域对应的各个机器人子车队的检测子数据，对各个机器人子车队的检测子数据进行校正，以提高各个机器人子车队的检测子数据的准确度，提高所构建的地图的准确度。Specifically, based on the detection sub-data of each robot sub-convoy corresponding to the overlapping area, the detection sub-data of each robot sub-convoy can be corrected to improve the accuracy of the detection sub-data of each robot sub-convoy and improve the constructed map. the accuracy.

步骤S408，基于校正后的各个检测子数据构建所述仓库预设区域的地图。Step S408, constructing a map of the preset area of the warehouse based on each corrected detection sub-data.

进一步地，当各个机器人子车队满足一定条件时，可以将各个机器人子车队合并，以通过合并后的机器人车队进行数据采集。Further, when each robot sub-fleet meets a certain condition, each robot sub-fleet can be merged, so that data can be collected through the merged robot fleet.

具体的，在机器人车队拆分成为多个机器人子车队之后，机器人子车队进行相应的分支路线的检测，仓库管理设备可以根据检测子车队采集的检测子数据确定各个机器人子车队当前的位置，即子车队位置，进而根据子车队位置和各个机器人子车队的移动方向，判断是否存在预设时间内相遇的各个机器人子车队，若存在，则当各个机器人子车队相遇时，将各个机器人子车队进行合并，以得到机器人合并车队。在得到机器人合并车队之后，可以根据各个机器人在机器人合并车队中的位置，确定各个机器人用于采集数据的传感器，具体启用的传感器与机器人车队或机器人子车队中的相同。Specifically, after the robot fleet is split into multiple robot fleets, the robot fleets detect the corresponding branch routes, and the warehouse management equipment can determine the current position of each robot fleet according to the detection sub-data collected by the detection sub-teams, namely The position of the sub-team, and then according to the position of the sub-team and the moving direction of each robot sub-team, it is judged whether there are robot sub-teams that meet within the preset time. If there is, when each robot sub-team meets, each robot sub-team Merge to get a merged fleet of robots. After the combined robot fleet is obtained, the sensors used by each robot to collect data can be determined according to the position of each robot in the combined robot fleet. The specific sensors used are the same as those in the robot fleet or robot sub-fleet.

示例性的，图5G为本申请图4所示实施例中机器人子车队合并的示意图，如图5G所示，一个机器人子车队由机器人51组成，正在采集立柱分支类型的分支路线的检测信息，另一个机器人子车队由机器人52至机器人54组成，正在采集地面类型的分支路线的检测信息，当两个机器人子车队需要进行合并时，可以两个机器人子车队的位置，将机器人51合并至机器人52至机器人54组成的机器人子车队中，在图5G中，将机器人51合并至机器人53和机器人54之间，即合并至另一个机器人子车队的队中，图5H为本申请图4所示实施例中另一种机器人子车队合并的示意图，结合图5G和图5H可知，与图5G不同的是，在图5H中，将机器人51合并至另一个机器人子车队的队首。需要了解的是，图5G 和图5H中的两个车队的合并方式仅作为示例，可以采用任何一种合并方式，将两个或两个以上的机器人子车队合并为一个车队。Exemplarily, FIG. 5G is a schematic diagram of the merging of robot sub-convoys in the embodiment shown in FIG. 4 of the present application. As shown in FIG. 5G, a robot sub-convoy is composed of robots 51, and the detection information of the branch route of the column branch type is being collected. Another robot sub-convoy is composed of robots 52 to 54, and is collecting detection information of ground-type branch routes. When two robot sub-convoys need to be merged, the robot 51 can be merged into the robot sub-convoy at the position of the two robot sub-convoys. 52 to robot 54 in the robot sub-convoy, in Fig. 5G, the robot 51 is merged between the robot 53 and the robot 54, that is, merged into the team of another robot sub-convoy, Fig. 5H is shown in Fig. 4 of the present application The schematic diagram of another robot sub-convoy merging in the embodiment can be seen from FIG. 5G and FIG. 5H . The difference from FIG. 5G is that in FIG. 5H , the robot 51 is merged to the head of another robot sub-convoy. What needs to be understood is that the merging methods of the two fleets in FIG. 5G and FIG. 5H are only examples, and any merging method can be used to merge two or more robot sub-fleets into one fleet.

具体的，机器人子车队的检测范围即为其采集的检测子数据对应的视野范围。当其他机器人子车队出现在当前机器人子车队的检测范围内时，可以将当前机器人子车队与其他机器人子车队合并。Specifically, the detection range of the robot sub-convoy is the field of view corresponding to the detection sub-data collected by it. When other robot sub-fleets appear within the detection range of the current robot sub-fleet, the current robot sub-fleet can be merged with other robot sub-fleets.

具体的，根据检测数据，构建仓储***的仓库的地图，包括：根据机器人合并车队、机器人车队以及各个机器人子车队采集的数据，构建仓储***的仓库的地图。Specifically, constructing a warehouse map of the storage system according to the detection data includes: constructing a map of the warehouse of the storage system according to the data collected by the combined robot fleet, the robot fleet, and each robot sub-convoy.

示例性的，图5I为本申请图4所示实施例中另一种机器人子车队的合并的示意图，如图5I所示，当前仓储***中包括3个机器人子车队，即由机器人55组成的机器人子车队A、由机器人56组成的机器人子车队B以及由机器人57至机器人59组成的机器人子车队C，其中，机器人子车队B和机器人子车队C是由一个机器人车队拆分而成的。当机器人56所在的机器人子车队B需要进行合并时，其检测范围内存在机器人子车队C，则机器人56向上移动，从而移动至天轨，进而与机器人55合并为一个新的车队，可以是机器人55在队首位置，或者机器人56在队首位置，图5I中以机器人56为队首为例，具体可以根据两者到达合并点的时间确定。Exemplarily, FIG. 5I is a schematic diagram of the merger of another robot sub-team in the embodiment shown in FIG. 4 of the present application. As shown in FIG. Robot sub-team A, robot sub-team B composed of robots 56, and robot sub-team C composed of robots 57 to 59, wherein robot sub-team B and robot sub-team C are formed by splitting one robot fleet. When the robot sub-team B where the robot 56 is located needs to be merged, and there is a robot sub-team C within the detection range, the robot 56 moves upwards, thereby moving to the sky rail, and then merges with the robot 55 into a new fleet, which can be a robot 55 is at the head of the line, or the robot 56 is at the head of the line. In FIG. 5I, the robot 56 is taken as the head of the line as an example, which can be determined according to the time when the two arrive at the merge point.

其中，预设时间可以为1min、30s、10s或者其他值。预设分支点可以为分支路线对应的点。未检测方向即为未检测的分支路线所在的方向。合并策略可以优先选择机器人数量少的机器人子车队，或者可以优先选择先到到预设分支点的机器人子车队。合并方式可以采用一个机器人子车队跟随另一个机器人子车队的队尾的机器人的方式。Wherein, the preset time may be 1min, 30s, 10s or other values. The preset branch point may be a point corresponding to the branch route. The undetected direction is the direction in which the undetected branch route is located. The merging strategy can give priority to the robot sub-team with a small number of robots, or can give priority to the robot sub-team that arrives at the preset branch point first. The way of merging can be a robot sub-convoy following the robot at the tail of another robot sub-convoy.

具体的，当多个机器人子车队在预设时间内会在预设分支点汇合时，则可以判断该预设分支点对应的未检测方向的数量是否小于第一数量，即判断未检测的分支路线的数量是否小于汇合的机器人子车队的数量，即第一数量，若是，则可以对第一数量的机器人子车队中的至少两个机器人子车队进行合并。Specifically, when a plurality of robot sub-teams meet at a preset branch point within a preset time, it can be determined whether the number of undetected directions corresponding to the preset branch point is less than the first number, that is, to determine whether the undetected branch Whether the number of routes is less than the number of converging robot sub-convoys, that is, the first number, if so, at least two robot sub-convoys in the first number of robot sub-convoys can be merged.

示例性的，当预设分支点对应的未检测方向为2，第一数量为3时，合并策略可以为将机器人数量最少的两个机器人子车队合并。Exemplarily, when the undetected direction corresponding to the preset branch point is 2 and the first number is 3, the merging strategy may be to merge the two robot sub-teams with the least number of robots.

示例性的，当预设分支点对应的未检测方向为1，第一数量为3时，合并策略可以为：根据到达预设分支点的先后顺序，将3个机器人子车队合并为一个机器人合并车队，即后到达的机器人子车队跟随先到达的机器人子车队的队尾的机器人。Exemplarily, when the undetected direction corresponding to the preset branch point is 1, and the first number is 3, the merging strategy may be: according to the sequence of arriving at the preset branch point, merging three robot sub-teams into one robot merge The convoy, that is, the robots at the rear of the sub-convoy of robots that arrive later follow the sub-convoy of robots that arrive first.

示例性的，图5J为本公开图4所示实施例中各个机器人子车队在仓库中检测的示意图，图5K为本公开图5J所示实施例中机器人子车队合并的示意图，结合图5J和图5K可知，机器人子车队510由机器人511至机器人513组成，机器人子车队520由机器人521和机器人522组成，机器人子车队530由机器人531至机器人533组成，机器人子车队510在3s之后会移动至汇合点P，机器人子车队520在4.5s之后会移动至汇合点P，机器人子车队530则在8S之后会移动至汇合点P，且汇合点P包括两个未检测方向，方向P1和方向P2，则可以将先到达汇合点P的两个机器人子车队，即机器人子车队510和机器人子车队520合并，如图5B所示，合并之后的机器人合并车队540依次由机器人511、机器人512、机器人513、机器人521和机器人522组成。进而，由机器人合并车队540沿方向P1检测相应的未检测分支路线，由机器人子车队530沿方向P2检测相应的未检测分支路线。Exemplarily, FIG. 5J is a schematic diagram of the detection of each robot sub-team in the warehouse in the embodiment shown in FIG. It can be seen from FIG. 5K that the robot sub-team 510 is composed of robots 511 to 513, the robot sub-team 520 is composed of

robots

521 and 522, and the robot sub-team 530 is composed of robots 531 to 533. The robot sub-team 510 will move to Convergence point P, the robot sub-team 520 will move to the confluence point P after 4.5s, and the robot sub-team 530 will move to the confluence point P after 8S, and the confluence point P includes two undetected directions, direction P1 and direction P2 , then the two robot sub-convoys that first arrive at the confluence point P, i.e. the robot sub-convoy 510 and the robot sub-convoy 520, can be merged, as shown in FIG. 513, robot 521 and robot 522. Furthermore, the robot merging fleet 540 detects the corresponding undetected branch routes along the direction P1, and the robot sub-team 530 detects the corresponding undetected branch routes along the direction P2.

步骤S409，得到作业机器人或第二机器人车队采集的更新检测数据。Step S409, obtaining updated detection data collected by the working robot or the second robot fleet.

其中，所述作业机器人为仓储任务的机器人，仓储任务包括料箱搬运、理库和货架巡视中的一项或多项。该作业机器人上可以设置有一个或多个传感器，以采集更新检测数据。第二机器人车队可以是仓储***中空闲的机器人组成的车队。第二机器人车队的各个机器人上设置有一个或多个传感器，以采集更新检测数据。Wherein, the working robot is a robot for warehousing tasks, and the warehousing tasks include one or more of material box handling, warehouse sorting and shelf inspection. One or more sensors may be arranged on the working robot to collect and update detection data. The second robot fleet may be a fleet composed of idle robots in the storage system. Each robot of the second robot fleet is provided with one or more sensors to collect and update detection data.

在一些实施例中，前述机器人车队的机器人和第二机器人车队的机器人可以为相同的机器人，各个机器人上设置的传感器也相同。In some embodiments, the robots of the aforementioned robot fleet and the robots of the second robot fleet may be the same robot, and the sensors set on each robot are also the same.

步骤S410，根据所述更新检测数据更新所构建的所述仓库的地图。Step S410, updating the constructed map of the warehouse according to the update detection data.

具体的，可以根据更新检测数据与检测数据的差异数据，更新所构建的仓库的地图。该差异数据可以为同一位置对应的更新检测数据与检测数据的差值。Specifically, the constructed warehouse map may be updated according to the difference data between the updated detection data and the detection data. The difference data may be a difference between the updated detection data and the detection data corresponding to the same position.

在本实施例中，当机器人车队行走至分岔路口，即机器人车队所处的位置对应多个分支路线，则可以根据机器人车队包括的机器人数量对机器人车队进行拆分，得到多个机器人子车队，以由各个机器人子车队采集相应的分支路线的检测子数据，进一步提高检测数据采集的效率，同时，当不同的机器人子车队经过同一区域时，还可以基于各个机器人子车队的检测子数据进行数据校正，提高了地图构建的精度；针对拆分后的每个机器人子车队，可以根据机器人在其对应的机器人子车队的位置，确定用于采集检测数据的传感器，提高了机器人车队数据采集的灵活性；并且，当地图构建完成之后，机器人在后续的作业过程中，可以基于采集的数据对地图进行更新，以提高地图的实时性和准确性，提高机器人导航的精度。In this embodiment, when the robot fleet walks to a bifurcation, that is, the position of the robot fleet corresponds to multiple branch routes, the robot fleet can be split according to the number of robots included in the robot fleet to obtain multiple robot sub-convoys , so that each robot sub-convoy collects the detection sub-data of the corresponding branch route to further improve the efficiency of detection data collection. Data correction improves the accuracy of map construction; for each split robot fleet, the sensor used to collect detection data can be determined according to the position of the robot in its corresponding robot fleet, which improves the accuracy of robot fleet data collection. Flexibility; and, after the map is constructed, the robot can update the map based on the collected data in the subsequent operation process, so as to improve the real-time and accuracy of the map and improve the accuracy of robot navigation.

图6为本公开一个实施例提供的地图构建装置的结构示意图，如图6所述，该地图构建装置包括：数据获取模块610和地图构建模块620。FIG. 6 is a schematic structural diagram of a map construction device provided by an embodiment of the present disclosure. As shown in FIG. 6 , the map construction device includes: a data acquisition module 610 and a map construction module 620 .

其中，数据获取模块610，用于得到机器人车队采集的检测数据，其中，所述机器人车队包括第一机器人和至少一个第二机器人，所述第一机器人为所述机器人车队队首的机器人，所述机器人车队的后一机器人跟随前一机器人进行移动；地图构建模块620，用于根据所述检测数据，构建仓储***的仓库的地图。Wherein, the data acquisition module 610 is used to obtain the detection data collected by the robot fleet, wherein the robot fleet includes a first robot and at least one second robot, and the first robot is the robot at the head of the robot fleet, so The subsequent robot of the robot fleet follows the previous robot to move; the map construction module 620 is used to construct a warehouse map of the storage system according to the detection data.

可选的，数据获取模块610，包括：Optionally, the data acquisition module 610 includes:

第一数据获取单元，用于得到所述第一机器人的第一传感器采集的第一检测数据；第二数据获取单元，用于得到所述至少一个第二机器人的第二传感器采集的第二检测数据；其中，所述第一检测数据包括所述机器人车队的前方区域的环境信息，所述第二检测数据包括所述机器人车队的左侧区域和右侧区域的环境信息。The first data acquisition unit is used to obtain the first detection data collected by the first sensor of the first robot; the second data acquisition unit is used to obtain the second detection data collected by the second sensor of the at least one second robot data; wherein, the first detection data includes the environment information of the front area of the robot fleet, and the second detection data includes the environment information of the left area and the right area of the robot fleet.

可选的，数据获取模块610，还包括：Optionally, the data acquisition module 610 also includes:

第三数据获取单元，用于得到所述第三机器人的第三传感器采集的第三检测数据。The third data acquisition unit is configured to obtain third detection data collected by the third sensor of the third robot.

可选的，当所述机器人车队移动至预设位置时，所述机器人车队拆分为多个机器人子车队，数据获取模块610，还包括：Optionally, when the robot fleet moves to a preset position, the robot fleet is split into multiple robot sub-teams, and the data acquisition module 610 also includes:

子数据获取单元，用于得到各个机器人子车队采集的检测子数据，以基于各个检测子数据构建所述仓库预设区域的地图。The sub-data acquisition unit is configured to obtain the detection sub-data collected by each robot sub-team, so as to construct a map of the preset area of the warehouse based on each detection sub-data.

可选的，所述装置还包括：Optionally, the device also includes:

分支判断模块，用于根据所述检测数据，判断所述机器人车队所处位置是否包括分支路线；车队拆分模块，用于若包括分支路线，则将所述机器人车队拆分为预设数量的机器人子车队，以由各个机器人子车队检测所述分支路线，其中，所述预设数量小于或等于所述分支路线的数量。A branch judging module is used to judge whether the position of the robot fleet includes a branch route according to the detection data; a fleet splitting module is used to split the robot fleet into a preset number of branches if the branch route is included The robot sub-teams are used to detect the branch routes by each robot sub-team, wherein the preset number is less than or equal to the number of the branch routes.

可选的，车队拆分模块，具体用于：Optionally, the fleet splitting module is specifically used for:

可选的，所述装置还包括：Optionally, the device also includes:

第一传感器配置模块，用于在将所述机器人车队拆分为预设数量的机器人子车队之后，针对每个机器人子车队的各个机器人，根据所述机器人子车队的机器人的数量以及所述机器人在所述机器人子车队的位置，确定所述机器人用于采集数据的传感器。The first sensor configuration module is used for splitting the robot fleet into a preset number of robot sub-teams, for each robot of each robot sub-team, according to the number of robots in the robot sub-team and the robots At the location of the robot sub-team, determine the sensors used by the robot to collect data.

可选的，所述装置还包括：Optionally, the device also includes:

机器人数量判断模块，用于当所述机器人车队所处位置包括分支路线时，判断所述机器人车队的机器人数量是否大于或等于预设阈值。The robot quantity judging module is used for judging whether the robot quantity of the robot fleet is greater than or equal to a preset threshold when the position of the robot fleet includes a branch route.

相应的，车队拆分模块，具体用于：Correspondingly, the fleet splits the modules, specifically for:

可选的，所述装置还包括：Optionally, the device also includes:

第一数据校正模块，用于在得到各个机器人子车队采集的检测子数据之后，根据多个机器人子车队经过的重叠区域，对各个机器人子车队的检测子数据进行校正；基于校正后的各个检测子数据构建所述仓库预设区域的地图。The first data correction module is used to correct the detection sub-data of each robot sub-convoy according to the overlapping areas passed by multiple robot sub-convoys after obtaining the detection sub-data collected by each robot sub-convoy; The sub-data constructs a map of the preset area of the warehouse.

可选的，所述装置还包括：Optionally, the device also includes:

第一子车队控制模块，用于当所述机器人子车队所处位置包括分支路线时，判断所述机器人子车队所处位置对应的分支路线是否存在未检测路线；若是，则确定所述机器人子车队的移动方向为所述未检测路线对应的方向，以由所述机器人子车队采集所述未检测路线的检测子数据；若否，则确定所述机器人子车队的移动方向为目标子车队对应的方向，或控制所述机器人子车队进入待机状态，其中，目标子车队为与所述机器人子车队距离最近的其他机器人子车队，或者为机器人的数量最多的其他机器人子车队。The first sub-team control module is used to determine whether there is an undetected route in the branch route corresponding to the position of the robot sub-team when the location of the robot sub-team includes a branch route; The direction of movement of the fleet is the direction corresponding to the undetected route, so that the detection sub-data of the undetected route is collected by the robot sub-team; if not, then determine that the direction of movement of the robot sub-team is corresponding to the target sub-team direction, or control the robot sub-team to enter the standby state, wherein the target sub-team is the other robot sub-team closest to the robot sub-team, or the other robot sub-team with the largest number of robots.

可选的，所述装置还包括：Optionally, the device also includes:

第二子车队控制模块，用于当所述机器人子车队所处位置对应的分支路线不存在未检测路线时，获取所述仓库的预设检测路线，其中，所述预设检测路线为未被机器人车队或机器人子车队检测的路线；控制所述机器人子车队移动至所述预设检测路线，以得到所述预设检测路线的监测数据。The second sub-team control module is used to obtain the preset detection route of the warehouse when there is no undetected route in the branch route corresponding to the position of the robot sub-team, wherein the preset detection route is an undetected route. The route detected by the robot fleet or the robot sub-team; controlling the robot sub-team to move to the preset detection route, so as to obtain the monitoring data of the preset detection route.

可选的，所述装置还包括：Optionally, the device also includes:

第一子车队合并模块，用于在将所述机器人车队拆分为预设数量的机器人子车队之后，根据各个机器人子车队采集的检测子数据，确定各个机器人子车队的子车队位置；根据所述子车队位置以及各个机器人子车队的移动方向，将各个机器人子车队进行合并，以得到机器人合并车队；根据各个机器人在所述机器人合并车队的位置，确定各个机器人用于采集数据的传感器。The first sub-team merging module is used to determine the sub-team position of each robot sub-team according to the detection sub-data collected by each robot sub-team after the robot fleet is split into a preset number of robot sub-teams; State the position of the sub-convoy and the moving direction of each robot sub-convoy, and merge each robot sub-convoy to obtain the robot combined convoy; according to the position of each robot in the robot combined convoy, determine the sensor for each robot to collect data.

可选的，所述装置还包括：Optionally, the device also includes:

第二子车队合并模块，用于在将所述机器人车队拆分为预设数量的机器人子车队之后，针对每个机器人子车队，根据所述机器人子车队采集的检测子数据和/或各机器人子车队反馈的定位信息，判断所述机器人子车队的检测范围内是否存在其他机器人子车队；若是，则将所述机器人子车队与其他机器人子车队进行合并，以得到机器人合并车队；根据各个机器人在所述机器人合并车队的位置，确定各个机器人用于采集数据的传感器。The second sub-team merging module is used for splitting the robot fleet into a preset number of robot sub-teams, for each robot sub-team, according to the detection sub-data collected by the robot sub-team and/or each robot According to the positioning information fed back by the sub-teams, it is judged whether there are other robot sub-teams within the detection range of the robot sub-teams; At the location where the robots merge the convoy, the sensors used by each robot to collect data are determined.

可选的，所述装置还包括：Optionally, the device also includes:

第三子车队合并模块，用于在将所述机器人车队拆分为预设数量的机器人子车队之后，当确定第一数量的机器人子车队在预设时间内在预设分支点汇合时，判断所述预设分支点对应的未检测方向的数量是否小于所述第一数量，其中，预设分支点对应多个分支路线，未检测方向为预设分支点对应的未被检测的分支路线所在的方向；若是，则根据所述第一数量以及所述预设分支点对应的未检测方向的数量，确定第一数量的机器人子车队的合并策略，以基于所述合并策略进行机器人子车队的合并，得到机器人合并车队，其中，所述合并策略包括合并的机器人子车队及其合并方式。The third sub-team merging module is used to judge the robot fleet when it is determined that the first number of robot sub-teams meet at a preset branch point within a preset time after the robot fleet is split into a preset number of robot sub-teams. Whether the number of undetected directions corresponding to the preset branch point is less than the first number, wherein the preset branch point corresponds to a plurality of branch routes, and the undetected direction is where the undetected branch route corresponding to the preset branch point is located direction; if so, then according to the first quantity and the quantity of undetected directions corresponding to the preset branch point, determine the merging strategy of the robot sub-teams of the first quantity, so as to merge the robot sub-teams based on the merging strategy , to obtain the merged fleet of robots, wherein the merged strategy includes the merged robot sub-fleet and its merged manner.

可选的，所述装置还包括：Optionally, the device also includes:

地图更新模块，用于在构建仓储***的仓库的地图之后，得到作业机器人或第二机器人车队采集的更新检测数据，其中，所述作业机器人为仓储任务的机器人，仓储任务包括料箱搬运、理库和货架巡视中的一项或多项；根据所述更新检测数据更新所构建的所述仓库的地图。The map update module is used to obtain the updated detection data collected by the operating robot or the second robot fleet after constructing the map of the warehouse of the storage system, wherein the operating robot is a robot for a storage task, and the storage task includes material box handling, sorting One or more of warehouse and shelf inspection; updating the constructed map of the warehouse according to the update detection data.

本公开实施例所提供的地图构建装置可执行本公开任意实施例所提供的地图构建方法，具备执行方法相应的功能模块和有益效果。The map construction device provided by the embodiments of the present disclosure can execute the map construction method provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

图7为本公开一个实施例提供的地图构建设备的结构示意图，如图7所示，该地图构建设备包括：存储器710，处理器720以及计算机程序。Fig. 7 is a schematic structural diagram of a map construction device provided by an embodiment of the present disclosure. As shown in Fig. 7, the map construction device includes: a memory 710, a processor 720 and a computer program.

其中，计算机程序存储在存储器710中，并被配置为由处理器720执行以实现本公开图2和图4所对应的实施例中任一实施例提供的地图构建方法。Wherein, the computer program is stored in the memory 710 and is configured to be executed by the processor 720 to implement the map construction method provided in any one of the embodiments corresponding to FIG. 2 and FIG. 4 of the present disclosure.

其中，存储器710和处理器720通过总线730连接。Wherein, the memory 710 and the processor 720 are connected through a bus 730 .

相关说明可以对应参见图2和图4的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。Relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIG. 2 and FIG. 4 , and details are not repeated here.

图8为本公开一个实施例提供的仓储***的结构示意图，如图8所示，该仓储***包括：仓库810、多个机器人820以及地图构建设备830。FIG. 8 is a schematic structural diagram of a warehouse system provided by an embodiment of the present disclosure. As shown in FIG. 8 , the warehouse system includes: a warehouse 810 , a plurality of robots 820 and a map construction device 830 .

其中，地图构建设备830为本公开图7所示实施例提供的地图构建设备。Wherein, the map construction device 830 is the map construction device provided in the embodiment shown in FIG. 7 of the present disclosure.

在一些实施例中，仓库810还包括货架811，用于进行货物的存放。In some embodiments, the warehouse 810 further includes a shelf 811 for storing goods.

在一些实施例中，仓库810还包括地面公共区域，该地面公共区域可以是用于进行货物分拣、出库等操作的区域。In some embodiments, the warehouse 810 also includes a public area on the ground, which may be an area for operations such as cargo sorting and delivery.

在一些实施例中，仓库810的地面上设置有地面环形路径812，该地面环形路径可以为单行道，还设置有巷道，位于相邻两个货架811之间。In some embodiments, a ground circular path 812 is provided on the ground of the warehouse 810 , and the ground circular path may be a one-way street, and a roadway is also provided, and is located between two adjacent shelves 811 .

在一些实施例中，货架811的立柱上设置有立柱路径，可以使得机器人820沿立柱上下移动。具体的，机器人820可以通过其中一个侧面与立柱连接，从而可以在立柱路径上进行上下移动。In some embodiments, a column path is set on the column of the shelf 811, which can make the robot 820 move up and down along the column. Specifically, the robot 820 may be connected to the column through one of its sides, so as to move up and down on the path of the column.

在一些实施例中，仓库810还包括天轨，天轨设置在各个货架811的顶部，该天轨可以为环形，从而当机器人810沿一个货架811的立柱移动至货架顶部时，可以通过天轨移动至其他货架，进而通过其他货架的立柱移动至地面。In some embodiments, the warehouse 810 also includes a sky rail, the sky rail is arranged on the top of each shelf 811, and the sky rail can be circular, so that when the robot 810 moves to the top of the shelf along the column of a shelf 811, it can pass through the sky rail Move to other shelves, and then move to the ground through the columns of other shelves.

在一些实施例中，仓库810还包括天桥，该天桥可以连接天轨和地面环形路径812，或者可以连接天轨和地面公共区域。In some embodiments, the warehouse 810 also includes a sky bridge, which can connect the sky rail and the ground circular path 812, or can connect the sky rail and the ground public area.

本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开图2和图4所对应的实施例中任一实施例提供的地图构建方法。An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to realize the map construction provided by any one of the embodiments corresponding to FIG. 2 and FIG. 4 of the present disclosure. method.

其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。Among them, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device and the like.

本公开还提供一种程序产品，该程序产品包括可执行计算机程序，该可执行计算机程序存储在可读存储介质中。地图构建设备或仓储***的至少一个处理器可以从可读存储介质读取该计算机程序，至少一个处理器执行该计算机程序使得地图构建装置实施上述各种实施方式提供的地图构建方法。The present disclosure also provides a program product including an executable computer program stored in a readable storage medium. At least one processor of the map construction device or storage system can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the map construction device implements the map construction method provided by the above-mentioned various embodiments.

在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods, for example, multiple modules can be combined or integrated. to another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be in electrical, mechanical or other forms.

所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本公开各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, each functional module in each embodiment of the present disclosure may be integrated into one processing unit, each module may exist separately physically, or two or more modules may be integrated into one unit. The units formed by the above modules can be implemented in the form of hardware, or in the form of hardware plus software functional units.

上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本公开各个实施例所述方法的部分步骤。The above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium. The above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or a processor (English: processor) to execute the functions described in various embodiments of the present disclosure. part of the method.

应理解，上述处理器可以是中央处理单元(Central Processing Unit，简称CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC) and so on. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in conjunction with the present disclosure may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。The storage may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage, and may also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

总线可以是工业标准体系结构(Industry Standard Architecture，简称ISA)总线、外部设备互连(Peripheral Component，简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本公开附图中的总线并不限定仅有一根总线或一种类型的总线。The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.

上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储介质可以是通用或专用计算机能够存取的任何可用介质。The above-mentioned storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable In addition to programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(Application Specific Integrated Circuits，简称ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short). Of course, the processor and the storage medium can also exist in the electronic device or the main control device as discrete components.

本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present disclosure. scope.

Claims

一种地图构建方法，其特征在于，所述方法应用于仓储***，所述方法包括：A method for constructing a map, characterized in that the method is applied to a storage system, and the method includes:

得到机器人车队采集的检测数据，其中，所述机器人车队包括第一机器人和至少一个第二机器人，所述第一机器人为所述机器人车队队首的机器人，所述机器人车队的后一机器人跟随前一机器人进行移动；The detection data collected by the robot fleet is obtained, wherein the robot fleet includes a first robot and at least one second robot, the first robot is the robot at the head of the robot fleet, and the latter robot of the robot fleet follows the former robot. a robot moves;

根据所述检测数据，构建仓储***的仓库的地图。A warehouse map of the storage system is constructed according to the detection data.
根据权利要求1所述的方法，其特征在于，得到机器人车队采集的检测数据，包括：The method according to claim 1, wherein obtaining the detection data collected by the robot fleet comprises:

得到所述第一机器人的第一传感器采集的第一检测数据；obtaining first detection data collected by the first sensor of the first robot;

得到所述至少一个第二机器人的第二传感器采集的第二检测数据；obtaining second detection data collected by a second sensor of the at least one second robot;

其中，所述第一检测数据包括所述机器人车队的前方区域的环境信息，所述第二检测数据包括所述机器人车队的左侧区域和右侧区域的环境信息。Wherein, the first detection data includes the environment information of the front area of the robot fleet, and the second detection data includes the environment information of the left area and the right area of the robot fleet.
根据权利要求2所述的方法，其特征在于，所述机器人车队还包括第三机器人，其中，所述第三机器人为所述机器人车队队尾的机器人，所述检测数据还包括所述第三机器人的第三传感器采集的第三检测数据，所述第三检测数据包括所述机器人车队的后方区域的环境信息。The method according to claim 2, wherein the robot convoy also includes a third robot, wherein the third robot is the robot at the end of the robot convoy, and the detection data also includes the third robot. The third detection data collected by the third sensor of the robot, the third detection data includes the environment information of the rear area of the robot fleet.
根据权利要求1所述的方法，其特征在于，当所述机器人车队移动至预设位置时，所述机器人车队拆分为多个机器人子车队，得到机器人车队采集的检测数据，包括：The method according to claim 1, wherein when the robot fleet moves to a preset position, the robot fleet is split into a plurality of robot sub-teams, and the detection data collected by the robot fleet is obtained, including:

得到各个机器人子车队采集的检测子数据，以基于各个检测子数据构建所述仓库预设区域的地图。The detection sub-data collected by each robot sub-team are obtained, so as to construct a map of the preset area of the warehouse based on each detection sub-data.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, further comprising:

根据所述检测数据，判断所述机器人车队所处位置是否包括分支路线；According to the detection data, it is judged whether the location of the robot fleet includes a branch route;

若是，则将所述机器人车队拆分为预设数量的机器人子车队，以由各个机器人子车队检测所述分支路线，其中，所述预设数量小于或等于所述分支路线的数量；If so, the robot fleet is split into a preset number of robot sub-teams to detect the branch routes by each robot sub-team, wherein the preset number is less than or equal to the number of the branch routes;

相应的，得到机器人车队采集的检测数据，包括：Correspondingly, the detection data collected by the robot fleet is obtained, including:

得到各个机器人子车队采集的检测子数据。The detection sub-data collected by each robot sub-team are obtained.
根据权利要求5所述的方法，其特征在于，将所述机器人车队拆分为预设数量的机器人子车队，包括：The method according to claim 5, wherein the robot fleet is split into a preset number of robot sub-teams, comprising:

获取所述分支路线的类型；Obtain the type of the branch route;

根据所述分支路线的类型以及所述分支路线的数量，将所述机器人车队拆分为预设数量的机器人子车队。According to the type of the branch route and the number of the branch routes, the robot fleet is divided into a preset number of robot sub-convoys.
根据权利要求6所述的方法，其特征在于，根据所述分支路线的类型以及所述分支路线的数量，将所述机器人车队拆分为预设数量的机器人子车队，包括：The method according to claim 6, wherein, according to the type of the branch route and the number of the branch routes, the robot fleet is split into a preset number of robot sub-teams, including:

针对每个分支路线，若当前分支路线的类型为立柱分支类型时，从所述机器人车队中确定至少一个机器人为所述当前分支路线的机器人子车队；或，For each branch route, if the type of the current branch route is a column branch type, at least one robot is determined from the robot fleet as the robot sub-team of the current branch route; or,

针对每个分支路线，若当前分支路线的类型为地面类型、天轨分支类型或货架环形分支类型时，从所述机器人车队中确定至少两个机器人为所述当前分支路线的机器人子车队；For each branch route, if the type of the current branch route is the ground type, the sky rail branch type or the shelf ring branch type, at least two robots are determined from the robot fleet as the robot sub-team of the current branch route;

其中，所述立柱分支为所述仓库的货架的立柱对应的分支，所述天轨分支为所述货架顶部的天轨上路径对应的分支，所述货架环形分支为所述货架四周设置的具有设定水平高度的环形轨道上的路径对应的分支。Wherein, the column branch is the branch corresponding to the column of the shelf in the warehouse, the sky rail branch is the branch corresponding to the path on the sky rail at the top of the shelf, and the shelf ring branch is a branch with Sets the level corresponding to the branches of the path on the circular track.
根据权利要求5所述的方法，其特征在于，将所述机器人车队拆分为预设数量的机器人子车队，包括：The method according to claim 5, wherein the robot fleet is split into a preset number of robot sub-teams, comprising:

从所述机器人车队的队首或队尾，依次将所述机器人车队拆分为预设数量的机器人子车队。From the head or tail of the robot fleet, the robot fleet is sequentially split into a preset number of robot sub-teams.
根据权利要求5所述的方法，其特征在于，在将所述机器人车队拆分为预设数量的机器人子车队之后，所述方法还包括：The method according to claim 5, wherein after the robot fleet is split into a preset number of robot sub-teams, the method further comprises:

针对每个机器人子车队的各个机器人，根据所述机器人子车队的机器人的数量以及所述机器人在所述机器人子车队的位置，确定所述机器人用于采集数据的传感器。For each robot of each robot sub-convoy, according to the number of robots in the robot sub-convoy and the positions of the robots in the robot sub-convoy, determine the sensors used by the robots for collecting data.
根据权利要求5所述的方法，其特征在于，当所述机器人车队所处位置包括分支路线时，所述方法还包括：The method according to claim 5, wherein when the position of the robot fleet includes a branch route, the method further comprises:

判断所述机器人车队的机器人数量是否大于或等于预设阈值；Judging whether the number of robots in the robot fleet is greater than or equal to a preset threshold;

相应的，将所述机器人车队拆分为预设数量的机器人子车队，包括：Correspondingly, the robot fleet is split into a preset number of robot sub-teams, including:

若所述机器人车队的机器人数量大于或等于预设阈值，则将所述机器人车队拆分为预设数量的机器人子车队。If the number of robots in the robot fleet is greater than or equal to a preset threshold, the robot fleet is split into a preset number of robot sub-fleets.
根据权利要求5-10任一项所述的方法，其特征在于，在得到各个机器人子车队采集的检测子数据之后，所述方法还包括：The method according to any one of claims 5-10, characterized in that, after obtaining the detection sub-data collected by each robot sub-team, the method further comprises:

根据多个机器人子车队经过的重叠区域，对各个机器人子车队的检测子数据进行校正；Correct the detection data of each robot sub-convoy according to the overlapping areas passed by multiple robot sub-convoys;

基于校正后的各个检测子数据构建所述仓库预设区域的地图。A map of the preset area of the warehouse is constructed based on each corrected detection sub-data.
根据权利要求5-10任一项所述的方法，其特征在于，当所述机器人子车队所处位置包括分支路线时，所述方法还包括：The method according to any one of claims 5-10, wherein when the position of the robot sub-team includes a branch route, the method further comprises:

判断所述机器人子车队所处位置对应的分支路线是否存在未检测路线；Judging whether there is an undetected route in the branch route corresponding to the location of the robot sub-convoy;

若是，则确定所述机器人子车队的移动方向为所述未检测路线对应的方向，以由所述机器人子车队采集所述未检测路线的检测子数据；If so, then determine that the moving direction of the robot sub-team is the direction corresponding to the undetected route, so that the detection sub-data of the undetected route is collected by the robot sub-team;

若否，则确定所述机器人子车队的移动方向为目标子车队对应的方向，或控制所述机器人子车队进入待机状态，其中，目标子车队为与所述机器人子车队距离最近的其他机器人子车队，或者为机器人的数量最多的其他机器人子车队。If not, then determine that the moving direction of the robot sub-team is the direction corresponding to the target sub-team, or control the robot sub-team to enter the standby state, wherein the target sub-team is other robot sub-teams closest to the robot sub-team Fleet, or other robot sub-fleet for the largest number of robots.
根据权利要求12所述的方法，其特征在于，当所述机器人子车队所处位置对应的分支路线不存在未检测路线时，所述方法还包括：The method according to claim 12, wherein when there is no undetected route in the branch route corresponding to the location of the robot sub-convoy, the method further comprises:

获取所述仓库的预设检测路线，其中，所述预设检测路线为未被机器人车队或机器人子车队检测的路线；Obtaining a preset detection route of the warehouse, wherein the preset detection route is a route that has not been detected by the robot fleet or the robot sub-team;

控制所述机器人子车队移动至所述预设检测路线，以得到所述预设检测路线的监测数据。Controlling the robot sub-team to move to the preset detection route, so as to obtain monitoring data of the preset detection route.
根据权利要求5-10任一项所述的方法，其特征在于，在将所述机器人车队拆分为预设数量的机器人子车队之后，所述方法还包括：The method according to any one of claims 5-10, wherein after the robot fleet is split into a preset number of robot sub-teams, the method further comprises:

根据各个机器人子车队采集的检测子数据，确定各个机器人子车队的子车队位置；Determine the sub-convoy position of each robot sub-convoy according to the detection sub-data collected by each robot sub-convoy;

根据所述子车队位置以及各个机器人子车队的移动方向，将各个机器人子车队进行合并，以得到机器人合并车队；According to the position of the sub-teams and the moving direction of each robot sub-team, merge the robot sub-teams to obtain the combined robot fleet;

根据各个机器人在所述机器人合并车队的位置，确定各个机器人用于采集数据的传感器。According to the position of each robot in the combined robot fleet, the sensors used by each robot to collect data are determined.
根据权利要求5-10任一项所述的方法，其特征在于，在将所述机器人车队拆分为预设数量的机器人子车队之后，所述方法还包括：The method according to any one of claims 5-10, wherein after the robot fleet is split into a preset number of robot sub-teams, the method further comprises:

针对每个机器人子车队，根据所述机器人子车队采集的检测子数据和/或各机器人子车队反馈的定位信息，判断所述机器人子车队的检测范围内是否存在其他机器人子车队；For each robot sub-convoy, judge whether there are other robot sub-convoys within the detection range of the robot sub-convoy according to the detection sub-data collected by the robot sub-convoy and/or the positioning information fed back by each robot sub-convoy;

若是，则将所述机器人子车队与其他机器人子车队进行合并，以得到机器人合并车队；If so, the robot sub-team is merged with other robot sub-teams to obtain the robot merged fleet;

根据各个机器人在所述机器人合并车队的位置，确定各个机器人用于采集数据的传感器。According to the position of each robot in the combined robot fleet, the sensors used by each robot to collect data are determined.
根据权利要求5-10任一项所述的方法，其特征在于，在将所述机器人车队拆分为预设数量的机器人子车队之后，所述方法还包括：The method according to any one of claims 5-10, wherein after the robot fleet is split into a preset number of robot sub-teams, the method further comprises:

当确定第一数量的机器人子车队在预设时间内在预设分支点汇合时，判断所述预设分支点对应的未检测方向的数量是否小于所述第一数量，其中，预设分支点对应多个分支路线，未检测方向为预设分支点对应的未被检测的分支路线所在的方向；When it is determined that the first number of robot sub-convoys meet at a preset branch point within a preset time, it is judged whether the number of undetected directions corresponding to the preset branch point is less than the first number, wherein the preset branch point corresponds to For multiple branch routes, the undetected direction is the direction of the undetected branch route corresponding to the preset branch point;

若是，则根据所述第一数量以及所述预设分支点对应的未检测方向的数量，确定第一数量的机器人子车队的合并策略，以基于所述合并策略进行机器人子车队的合并，得到机器人合并车队，其中，所述合并策略包括合并的机器人子车队及其合并方式。If so, according to the first number and the number of undetected directions corresponding to the preset branch point, determine the merging strategy of the first number of robot sub-teams, so as to merge the robot sub-teams based on the merging strategy, and obtain Robot merging fleets, wherein the merging strategy includes merging robot sub-fleets and merging methods.
根据权利要求1-10任一项所述的方法，其特征在于，在构建仓储***的仓库的地图之后，所述方法还包括：The method according to any one of claims 1-10, characterized in that, after constructing the warehouse map of the storage system, the method further comprises:

得到作业机器人或第二机器人车队采集的更新检测数据，其中，所述作业机器人为仓储任务的机器人，仓储任务包括料箱搬运、理库和货架巡视中的一项或多项；Obtain the updated detection data collected by the working robot or the second robot fleet, wherein the working robot is a robot for storage tasks, and the storage tasks include one or more of material box handling, warehouse sorting and shelf inspection;

根据所述更新检测数据更新所构建的所述仓库的地图。The constructed map of the warehouse is updated according to the update detection data.
一种地图构建装置，其特征在于，包括：A map construction device, characterized in that it comprises:

数据获取模块，用于得到机器人车队采集的检测数据，其中，所述机器人车队包括第一机器人和至少一个第二机器人，所述第一机器人为所述机器人车队队首的机器人，所述机器人车队的后一机器人跟随前一机器人进行移动；The data acquisition module is used to obtain the detection data collected by the robot fleet, wherein the robot fleet includes a first robot and at least one second robot, the first robot is the robot at the head of the robot fleet, and the robot fleet The next robot follows the previous robot to move;

地图构建模块，用于根据所述检测数据，构建仓储***的仓库的地图。The map construction module is used to construct a map of the warehouses of the storage system according to the detection data.
一种地图构建设备，其特征在于，包括：A map construction device, characterized in that it comprises:

存储器和至少一个处理器；memory and at least one processor;

所述存储器存储计算机执行指令；the memory stores computer-executable instructions;

所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如权利要求1-17任一项所述的地图构建方法。The at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the map construction method according to any one of claims 1-17.
一种仓储***，其特征在于，包括：仓库、多个机器人以及权利要求12所述的地图构建设备。A storage system, characterized by comprising: a warehouse, a plurality of robots and the map construction device according to claim 12 .
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如权利要求1-17任一项所述的地图构建方法。A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method described in any one of claims 1-17 is realized. The map construction method.
一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-17任一项所述的地图构建方法。A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the map construction method according to any one of claims 1-17 is implemented.