CN110806746A - Functional area division method applied to mobile robot and mobile robot - Google Patents
Functional area division method applied to mobile robot and mobile robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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Abstract
The application provides a functional zone division method and device applied to a mobile robot. In the application, the boundaries of different functional areas in the application scene of the mobile robot are provided with corresponding functional area identifiers, if the mobile robot detects the functional area identifiers through the arranged infrared equipment in the working process, the position of the detected functional area identifier is determined in the constructed global map, and the functional areas corresponding to the detected functional area identifiers are marked on the position of the global map, so that the mobile robot divides the functional areas in the global map, and finally the functional area division of the mobile robot is realized.
Description
Technical Field
The present invention relates to a robot control technology, and more particularly, to a functional area division method applied to a mobile robot and a mobile robot.
Background
A mobile Robot (Robot) is a machine device that performs work automatically, and can receive human commands, run pre-programmed programs, and perform actions according to principles formulated by artificial intelligence techniques, and has the task of assisting or replacing human beings to perform work such as production, construction, or danger.
At present, with the intelligent development of mobile robots, mobile robots are increasingly used, for example, sweeping robots are used for family sweeping and the like. However, the current mobile robot cannot distinguish the functional areas when in use. Taking a sweeping robot as an example, although the sweeping robot can construct a home indoor environment by using a laser radar and establish a two-dimensional map of the home environment, functional areas such as a living room, a bedroom, a dining room, a kitchen and the like cannot be determined on the two-dimensional map.
Disclosure of Invention
The application provides a functional area division method and device applied to a mobile robot, so that the mobile robot can divide functional areas.
The technical scheme provided by the application comprises the following steps:
a functional area division method applied to a mobile robot is applied to the mobile robot, corresponding functional area identifiers are arranged on the boundaries of different functional areas in an application scene of the mobile robot, and the different functional areas correspond to the different functional area identifiers, and the method comprises the following steps:
if the mobile robot detects the functional area identification through the set infrared equipment in the working process, determining the position of the detected functional area identification in the constructed global map;
and marking the functional area corresponding to the detected functional area identification at the position.
A mobile robot, the mobile robot comprising: infrared devices, laser radars;
the laser radar is used for constructing an application scene of the mobile robot to form a global map when the mobile robot works;
the infrared device is used for detecting a functional area identifier when the mobile robot works, determining the position of the functional area identifier in the global map when the functional area identifier is detected, and marking a functional area corresponding to the detected functional area identifier on the position of the global map.
A mobile robot, the mobile robot comprising:
a machine-readable storage medium to store machine-readable instructions;
a processor configured to read the machine-readable instructions from the machine-readable storage medium, and to implement the method described above by executing the machine-readable instructions.
According to the technical scheme, the corresponding function area identification is arranged on the boundary of each different function area in the application scene of the mobile robot, if the mobile robot detects the function area identification through the arranged infrared equipment in the working process, the position of the detected function area identification is determined in the constructed global map, and the function area corresponding to the detected function area identification is marked on the position of the global map, so that the mobile robot divides each function area in the global map, and finally the function area division of the mobile robot is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of an embodiment of a functional area provided in the present application;
fig. 2a to 2c are schematic diagrams of an embodiment in which each functional area identifies a corresponding functional area;
FIG. 3 is a flow chart of a method provided herein;
FIG. 4 shows a schematic diagram of an imaging architecture of an infrared device;
fig. 5a to 5b are schematic diagrams illustrating functional region identifiers provided in the present application;
fig. 6 is a schematic diagram of an exemplary forbidden entry region provided in the present application;
FIG. 7 is a schematic diagram of the apparatus provided herein;
fig. 8 is a schematic hardware structure diagram of the apparatus shown in fig. 7 provided in the present application.
Detailed Description
In the application, in order to realize the division of the functional areas by the mobile robot, the application scene of the mobile robot is additionally set. Here, the application scenario of the mobile robot may be an application area of the mobile robot, and taking a sweeper applied to a home as an example, the application scenario of the sweeper is a home area.
In this application, carry out extra setting to mobile robot's application scene, specifically include: and corresponding functional area identifiers are distributed at the boundaries of different functional areas in the application scene. Still taking the household sweeper as an example, if the house type of the household is shown in fig. 1, the functional area shown in fig. 1 includes: the functional area identifier corresponding to the main lying can be attached to the boundary of the main lying, such as a door frame/doorsill of the main lying.
In the present application, different functional areas correspond to different functional area identifiers.
As an embodiment, in the present application, the functional areas in the application scenario may be distinguished by the existing fixed functional area identifiers. Still taking the functional area shown in fig. 1 as an example, the fixed functional area identifier shown in fig. 2a may be used to correspond to the master/slave position, the fixed functional area identifier shown in fig. 2b may be used to correspond to the living room, and the fixed functional area identifier shown in fig. 2c may be used to correspond to the kitchen.
As another embodiment, in the present application, the functional areas in the application scene may be distinguished by the user-defined functional area identifier. Here, the user can customize the function area identifier by using an application program (APP) according to the requirement and notify the mobile robot, so that the mobile robot can identify which function area corresponds to the function area identifier when the user-customized function area identifier is identified.
In addition, in order to realize that the mobile robot divides the functional areas, the structure of the mobile robot is improved, specifically: the mobile robot is provided with infrared equipment. As one example, an infrared device may be provided directly in front of the mobile robot.
As an example, the infrared device may be an infrared camera.
Based on the above two improvements, the following describes a functional zone division method applied to a mobile robot provided by the present application:
referring to fig. 3, fig. 3 is a flow chart of a method provided by the present application. The method is applied to a mobile robot, and as described above, the boundary of each different functional area in the application scene of the mobile robot is provided with a corresponding functional area identifier, and the different functional areas correspond to the different functional area identifiers.
As shown in fig. 3, the method comprises the steps of:
The mobile robot is able to determine the location of the detected functional zone identifier in the constructed global map, via step 301. As to how to detect the functional area identifier through the set infrared device and how to determine the position of the detected functional area identifier in the constructed global map, the following description is given, and details are not repeated here.
Through step 302, the mobile robot may partition each functional area in the global map, and finally, the functional area partition of the mobile robot is achieved.
As an embodiment, in this step 302, the functional area corresponding to the detected functional area identifier may be determined by:
and identifying the graph in the detected functional area identifier, and determining the functional area corresponding to the detected functional area identifier according to the identified graph. For example, if the image shown in fig. 2a is recognized, it can be determined that the functional area corresponding to the detected functional area identifier is the main lying area.
As another example, in this step 302, the functional area corresponding to the detected functional area identifier may be determined by: and searching a functional area corresponding to the keyword in the corresponding relation between the functional area identifications and the functional areas stored in the mobile robot by taking the detected functional area identification as the keyword, and determining the searched functional area as the functional area corresponding to the detected functional area identification. Here, the correspondence relationship between each function region identifier and the function region stored in the mobile robot is previously transmitted to the mobile robot through the APP.
The flow shown in fig. 3 is completed.
As can be seen from the flow shown in fig. 3, in the present application, corresponding function area identifiers are set at boundaries of different function areas in an application scene of the mobile robot, and if the mobile robot detects a function area identifier through an infrared device set in the mobile robot during a working process, the function area corresponding to the detected function area identifier is determined, a position of the detected function area identifier is determined in a constructed global map, and the function area corresponding to the detected function area identifier is marked at the position of the global map, so that the mobile robot divides the function areas in the global map, and finally, the function area division of the mobile robot is realized.
How the functional area identifier is detected by the provided infrared device in step 301 is described as follows:
in the application, the surface of the functional area mark is coated with a high-reflection material, and the bottom of the functional area mark is made of a common material. And when an infrared light source carried by the infrared equipment irradiates the high-reflection material, a high-brightness image is generated. Fig. 4 shows a schematic diagram of an imaging structure of the infrared device.
As shown in fig. 4, the infrared device irradiates the surrounding environment with its own infrared light source, when the light irradiates on the object, a part of the light returns to the lens to generate an infrared image, and when the infrared light source irradiates on the highly reflective material, a highlight area is generated at a corresponding position in the infrared image. The pixels in the highlight region are referred to as highlight pixels. If the functional area is marked as a zebra crossing, the infrared image shown in fig. 5a is obtained when the infrared source of the infrared device illuminates the area environment containing the zebra crossing. As can be seen from fig. 5a, the infrared brightness of the zebra crossing pattern is much greater than that of the peripheral pixels, and the zebra crossing pattern area shown in fig. 5a is a highlight area. The highlight pixels in the infrared image are extracted according to binarization, so that a highlight area (zebra crossing graphic area) shown in fig. 5b can be displayed more visually, as shown in fig. 5 b.
Based on the above description, the step 301 of detecting the functional area identifier through the provided infrared device may include: irradiating the surrounding environment by an infrared light source of the infrared equipment to obtain an infrared image; and checking whether a highlight area exists in the infrared image, and if so, determining a graph formed by highlight pixels in the highlight area as a functional area identifier.
In order not to affect the application scenario of the mobile robot, the highly reflective material is crystal beads as an embodiment in the present application.
In addition, as an example, in the present application, the surface of the highly reflective material may be coated to filter visible light and reflect only infrared light.
The above describes how the functional area identification is detected by the provided infrared device.
In this application, as an embodiment, the determining the position of the functional region identifier in the constructed global map in step 301 may include steps a1 and a 2:
step a1, calculating the depth d corresponding to each highlight pixel, and determining the coordinate position of the highlight pixel in the three-dimensional coordinate system according to the internal parameters of the infrared device and the calculated depth d.
Step a2, determining the position of the functional area identifier according to the global positioning information of the mobile robot and the coordinate position of each highlight pixel in the three-dimensional coordinate system.
Finally, through the step a1 and the step a2, the determination of the position of the functional area identifier in the constructed global map is realized. The following describes step a1 and step a2, respectively:
in step a1, as one example, each highlight pixel is visually determined depending on the size of the functional area identifier. Here, how to calculate the depth corresponding to the highlight pixel according to a visual method is similar to the conventional depth calculation method, and details are not repeated here.
Based on the determined depth corresponding to the highlight pixel, determining the coordinate position of the highlight pixel in the three-dimensional coordinate system according to the internal parameter of the infrared device and the calculated depth d in step a1 may include:
and b1, calculating the coordinate position of the highlight pixel on the normalization plane according to the internal parameters of the infrared equipment.
As an example, the step b1 can be implemented by the following formula 1:
wherein X, Y is the coordinate position of the highlight pixel on the normalization plane, (u, v) is the coordinate position of the binarized highlight pixel, and (c)x、cy) Is the principal point coordinate of the infrared device, (f)x、fy) Is the equivalent focal length of the infrared device.
And b2, determining the coordinate position of the highlight pixel in the three-dimensional coordinate system according to the coordinate position of the highlight pixel on the normalized plane and the corresponding depth.
As an example, step b2 can be implemented by the following equation 2:
in the formula 2, (X)w,Yw,Zw) For the coordinate position of the highlight pixel in the three-dimensional coordinate system, diThe corresponding depth of the highlight point pixel is obtained.
So far, the determination of the coordinate position of the highlight pixel in the three-dimensional coordinate system according to the internal reference parameters of the infrared device and the calculated depth d can be realized through the steps b1 to b 2. It should be noted that the steps b1 to b2 are only one embodiment of how to determine the coordinate position of the highlight pixel in the three-dimensional coordinate system according to the internal reference parameters of the infrared device and the calculated depth d, and are not intended to be limiting.
As an embodiment, in the present application, after the mobile robot marks the functional area on the global map, the mobile robot may perform the following operations:
(1) and performing work in the functional area specified by the external instruction.
Specifically, in the present application, the user may send an external instruction to the mobile robot to perform work in a designated functional area as needed, and when the mobile robot receives the external instruction, the user performs work in the designated functional area according to the external instruction. For example, the user sends an external instruction for cleaning the main lying position to the sweeper according to the requirement, and when the sweeper receives the instruction, cleaning can be started according to the main lying position marked on the global map. For example, if the global map defines the boundary between the main bed and the living room and the sweeper departs from the living room, the sweeper can determine that the sweeper is in the main bed only after confirming the position crossing the marked main bed, and can complete sweeping only for the main bed by taking the marked main bed position as the boundary during sweeping.
As an embodiment, in the present application, performing work in the functional area specified by the external instruction may include:
determining working parameters when the functional area specified by the external instruction works according to the working condition when the functional area specified by the external instruction works and the current residual electric quantity of the mobile robot; and working in the functional area specified by the external instruction according to the working parameters.
Still take the example of sweeping the main lying position by the floor sweeping machine, the floor sweeping machine can record the dust amount increased when the main lying position is completely swept each time to express the dirt degree of the main lying position, and when the floor sweeping machine sweeps the main lying position, the floor sweeping machine can utilize the dirt degree generated in the past and the current residual electric quantity to sweep the main lying position by adopting proper suction force, so that higher sweeping efficiency is achieved.
(2) Repositioning:
many mobile robots, such as floor sweeping machines, start from the charging seat to the charging seat when starting up or receiving a work task, and if the position of the charging seat is moved for a certain reason from the last time of getting on to getting off, the positioning information of the mobile robot is lost, and the mobile robot needs to be repositioned.
Similarly, if a mobile robot such as a sweeper encounters a jam during operation, the user may move the mobile robot, which may create a kidnapping problem where the mobile robot needs to be repositioned.
However, the most important pain point of many mobile robots such as floor sweepers is that the position of the robot in the established global map cannot be accurately located.
And be applied to this application, then can realize the relocation of mobile robot based on the functional area sign, specifically do: when the mobile robot needs to be repositioned, the mobile robot detects the functional area identifier according to the supported working mode; finding a location on the global map that is marked with: a functional area corresponding to the detected functional area identifier; repositioning the mobile robot according to the found position.
Still taking a floor sweeper as an example, in the application, if the floor sweeper marks more than one functional area on the global map, the floor sweeper can search for a functional area identifier corresponding to the marked functional area in a supported mode, such as a wall mode, and reposition the current position according to the found functional area identifier and a visual positioning mode, so that repositioning of the floor sweeper is realized.
(3) The forbidding function:
in this application, the functional area corresponding to the functional area identifier marked and detected at the position of the global map may be a no-entry area. For the no-entry area, the mobile robot bypasses the no-entry area in the working process, so that the object in the no-entry area is protected, and the no-entry function is realized.
Specifically, in the present application, the identifier of a specific shape may be used as the forbidden zone identifier, for example, the shape in fig. 6 may be used as the forbidden zone identifier. And once the mobile robot detects the forbidden zone identifier in work, stopping entering the forbidden zone corresponding to the forbidden zone identifier.
The no-entry zone is divided when the mobile robot works for the first time, for example, the sweeper cleans for the first time, and the boundary of the no-entry zone can be outlined in the global map.
(4) The charging seat has the following functions:
in the present application, the functional regions may further include: charging seat of mobile robot.
In order to realize the charging seat marking function, an identifier of a specific pattern is attached to the charging seat of the mobile robot, the mobile robot can determine that the corresponding functional area is the charging seat based on the identifier, and the position of the charging seat is positioned in the global map.
In the application, when the position of the charging seat is changed, the mobile charging seat can be marked in the map again by combining the repositioning function.
It should be noted that the four functions are only examples, and are not limiting to the present application.
The methods provided herein are described above. The following describes the apparatus provided in the present application:
referring to fig. 7, fig. 7 is a structural diagram of a mobile robot provided in the present application. As shown in fig. 7, the mobile robot includes: infrared devices, laser radars;
the laser radar is used for constructing an application scene of the mobile robot to form a global map when the mobile robot works;
and the infrared device is used for detecting the functional area identification when the mobile robot works, determining the position of the functional area identification in the global map when the functional area identification is detected, and marking the functional area corresponding to the detected functional area identification on the position of the global map.
As an embodiment, the surface of the functional area mark is coated with a high-reflection material, and a high-brightness image is generated when an infrared light source of the infrared equipment irradiates the high-reflection material;
the infrared equipment detects the functional area sign through the infrared equipment that is equipped with and includes:
irradiating the surrounding environment by an infrared light source of the infrared equipment to obtain an infrared image;
and detecting whether a highlight area exists in the infrared image, and if so, determining a graph formed by highlight pixels in the highlight area as a functional area identifier.
As an embodiment, the determining, by the infrared device, the position of the detected functional area identifier in the constructed global map includes:
calculating the depth d corresponding to each highlight pixel, and determining the coordinate position of the highlight pixel in a three-dimensional coordinate system according to the internal parameters of the infrared equipment and the calculated depth d;
and determining the position of the detected functional area identifier in a global map according to the global positioning information of the mobile robot and the coordinate position of each highlight pixel in the three-dimensional coordinate system.
As an embodiment, the functional area corresponding to the detected functional area identifier is determined by:
recognizing the graph in the detected functional area identifier, and determining the functional area corresponding to the detected functional area identifier according to the recognized graph; alternatively, the first and second electrodes may be,
and searching the functional area corresponding to the keyword in the corresponding relation between the functional area identifications and the functional areas stored in the mobile robot by taking the detected functional area identification as the keyword, and determining the searched functional area as the functional area corresponding to the detected functional area identification.
As an embodiment, as shown in fig. 7, the mobile robot further includes: and a processing module.
In one embodiment, the processing module is configured to operate in a functional area specified by the external instruction.
As an embodiment, the processing module performs work in a functional area specified by the external instruction, including:
determining working parameters when the functional area specified by the external instruction works according to the working condition when the functional area specified by the external instruction works and the current residual electric quantity of the mobile robot;
and working in the functional area specified by the external instruction according to the working parameters.
In one embodiment, the processing module is configured to detect the functional zone identifier according to a supported operating mode when the mobile robot needs to be repositioned; finding a location on the global map that marks: a functional area corresponding to the detected functional area identifier; and repositioning the mobile robot according to the found position.
In one embodiment, the processing module is configured to control the mobile robot to bypass the forbidden zone in the working process when the detected functional zone identifier corresponds to the forbidden zone.
In the present application, the functional regions in the application scenario of the mobile robot include at least:
a charging base of the mobile robot;
the mobile robot has functionally different areas in an application scene.
Thus, the structure of the apparatus shown in FIG. 7 is completed.
Referring to fig. 8, fig. 8 is a hardware structure diagram of the device provided in the present application. As shown in fig. 8, the indoor intercom device includes:
a machine-readable storage medium to store machine-readable instructions;
and the processor is used for reading the machine readable instructions and executing the functional zone division method applied to the mobile robot according to the machine readable instructions.
In the present application, a machine-readable storage medium may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), a solid state drive, any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.
The apparatuses, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or implemented by a product with certain functions. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Furthermore, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (11)
1. A functional area division method applied to a mobile robot is characterized in that the method is applied to the mobile robot, corresponding functional area identifiers are arranged on the boundaries of different functional areas in an application scene of the mobile robot, and the different functional areas correspond to the different functional area identifiers, and the method comprises the following steps:
if the mobile robot detects the functional area identification through the set infrared equipment in the working process, determining the position of the detected functional area identification in the constructed global map;
and marking the functional area corresponding to the detected functional area identification at the position of the global map.
2. The method according to claim 1, wherein the surface of the functional area identifier is coated with a high-reflection material, and a highlight image is generated when an infrared light source carried by the infrared device irradiates the high-reflection material;
the infrared equipment that detects through being equipped with detects the functional area sign and includes:
irradiating the surrounding environment by an infrared light source of the infrared equipment to obtain an infrared image;
and detecting whether a highlight area exists in the infrared image, and if so, determining a graph formed by highlight pixels in the highlight area as a functional area identifier.
3. The method of claim 2, wherein determining the location of the detected functional area identifier in the constructed global map comprises:
calculating the depth d corresponding to each highlight pixel, and determining the coordinate position of the highlight pixel in a three-dimensional coordinate system according to the internal parameter of the infrared equipment and the calculated depth d;
and determining the position of the detected functional area identifier in the global map according to the global positioning information of the mobile robot and the coordinate position of each highlight pixel in the three-dimensional coordinate system.
4. The method according to claim 1, wherein the functional area corresponding to the detected functional area identifier is determined by:
recognizing the graph in the detected functional area identifier, and determining the functional area corresponding to the detected functional area identifier according to the recognized graph; alternatively, the first and second electrodes may be,
and searching a functional area corresponding to the keyword in the corresponding relation between the functional area identifications and the functional areas stored in the mobile robot by taking the detected functional area identification as the keyword, and determining the searched functional area as the functional area corresponding to the detected functional area identification.
5. The method of claim 1, further comprising:
and performing work in the functional area specified by the external instruction.
6. The method of claim 5, wherein performing work in the functional area specified by the external instruction comprises:
determining working parameters when the functional area specified by the external instruction works according to the working condition when the functional area specified by the external instruction works and the current residual electric quantity of the mobile robot;
and working in the functional area specified by the external instruction according to the working parameters.
7. The method of claim 1, further comprising:
when the mobile robot needs to be repositioned, the mobile robot detects the functional area identifier according to the supported working mode;
finding a location on the global map that is marked with: a functional area corresponding to the detected functional area identifier;
repositioning the mobile robot according to the found position.
8. The method of claim 1, further comprising:
and if the detected functional area corresponding to the functional area identifier is a no-entry area, the mobile robot bypasses the no-entry area in the working process.
9. The method of claim 1, wherein the functional zones in the application scenario of the mobile robot comprise at least:
a charging stand of the mobile robot;
areas with different functions in the application scene of the mobile robot.
10. A mobile robot, characterized in that the mobile robot comprises: infrared devices, laser radars;
the laser radar is used for constructing an application scene of the mobile robot to form a global map when the mobile robot works;
the infrared device is used for detecting a functional area identifier when the mobile robot works, determining the position of the functional area identifier in the global map when the functional area identifier is detected, and marking a functional area corresponding to the detected functional area identifier on the position of the global map.
11. A mobile robot, characterized in that the mobile robot comprises:
a machine-readable storage medium to store machine-readable instructions;
a processor configured to read the machine-readable instructions from the machine-readable storage medium, to implement the method of any one of claims 1 to 9 by executing the machine-readable instructions.
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