CN113503877A - Robot partition map establishing method and device and robot - Google Patents
Robot partition map establishing method and device and robot Download PDFInfo
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Abstract
The invention is applicable to the technical field of robots, and provides a robot partition map establishing method, a device and a robot, wherein the method comprises the following steps of S1: collecting environmental information in the set preset subarea, establishing a subarea map according to the collected environmental information, and judging whether a threshold is identified according to the environmental information; s2: if so, adjusting the partition boundary of the preset partition according to the threshold, continuing to acquire the environmental information in the preset partition behind the adjusted partition boundary, and judging whether the acquisition of the environmental information in the preset partition is finished or not; s3: if so, recording and storing the partition map information of the preset partition, and cleaning in the preset partition; s4: after cleaning in the preset subareas is finished, the preset subareas are set in other uncleaned areas, and S1-S3 are executed again until subarea map information of all areas is recorded and saved, and all areas needing cleaning are cleaned completely. The invention solves the problem that the prior subarea crosses the room.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot partition map establishing method and device and a robot.
Background
With the continuous improvement of artificial intelligence technology, mobile robots begin to develop autonomy and intelligence. Depending on data of sensors such as a GPS, a laser radar, a camera, and an ultrasonic wave, some indoor services/robots with a mobile function can perform self-positioning and construction of a work area map in a specific area.
In the application of the sweeping robot, the partition cleaning is performed by taking a room as a range frequently. However, the existing sweeping robot cannot autonomously perform partition management between one room and another room without human intervention, and conventionally, partitions are generally performed according to a fixed square grid with a set size, for example, a partition with a fixed size of four times four is set, at this time, when a room is small or the set partition position is not proper, the partition may cross over the room, so that a preset partition includes more than two rooms, and the sweeping robot may shuttle back and forth between the rooms when cleaning in the partition, because a threshold is arranged between the rooms, the sweeping robot needs to frequently cross over the threshold, but the sweeping robot consumes energy and is troublesome when crossing over the threshold, so that the cleaning efficiency is low, the experience is not good, and the energy consumption is increased. Or when the room is large, the partition is only one part of the room, and at the moment, one room is divided into a plurality of parts, so that the cleaning efficiency of the sweeping robot on the partition is low, and the experience is poor.
Disclosure of Invention
The embodiment of the invention aims to provide a robot partition map building method, and aims to solve the problem that the existing partition crosses a room.
The embodiment of the invention is realized in such a way that a robot partition map building method comprises the following steps:
s1: collecting environmental information in the set preset subarea, establishing a subarea map according to the collected environmental information, and judging whether a threshold is identified according to the environmental information;
s2: if so, adjusting the partition boundary of the preset partition according to the threshold, continuing to acquire the environmental information in the preset partition behind the adjusted partition boundary, and judging whether the acquisition of the environmental information in the preset partition behind the adjusted partition boundary is finished or not;
s3: if so, recording and storing the partition map information of the preset partition behind the adjusted partition boundary, and cleaning in the preset partition behind the adjusted partition boundary;
s4: and when the cleaning in the preset subarea after the adjusted subarea boundary is finished, resetting the preset subareas in other uncleaned areas, and executing S1 to S3 again until the subarea map information of all the areas is recorded and saved, and cleaning all the areas needing to be cleaned.
Still further, the method further comprises:
when the long barrier is collected and is in the preset partition according to the collected environmental information, the partition boundary is adjusted to be aligned with the long barrier so as to reduce the preset partition;
and when the collected long barrier is judged to be in the distance threshold outside the preset partition according to the collected environment information, adjusting the partition boundary to be aligned with the long barrier so as to expand the preset partition.
Still further, the method further comprises:
identifying the identified threshold in the zone map;
when the cancel/correct/new mark for the target threshold in the partition map is obtained, the partition boundary is readjusted according to the target threshold of the cancel/correct/new mark, and the mark of the target threshold is cancelled/corrected/new increased in the partition map.
Still further, the method further comprises:
prompting the recorded and stored partition map information of all the areas so that a user carries out corresponding identification on each preset partition according to the prompt;
when the cleaning signal for the identified target preset partition is acquired, correspondingly cleaning the target preset partition.
Further, the step of determining whether the threshold is identified according to the collected environmental information includes:
when a non-obstacle area range exists between two parallel or approximately parallel or vertical or approximately vertical obstacle boundaries, the non-obstacle area range is identified as a threshold; or
When the door or the threshold is detected according to the image information collected by the vision sensor, the door or the threshold is identified.
Another embodiment of the present invention is also directed to a robot partition map creating apparatus, including:
the threshold identification and judgment module is used for collecting environmental information in the preset subarea, establishing a subarea map according to the collected environmental information and judging whether the threshold is identified according to the environmental information;
the environment information acquisition and judgment module is used for adjusting the partition boundary of the preset partition according to the threshold when the threshold identification and judgment module judges that the threshold is identified according to the environment information, continuously acquiring the environment information in the preset partition behind the adjusted partition boundary, and judging whether the environment information acquisition in the preset partition behind the adjusted partition boundary is finished or not;
the partition map recording module is used for recording and storing the partition map information of the preset partition after the boundary of the adjusted partition when the environmental information acquisition judging module judges that the environmental information acquisition in the preset partition is finished, and cleaning the preset partition after the boundary of the adjusted partition;
and the other partition map recording module is used for resetting the preset partitions in other uncleaned areas after the preset partitions in the adjusted partition boundary are cleaned, and the threshold identification and judgment module, the environmental information acquisition and judgment module and the partition map recording module are executed again until the partition map information of all the areas is recorded and stored, and all the areas needing to be cleaned are cleaned completely.
Further, the apparatus further comprises:
the first partition boundary adjusting module is used for adjusting the partition boundary to be aligned with the long barrier when the long barrier is judged to be collected and is positioned in the preset partition according to the collected environment information so as to reduce the preset partition;
and the second partition boundary adjusting module is used for adjusting the partition boundary to be aligned with the long obstacle to expand the preset partition when the long obstacle is judged to be acquired according to the acquired environmental information and is positioned in a distance threshold outside the preset partition.
Further, the apparatus further comprises:
a threshold identification module for identifying the identified threshold in the zone map;
and the third partition boundary adjusting module is used for readjusting the partition boundary according to the target threshold of the cancelled/corrected/added identifier when the cancelled/corrected/added identifier of the target threshold in the partition map is acquired, and cancelling/correcting/adding the identifier of the target threshold in the partition map.
Further, the apparatus comprises:
the partition map information prompting module is used for prompting the recorded and stored partition map information of all the areas so that a user can correspondingly mark each preset partition according to the prompt;
and the target subarea cleaning module is used for correspondingly cleaning the target preset subarea when the cleaning signal of the identified target preset subarea is acquired.
Further, the threshold identification and determination module is configured to:
when a non-obstacle area range exists between two parallel or approximately parallel or vertical or approximately vertical obstacle boundaries, the non-obstacle area range is identified as a threshold; or
When the door or the threshold is detected according to the image information collected by the vision sensor, the door or the threshold is identified.
Another embodiment of the present invention further provides a robot, including a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the robot performs the robot zone map building method as described above.
According to the robot partition map establishing method provided by the embodiment of the invention, the partition map is established by collecting the environmental information of the preset partition, and the partition boundary of the preset partition is adjusted according to the threshold when the threshold is identified in the partition map establishing process, so that the problem that the preset partition crosses the room is avoided, and the problem that the existing partition crosses the room is solved.
Drawings
Fig. 1 is a flowchart of a robot zone map building method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for building a robot zone map according to an embodiment of the present invention;
FIG. 3 is a block diagram of a robot zone map building apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a robot before a partition map building method adjusts a partition boundary according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a robot partition map building method after partition boundaries are adjusted according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
According to the invention, the preset subarea is subjected to environment information acquisition to establish the subarea map, and the subarea boundary of the preset subarea is adjusted according to the threshold when the threshold is identified in the process of establishing the subarea map, so that the problem that the preset subarea crosses the room is avoided, and the problem that the room is crossed by the traditional subarea is solved.
Example one
Please refer to fig. 1, which is a flowchart illustrating a robot partition map building method according to a first embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, where the robot partition map building method includes:
step S1, collecting environmental information in the preset subarea, establishing a subarea map according to the collected environmental information, and judging whether a threshold is identified according to the environmental information;
in an embodiment of the present invention, the robot path planning method is applied to a robot, and in particular, in the embodiment, the robot is applied to a sweeping robot, wherein the sweeping robot is equipped with any one or more combination modes of a SLAM system, inertial navigation, WIFI positioning, bluetooth positioning, and UWB for positioning and recording.
Taking the SLAM system as an example, the SLAM system (synchronous positioning and mapping) may use a laser radar, a depth camera, an ultrasonic wave and other sensors, for example, a laser transmitter of a TOF laser radar transmits laser pulses when performing ranging, and a timer records transmission time; the pulse is received by the receiver after being reflected by the obstacle, and the timer records the receiving time, so that the distance between the laser radar and the corresponding obstacle can be calculated according to the flight time. It can be understood that in the embodiment of the invention, the positioning recording mode of the sweeping robot can also be other modes such as inertial navigation, WIFI positioning, bluetooth positioning, UWB and the like, and the positioning map building of the sweeping robot is not specifically limited, and is correspondingly set according to actual use requirements. It should be noted that the sensor equipped with the sweeping robot can collect the environmental information within a certain range around the current location, rather than only collecting the environmental information of the coordinate points located.
In this embodiment, as shown in fig. 4, a preset partition (e.g., 5 mx 5m, 4 mx 4m, etc.) with a fixed size is preset, so that the sweeping robot builds a map in the preset partition and performs a cleaning operation. The coordinate position and the size of the preset subarea are preset by the sweeping robot, the sweeping robot cannot independently perform subarea management between one room and one room without human intervention, and at the moment, the preset subarea may be completely positioned in one room or simultaneously spans more than two rooms due to different house types, rooms and the like of different users. At this moment, the sweeping robot moves in the preset subarea and collects environment information, and a subarea map is built step by step according to the collected environment information, wherein a representation method of the map mainly comprises a grid map, a feature point map, a direct representation method and a topological map, wherein the grid map is a product of digital rasterization of a real map in reality by taking the grid map as an example, the environment is decomposed into a series of discrete grids, each grid has a value, the grid comprises position coordinates and two types of basic information of whether obstacles exist, the probability value occupied by each grid is used for representing the environment information, generally, whether the environment information is marked as an obstacle or not, each grid of the map corresponds to a small area in the actual environment, and the probability distribution of the obstacles existing in the actual environment is reflected. The grid map can represent many features in a spatial environment that a sweeping robot can use for path planning. It is understood that in other embodiments of the present invention, the created partition map may also be a map of other representation methods, which is set according to actual use needs, and is not limited specifically herein.
In the process of acquiring environmental information in a preset partition and establishing a partition map, the robot judges whether a threshold is identified according to the currently acquired environmental information, wherein the threshold is identified by detecting whether a vacant area range exists among a plurality of obstacles or identifying the threshold according to image information acquired by a vision sensor equipped with the sweeping robot.
In step S1, when the threshold is determined to be identified according to the environmental information, step S2 is performed; and if not, continuously acquiring the environmental information in the preset partition until the environmental information in all the area ranges in the preset partition is completely acquired. Wherein when all the region acquisitions in the default sub-area remain unidentified, it is possible that the default sub-area is completely within a room. It should be noted that, because the size of the preset partition is preset by the sweeping robot, the preset partition may be a part of an existing room, and another part of the room is outside the partition boundary of the preset partition.
Step S2, adjusting the partition boundary of the preset partition according to the threshold, continuing to collect the environmental information in the preset partition after the adjusted partition boundary, and judging whether the collection of the environmental information in the preset partition after the adjusted partition boundary is finished;
when the threshold is judged and identified according to the environmental information in the process of collecting the environmental information in the preset partition, the partition boundary of the preset partition is adjusted according to the threshold, at this time, the preset partition is not fixed any more, but the partition boundary is adjusted and corrected, that is, the preset partition is preset with a fixed size before the partition boundary is not adjusted, when the threshold is detected and collected, the preset partition boundary is adjusted, further, in the process of continuously collecting the environmental information in the preset partition after the partition boundary is adjusted, when the environmental information collection in the preset partition is judged to be completed, the step S3 is executed; otherwise, the environmental information is still acquired in the preset subarea after the boundary of the adjusted subarea until the environmental information in the preset subarea is judged to be acquired. It can be understood that, when other thresholds are detected again in the process of continuing to acquire the environmental information, the boundary of the partition is adjusted again according to other thresholds.
The existing house is mainly used for communicating each room by arranging the door and the doorsill in each room, and the rooms are communicated with the outside by arranging the door, so that when the doorsill arranged at the lower end of the door is detected, two space areas are correspondingly determined to exist on two sides of the doorsill, namely the preset subarea spans at least two rooms, and after the preset subarea boundary is adjusted, the problem that the sweeping robot frequently spans the doorsill and the subarea of the original preset subarea is improper when cleaning according to the original preset subarea without adjusting the subarea boundary can be avoided.
Step S3, recording and storing the partition map information of the preset partition after the adjusted partition boundary, and cleaning in the preset partition after the adjusted partition boundary;
when the environmental information in the preset subarea is judged to be completely acquired, the subarea map information after the boundary of the adjusted subarea is recorded and stored, at the moment, the subarea information of the preset subarea which does not cross the threshold after the boundary of the adjusted subarea is recorded in the subarea map, at the moment, correspondingly, the sweeping robot cleans the preset subarea after the boundary of the regulated subarea, and the cleaning mode is any one of the existing modes and is not limited herein.
Meanwhile, after the boundaries of the preset partitions are adjusted, the boundaries of the partitions with the preset partitions are aligned with each wall in the room, so that the preset partition is a room partition; it also exists that the respective partition boundaries of a preset partition are only aligned with several walls in a room, so that the preset partition is only a part of one room.
Step S4, when the cleaning in the preset subarea after the adjusted subarea boundary is finished, the preset subareas are set in other uncleaned areas, and S1-S3 are executed again until the subarea map information of all the areas is recorded and stored, and all the areas needing to be cleaned are cleaned completely;
after the preset partition after the partition boundary is adjusted is cleaned, the preset partition is set in other uncleaned areas again, and the steps from S1 to S3 are repeated, that is, the partition boundary adjustment and cleaning of the 2 nd preset partition are completed, and the process is repeated until the partition maps of all the areas are completely built and all the areas needing cleaning are completely cleaned, so that the environmental information of all the preset partitions is recorded in the whole partition map, the cleaning efficiency is high and reasonable, the problem that the threshold is frequently crossed during cleaning is reduced, meanwhile, the partitions are reasonably cleaned, and in addition, the complete partition condition can be recorded after cleaning once, and the partition map information recorded last time can be directly reused if cleaning is performed in the same environment next time.
In the embodiment, the partition map is established by collecting the environmental information of the preset partition, and the partition boundary of the preset partition is adjusted according to the threshold when the threshold is identified in the process of establishing the partition map, so that the problem that the preset partition crosses the room is avoided, and the problem that the existing partition crosses the room is solved.
Example two
Please refer to fig. 2, which is a flowchart illustrating a partition map building method for a robot according to a second embodiment of the present invention, for convenience of description, only a part related to the embodiment of the present invention is shown, the flow of the embodiment of the present invention is substantially the same as the flow of the first embodiment, and no point is mentioned in the foregoing embodiment, specifically, the partition map building method for a robot includes:
step S11, collecting environmental information in the preset subarea, establishing a subarea map according to the collected environmental information, and judging whether a threshold is identified according to the environmental information;
when the threshold is judged to be identified according to the environmental information, executing step S21; and if not, continuously acquiring the environmental information in the preset partition until the environmental information in all the area ranges in the preset partition is completely acquired. When the threshold is judged and recognized according to the environmental information in the process of collecting the environmental information in the preset partition, the recognized threshold is identified in the established partition map, and the identification can be specifically carried out by adopting a color identification mode, a shape identification mode, a character identification mode and the like.
In an embodiment of the present invention, the step of determining whether the threshold is identified according to the environment information includes:
when a non-obstacle area range exists between two parallel or approximately parallel or vertical or approximately vertical obstacle boundaries, the non-obstacle area range is identified as a threshold; or
When the door or the threshold is detected according to the image information collected by the vision sensor, the door or the threshold is identified.
For example, the laser radar of the sweeping robot can detect an obstacle (such as a wall) and correspondingly fill and mark the obstacle in the grid map, and when the sweeping robot detects that a vacant area range exists between two adjacent obstacle boundaries and the two adjacent obstacle boundaries are parallel or approximately parallel or vertical or approximately vertical, the area range is identified as a threshold. It should be noted that the sweeping robot does not mark threshold findings as obstacles.
Or, the sweeping robot may further be equipped with a vision sensor (e.g., a camera), and at this time, image information of the current environment may be acquired by the vision sensor, and when a specific door or threshold is detected according to the existing image analysis algorithm, the threshold is identified.
Further, in other embodiments of the present invention, the doorsill may be identified by detecting attitude information of the sweeping robot, wherein a protruding stone or wood bar is disposed at the doorsill between a kitchen and a restaurant in a user's home, the sweeping robot is further equipped with an Inertial Measurement Unit (IMU) or an attitude sensor to measure a three-axis attitude angle (or angular velocity) and an acceleration of the sweeping robot, data collected by the sweeping robot further includes attitude information, the attitude information includes a heading angle, a pitch angle, and a roll angle, when the sweeping robot collects environmental information in a preset partition, the pitch angle of the sweeping robot in a current motion state is collected in real time, when the sweeping robot detects a large change in the pitch angle in a region, the region is identified as the doorsill, for example, when the sweeping robot in a normal state, an absolute value of a depression elevation angle is relatively small (for example, less than 2.5 degrees), when the absolute value of the pitch angle is larger (for example, larger than 4 degrees) when the robot moves from the position A to the position B, the position AB is identified as the threshold, and the sweeping robot moves along the threshold all the time; or when the pitch angle moves from the A position to the B position, the pitch angle changes from a smaller absolute value to a larger absolute value, and finally changes to a smaller absolute value, the AB position is identified as the doorsill, and the sweeping robot crosses the doorsill to another position. It should be noted that different obstacles may exist in the room, so that misjudgment is caused on the threshold detected according to the attitude information, and therefore, the mode of identifying the threshold according to the attitude information needs to be combined with the other methods for judgment, so as to realize more accurate threshold identification.
Step S21, adjusting the partition boundary of the preset partition according to the threshold, continuing to collect the environmental information in the preset partition after the adjusted partition boundary, and judging whether the collection of the environmental information in the preset partition after the adjusted partition boundary is finished;
when judging that the collection of the environmental information in the preset partition is finished, executing step S31; and if not, continuing to acquire the environmental information in the preset partition after the boundary of the adjusted partition is adjusted until the environmental information in the preset partition is judged to be acquired.
It should be noted that, in the process of collecting the environmental information in the preset partition in the steps S11 and S21, the method includes the following steps:
when other thresholds are judged to be identified again according to the collected environmental information, the partition boundary of the preset partition is adjusted again according to the other thresholds;
when the long barrier (approximate wall) is collected and is in the preset subarea according to the collected environment information, adjusting the subarea boundary to be aligned with the long barrier so as to reduce the preset subarea;
when the collected long barrier (approximate wall) is judged to be in the distance threshold value outside the preset subarea according to the collected environment information, the subarea boundary is adjusted to be aligned with the long barrier so as to expand the preset subarea.
That is to say, when the long obstacle, specifically the wall, is located in the preset partition, at this time, due to the existence of the wall, the sweeping robot cannot cross the long obstacle during the moving process in the preset partition, and therefore, at this time, the partition boundary of the preset partition is correspondingly adjusted according to the long obstacle, that is, the preset partition is narrowed, so that the partition boundary of the preset partition is aligned with the long obstacle. When the wall of the room is closer to the partition boundary of the preset partition, the position area between the partition boundary of the collected preset partition and the boundary of the obstacle can be supplemented into the preset partition, that is, the partition boundary of the preset partition is adjusted according to the collected long obstacle, the preset partition after the partition boundary is finally adjusted is shown in fig. 5, and at this time, the partition boundary of the preset partition is adjusted, so that the currently established partition map includes a complete room as much as possible instead of only a part of the room, and the whole actual room can be brought into the preset partition as much as possible.
Further, the collecting of the set environment information in the preset partition is realized by the following steps:
determining a boundary point which is moved to a position closest to a partition boundary in a preset partition according to the acquired current position;
secondly, moving from the boundary point along the boundary of the partition in the preset partition for one circle to acquire environment information;
and thirdly, moving in the boundary of the preset partition according to a preset moving path mode to acquire the environmental information.
The sweeping robot is provided with a laser radar and other positioning devices, so that each coordinate position in the peripheral range of the current position and the obstacle which can be detected in the detection range can be obtained in real time, and meanwhile, the sweeping robot can also obtain the coordinate position of the partition boundary in the preset partition. The sweeping robot searches and determines a boundary point which is closest to the current distance according to the coordinate position of the sweeping robot, and correspondingly moves to the boundary point after the sweeping robot determines the boundary point. Furthermore, the sweeping robot detours a circle along the set partition boundary and collects environmental information in real time, wherein in the process of moving around along the partition boundary, when the laser radar collects a long obstacle in front and is positioned in the partition boundary or collects a long obstacle in front and is positioned in a distance threshold outside a preset partition, the partition boundary is adjusted to be aligned with the long obstacle, when the sweeping robot moves to touch the long obstacle, the sweeping robot starts to move around along the partition boundary where the long obstacle is positioned, when the sweeping robot moves to touch another partition boundary along the partition boundary where the long obstacle is positioned, the sweeping robot continues to move around along another partition boundary, and accordingly, the sweeping robot completes the moving around circle along the partition boundary in the preset partition; furthermore, after the partition boundary is completely bypassed for one circle, the environment information is continuously acquired within the partition boundary range according to a preset moving path mode, and a partition map is gradually established according to the acquired environment information of the preset partition. The preset moving path mode includes a zigzag path, a zigzag path or a spiral involute path, and the zigzag path is preferably adopted in the embodiment.
And step S31, recording and saving the partition map information of the preset partition after the adjusted partition boundary, and cleaning in the preset partition after the adjusted partition boundary.
Step S41, when the cleaning in the preset subarea after the adjusted subarea boundary is finished, the preset subareas are set in other uncleaned areas, and S11-S31 are executed again until the subarea map information of all the areas is recorded and stored, and all the areas needing to be cleaned are cleaned completely;
further, after step S41, the method further includes, when the cancel/correct/add identifier for the target threshold in the partition map is obtained, readjusting the partition boundary according to the target threshold of the cancel/correct/add identifier, and canceling/correct/add the identifier of the target threshold in the partition map;
after the partition map is established, the user can check the partition map by using the APP in the preset terminal and other modes, and can check whether the threshold is correctly identified according to the identified threshold, and when the user determines that the threshold is incorrectly identified, the user can cancel or correct or newly add the threshold in the partition map through the APP.
For example, when the target threshold identified by the sweeping robot does not exist in the preset subarea, the user cancels the identifier of the target threshold by using the APP of the preset terminal correspondingly according to the actual situation, and when the sweeping robot correspondingly acquires the cancelled identifier of the target threshold, the identifier of the target threshold is cancelled in the established subarea map correspondingly. Correspondingly, when the target threshold identification of the preset partition is wrong, if the size of the threshold is wrong, the position of the threshold is wrong and the like, the user correspondingly corrects the identification of the target threshold through the APP, so that the identification of the target threshold is corrected in the partition map; and when the target threshold is not identified in the preset partition, the user correspondingly adds the identifier of the target threshold through the APP so as to add the identifier of the target threshold in the partition map. Accordingly, when the identifier of the target threshold is cancelled/corrected/added, the boundary of the preset partition is readjusted according to the identifier of the target threshold.
Step S51, prompting the recorded and stored partition map information of all areas, so that the user can correspondingly mark each preset partition according to the prompt;
after the partition map is built, the user can be prompted to build the partition map of each preset partition through the APP, so that the user can perform corresponding identification according to each preset partition, if the user mainly sleeps through information input on one preset partition through the APP, the floor sweeping robot correspondingly marks the preset partition as the main sleeping, and at the moment, room management can be performed correspondingly according to operation of the user.
It should be noted that, in the process of adjusting the partition boundary of the preset partition, only the long obstacle located within the distance threshold outside the preset partition is extended into the preset partition, and when the long obstacle is far away from the partition boundary of the preset partition, the long obstacle cannot be extended into the preset partition, and at this time, after the user looks up each established preset partition through the APP, the user can also perform operations such as merging and modifying on each preset partition through the APP, for example, the user can merge two adjacent preset partitions into one partition and mark the partition as a living room, so that the preset partitions which do not cross the threshold but are adjacent and dispersed to each other can be merged into a complete partition.
In step S61, when the cleaning signal for the identified target preset partition is acquired, the target preset partition is correspondingly cleaned.
Wherein, after the partition map is established and the user marks and divides each preset partition through the APP, the sweeping robot can sweep all the preset subareas, and when a user does not want to sweep all the subareas, when only a single preset subarea needs to be cleaned, if a user only needs to clean the main area and the horizontal area, the user can select the target preset subarea to clean through the APP, when the sweeping robot obtains a local cleaning instruction for the target preset subarea, it obtains the current position of itself and the position of the threshold in the target preset partition, and correspondingly determines the path of navigating to the threshold, after moving to the threshold and crossing the threshold, the target preset partition is cleaned, and the path for cleaning at this time may be a zigzag path, a zigzag path or a spiral involute path, and a zigzag path is preferably adopted in this embodiment.
When a user selects to perform overall cleaning on the preset partition, the user can select each preset partition through the APP to perform overall cleaning, and when a global cleaning instruction for each preset partition is acquired, each preset partition is sequentially cleaned, specifically, when cleaning is performed, the user specifically enters an adjacent preset partition to perform cleaning after cleaning of each preset partition is completed, so that the number of times of crossing over a threshold is reduced.
According to the robot partition map establishing method provided by the embodiment of the invention, the partition map is established by collecting the environmental information of the preset partition, and the partition boundary of the preset partition is adjusted according to the threshold when the threshold is identified in the partition map establishing process, so that the problem that the preset partition crosses over the room is avoided, the preset partition can be well managed according to the room, and the problem that the existing partition crosses over the room is solved.
EXAMPLE III
Referring to fig. 3, a schematic structural diagram of a robot partition map building apparatus according to a third embodiment of the present invention is shown, which only shows parts related to the embodiment of the present invention for convenience of description, and the robot partition map building apparatus includes:
the threshold identification and judgment module 11 is used for acquiring environmental information in the preset partition, establishing a partition map according to the acquired environmental information, and judging whether a threshold is identified according to the environmental information;
the environment information acquisition and judgment module 21 is configured to, when the threshold identification and judgment module 11 determines that the threshold is identified according to the environment information, adjust the partition boundary of the preset partition according to the threshold, continue to acquire environment information in the preset partition after the partition boundary is adjusted, and judge whether the acquisition of the environment information in the preset partition after the partition boundary is adjusted is completed;
the partition map recording module 31 is configured to record and store the partition map information of the preset partition after the adjusted partition boundary when the environmental information collection determination module 21 determines that collection of the environmental information in the preset partition is completed, and perform cleaning in the preset partition after the adjusted partition boundary;
and the other partition map recording module 41 is configured to, after cleaning is completed in the preset partition after the partition boundary is adjusted, set the preset partition in another uncleaned area, and the threshold identification and determination module 11, the environmental information acquisition and determination module 21, and the partition map recording module 31 execute again until partition map information of all areas is recorded and stored, and all areas to be cleaned are cleaned completely.
Further, the apparatus further comprises:
a first partition boundary adjusting module 51, configured to adjust a partition boundary to be aligned with a long obstacle when it is determined that the long obstacle is collected and located in a preset partition according to the collected environment information, so as to reduce the preset partition;
and a second partition boundary adjusting module 61, configured to adjust the partition boundary to be aligned with the long obstacle when it is determined that the collected long obstacle is within the distance threshold outside the preset partition according to the collected environment information, so as to expand the preset partition.
Further, the apparatus further comprises:
a threshold identification module 71, configured to identify the identified threshold in the partition map;
a third partition boundary adjusting module 81, configured to, when a cancel/correct/add identifier for the target threshold in the partition map is obtained, readjust the partition boundary according to the target threshold of the cancel/correct/add identifier, and cancel/correct/add the identifier of the target threshold in the partition map.
Further, the apparatus comprises:
the partition map information prompting module 91 is configured to prompt the recorded and stored partition map information of all the areas, so that a user performs corresponding identification on each preset partition according to the prompt;
and the target subarea cleaning module 101 is configured to correspondingly clean the target preset subarea when a cleaning signal for the identified target preset subarea is acquired.
Further, the threshold identification and determination module 11 is configured to:
when a non-obstacle area range exists between two parallel or approximately parallel or vertical or approximately vertical obstacle boundaries, the non-obstacle area range is identified as a threshold; or
When the door or the threshold is detected according to the image information collected by the vision sensor, the door or the threshold is identified.
The robot partition map building device provided by the embodiment of the invention has the same implementation principle and technical effect as the embodiment of the method, and for brief description, corresponding contents in the embodiment of the method can be referred to where the embodiment of the device is not mentioned.
In the embodiment, the partition map is established by collecting the environmental information of the preset partition, and the partition boundary of the preset partition is adjusted according to the threshold when the threshold is identified in the process of establishing the partition map, so that the problem that the preset partition crosses the room is avoided, and the problem that the existing partition crosses the room is solved.
The present embodiment also provides a readable storage medium, on which a program is stored, which when executed by a processor implements the robot zone map building method steps as described in the above embodiments. The readable storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The embodiment also provides a robot, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the robot executes the robot partition map establishing method described in the above embodiment.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is used as an example, in practical applications, the above-mentioned function distribution may be performed by different functional units or modules according to needs, that is, the internal structure of the storage device is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
Those skilled in the art will appreciate that the component structure shown in fig. 3 does not constitute a limitation of the robot zone map building apparatus of the present invention, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components, and that the robot zone map building method in fig. 1-2 may also be implemented using more or fewer components than those shown in fig. 3, or some components in combination, or a different arrangement of components. The units, modules, etc. referred to in the present invention are a series of computer programs that can be executed by a processor (not shown) in the robot zone map building apparatus and that can perform a specific function, and each of the computer programs can be stored in a storage device (not shown) of the robot zone map building apparatus.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (11)
1. A robot subarea map building method is characterized by comprising the following steps:
s1: collecting environmental information in the set preset subarea, establishing a subarea map according to the collected environmental information, and judging whether a threshold is identified according to the environmental information;
s2: if so, adjusting the partition boundary of the preset partition according to the threshold, continuing to acquire the environmental information in the preset partition behind the adjusted partition boundary, and judging whether the acquisition of the environmental information in the preset partition behind the adjusted partition boundary is finished or not;
s3: if so, recording and storing the partition map information of the preset partition behind the adjusted partition boundary, and cleaning in the preset partition behind the adjusted partition boundary;
s4: and when the cleaning in the preset subarea after the adjusted subarea boundary is finished, resetting the preset subareas in other uncleaned areas, and executing S1 to S3 again until the subarea map information of all the areas is recorded and saved, and cleaning all the areas needing to be cleaned.
2. The robot zone map building method of claim 1, wherein the method further comprises:
when the long barrier is collected and is in the preset partition according to the collected environmental information, the partition boundary is adjusted to be aligned with the long barrier so as to reduce the preset partition;
and when the collected long barrier is judged to be in the distance threshold outside the preset partition according to the collected environment information, adjusting the partition boundary to be aligned with the long barrier so as to expand the preset partition.
3. The robot zone map building method of claim 1, wherein the method further comprises:
identifying the identified threshold in the zone map;
when the cancel/correct/new mark for the target threshold in the partition map is obtained, the partition boundary is readjusted according to the target threshold of the cancel/correct/new mark, and the mark of the target threshold is cancelled/corrected/new increased in the partition map.
4. The robot zone map building method of claim 1, wherein the method further comprises:
prompting the recorded and stored partition map information of all the areas so that a user carries out corresponding identification on each preset partition according to the prompt;
when the cleaning signal for the identified target preset partition is acquired, correspondingly cleaning the target preset partition.
5. The robot partition map building method according to claim 1, wherein the step of determining whether the threshold is recognized according to the collected environmental information includes:
when a non-obstacle area range exists between two parallel or approximately parallel or vertical or approximately vertical obstacle boundaries, the non-obstacle area range is identified as a threshold; or
When the door or the threshold is detected according to the image information collected by the vision sensor, the door or the threshold is identified.
6. A robot zoning map establishing apparatus, the apparatus comprising:
the threshold identification and judgment module is used for collecting environmental information in the preset subarea, establishing a subarea map according to the collected environmental information and judging whether the threshold is identified according to the environmental information;
the environment information acquisition and judgment module is used for adjusting the partition boundary of the preset partition according to the threshold when the threshold identification and judgment module judges that the threshold is identified according to the environment information, continuously acquiring the environment information in the preset partition behind the adjusted partition boundary, and judging whether the environment information acquisition in the preset partition behind the adjusted partition boundary is finished or not;
the partition map recording module is used for recording and storing the partition map information of the preset partition after the boundary of the adjusted partition when the environmental information acquisition judging module judges that the environmental information acquisition in the preset partition is finished, and cleaning the preset partition after the boundary of the adjusted partition;
and the other partition map recording module is used for resetting the preset partitions in other uncleaned areas after the preset partitions in the adjusted partition boundary are cleaned, and the threshold identification and judgment module, the environmental information acquisition and judgment module and the partition map recording module are executed again until the partition map information of all the areas is recorded and stored, and all the areas needing to be cleaned are cleaned completely.
7. The robot zone map building apparatus of claim 6, wherein said apparatus further comprises:
the first partition boundary adjusting module is used for adjusting the partition boundary to be aligned with the long barrier when the long barrier is judged to be collected and is positioned in the preset partition according to the collected environment information so as to reduce the preset partition;
and the second partition boundary adjusting module is used for adjusting the partition boundary to be aligned with the long obstacle to expand the preset partition when the long obstacle is judged to be acquired according to the acquired environmental information and is positioned in a distance threshold outside the preset partition.
8. The robot zone map building apparatus of claim 6, wherein said apparatus further comprises:
a threshold identification module for identifying the identified threshold in the zone map;
and the third partition boundary adjusting module is used for readjusting the partition boundary according to the target threshold of the cancelled/corrected/added identifier when the cancelled/corrected/added identifier of the target threshold in the partition map is acquired, and cancelling/correcting/adding the identifier of the target threshold in the partition map.
9. The robot-zoning map creation device according to claim 6, wherein the device comprises:
the partition map information prompting module is used for prompting the recorded and stored partition map information of all the areas so that a user can correspondingly mark each preset partition according to the prompt;
and the target subarea cleaning module is used for correspondingly cleaning the target preset subarea when the cleaning signal of the identified target preset subarea is acquired.
10. The robot-partitioned map building apparatus of claim 6, wherein the threshold identification determination module is configured to:
when a non-obstacle area range exists between two parallel or approximately parallel or vertical or approximately vertical obstacle boundaries, the non-obstacle area range is identified as a threshold; or
When the door or the threshold is detected according to the image information collected by the vision sensor, the door or the threshold is identified.
11. A robot comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the robot executes the computer program and the robot zone map building method according to any one of claims 1 to 5.
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