Robot and its disinfection navigation method, device and storage medium

Abstract

The present application belongs to the field of robots, and proposes a robot and its disinfection navigation method, device and storage medium. The method includes: obtaining an initial map within the field of view of the robot at an initial position; tiling disinfection grids in the initial map, and determining disinfection consideration points in the disinfection grids; determining the disinfection order of the disinfection grids according to the position of the robot when it completes disinfection of a single disinfection grid and the distance between the robot and the grid to be disinfected; determining the disinfection planning points in the disinfection grid according to the distance and the priority of the disinfection consideration points; disinfecting the initial map according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids. In this way, path planning can be completed while disinfecting, which is conducive to simplifying the disinfection process and improving the disinfection efficiency of the robot.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a robot and its disinfection navigation method, device and storage medium. Background Art

[0002] The disinfection and epidemic prevention robot, also known as the disinfection robot, is a robot that uses a robot as a carrier and is equipped with a disinfection system inside the robot to produce disinfection gas. The robot's pneumatic system is used to quickly diffuse the disinfection gas in the indoor space, or it is disinfected through ultraviolet rays, thereby effectively increasing the coverage, uniformity and effectiveness of disinfection.

[0003] Before disinfection, current disinfection robots need to construct a map of the disinfection scene. For example, they can use SLAM technology to build a map in advance, or use manual remote control to complete the map building process for efficiency reasons. Although this method can better complete the construction of the scene map, this method of separating the map building from the disinfection process is not conducive to improving the disinfection efficiency of the robot, and the operation through manual remote control is more troublesome. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a robot and its disinfection navigation method, device and storage medium to solve the problem that when the robot in the prior art performs disinfection, the mapping and disinfection processes are separated, which is not conducive to improving the disinfection and sterilization efficiency of the robot, and the operation through manual remote control walking is more troublesome.

[0005] A first aspect of an embodiment of the present application provides a robot disinfection navigation method, the method comprising:

[0006] Acquire an initial map within the robot's field of view at an initial position;

[0007] Laying out a pest control grid in the initial map, and determining pest control consideration points in the pest control grid;

[0008] Determine the order of disinfection of the disinfection grids according to the position of the robot when it completes disinfection of a single disinfection grid and the distance between the robot and the grid to be disinfected;

[0009] Determine the disinfection planning point in the disinfection grid according to the distance between the location and the disinfection consideration point in the disinfection grid to be disinfected, combined with the priority level of the disinfection consideration point;

[0010] The initial map is disinfected according to the disinfection order of the disinfection grid and the disinfection planning points of the disinfection grid.

[0011] In combination with the first aspect, in a first possible implementation manner of the first aspect, before determining the order of disinfecting the disinfecting grids according to the position of the robot when the robot completes the disinfecting of a single killing grid and the distance between the robot and the grid to be disinfected, the method further includes:

[0012] Determine the distance between the position of the robot and the disinfection consideration point in the disinfection grid;

[0013] Whether the disinfection grid is a grid to be disinfected is determined according to the distance between the position of the robot and a disinfection consideration point in the disinfection grid.

[0014] In combination with the first aspect, in a second possible implementation manner of the first aspect, the disinfection consideration points include disinfection consideration points of a first priority, disinfection consideration points of a second priority, and disinfection consideration points of a third priority.

[0015] In combination with the second possible implementation method of the first aspect, in the third possible implementation method of the first aspect, the first-priority disinfection consideration point includes the center of the disinfection grid, the second-priority disinfection planning point includes the midpoint of the vertical line segment from the center point of the disinfection grid to the edge of the disinfection grid, and the third-priority disinfection planning point includes the midpoint of the line segment from the center point to the vertex of the disinfection grid.

[0016] In combination with the second possible implementation manner of the first aspect or the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, determining the disinfection planning point in the disinfection grid according to the distance between the position and the disinfection consideration point in the disinfection grid to be disinfected, combined with the priority level of the disinfection consideration point, includes:

[0017] Acquire a first distance between the position of the robot and a first priority point for consideration for elimination, and a second distance between the position of the robot and a second priority point for consideration for elimination;

[0018] If the difference between the minimum value of the first distance and the second distance is less than a predetermined first distance threshold, the first priority disinfection consideration point is determined as the disinfection planning point of the message disinfection grid; otherwise, the disinfection consideration point corresponding to the minimum value of the second distance is determined as the disinfection planning point of the disinfection grid;

[0019] If the first distance and the second distance are both infinite, determine the third distance between the position of the robot and the third priority disinfection consideration point, and select the disinfection consideration point corresponding to the smallest third distance as the disinfection planning point of the disinfection grid.

[0020] In combination with the first aspect, in a fifth possible implementation manner of the first aspect, the initial map is disinfected according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids, including:

[0021] Determine whether the current target disinfection planning point can be reached;

[0022] If the current target disinfection planning point is unreachable, the current target disinfection planning point is updated to the reachable point closest to the target disinfection planning point.

[0023] In combination with the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, disinfecting the initial map according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids includes:

[0024] When the robot reaches the target disinfection planning point, a fourth distance between the target disinfection planning point and a historical disinfection planning point where disinfection has been completed is obtained;

[0025] If the fourth distance is less than the preset second distance threshold, other pest control consideration points in the pest control grid where the target pest control planning point is located are updated to the target pest control planning point, and the fourth distance is recalculated and judged.

[0026] A second aspect of an embodiment of the present application provides a robot disinfection navigation device, the device comprising:

[0027] An initial map acquisition unit, used to acquire an initial map within the field of view of the robot at an initial position;

[0028] A disinfecting grid determination unit, used to lay out a disinfecting grid in the initial map and determine a disinfecting consideration point in the disinfecting grid;

[0029] A disinfection order determination unit, used to determine the disinfection order of the disinfection grids according to the position of the robot when it completes disinfection of a single disinfection grid and the distance between the robot and the grid to be disinfected;

[0030] A pest control planning point determination unit, configured to determine a pest control planning point in the pest control grid according to a distance between the location and a pest control consideration point in the pest control grid to be pest controlled, combined with a priority level of the pest control consideration point;

[0031] A disinfection unit is used to disinfect the initial map according to the disinfection order of the disinfection grid and the disinfection planning points of the disinfection grid.

[0032] A third aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0033] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0034] Compared with the prior art, the embodiments of the present application have the following beneficial effects: when the robot in the present application performs disinfection navigation, it first determines an initial map within the field of view of the initial position, and lays out a disinfection grid based on the initial map, determines the disinfection order of the disinfection grid according to the distance between the robot's position during the disinfection process and the disinfection grid, determines the disinfection planning points in the disinfection grid based on the distance between the disinfection consideration points in the disinfection grid and the position of the robot, and disinfects the scene where the robot is located based on the determined disinfection order of the disinfection grid and the disinfection planning points of the disinfection grid, so that path planning can be completed while disinfecting, which is conducive to simplifying the disinfection process and improving the disinfection efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 It is a schematic diagram of the implementation flow of a robot disinfection navigation method provided in an embodiment of the present application;

[0037] Figure 2 It is a schematic diagram of a flat disinfection grid on an initial map provided in an embodiment of the present application;

[0038] Figure 3 This is a schematic diagram of the distribution of disinfection consideration points of a disinfection grid provided in an embodiment of the present application;

[0039] Figure 4 It is a schematic diagram of a robot disinfection navigation device provided in an embodiment of the present application;

[0040] Figure 5 It is a schematic diagram of the robot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0041] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0042] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0043] When traditional robots perform disinfection in a completely unfamiliar closed environment, they usually need to first complete the scene mapping work. Then, based on the constructed scene map, they perform path planning and perform scene disinfection work according to the planned path. This method separates the mapping and disinfection processes, making the disinfection process more cumbersome and not conducive to improving disinfection efficiency.

[0044] In order to solve this problem, the present application embodiment proposes a robot disinfection navigation method, such as Figure 1 As shown, the method includes:

[0045] In S101, an initial map within the field of vision of the robot is acquired at an initial position.

[0046] Specifically, the initial position in the embodiment of the present application can be any position in the scene where the robot needs to be disinfected. The scene that needs to be disinfected can be a scene that needs to be disinfected or sterilized. In a possible implementation, the initial position can be the middle position of the robot in the scene to be disinfected.

[0047] When the robot obtains the initial map, it can use the sensor equipment provided on the robot, such as laser radar, to collect images, and determine the initial map of the scene based on the collected images and obstacle information in the scene.

[0048] In a possible implementation, a laser radar may be arranged on the top of the robot so that the robot can more effectively collect map information in the scene. When constructing the initial map, the robot may be controlled to rotate once to collect complete scene map information.

[0049] When the scene map information is collected, the main direction of the robot's movement can also be determined based on the collected scene map information. The main direction can be the direction perpendicular to the wall. The main direction can be used as the initial movement direction of the robot when the disinfection work starts, and when the subsequent disinfection grid is tiled, it can be tiled according to this direction. For example, the edge of the tiled disinfection grid can be perpendicular to the main direction, so that the tiled disinfection grid is better matched with the scene, making the path of the robot in the disinfection process more scientific and complete.

[0050] The obtained initial map includes obstacle areas and free movement areas in the scene.

[0051] Of course, while the robot is performing the disinfection task, it can also continuously collect map information in the scene through sensor equipment and improve the initial map based on the collected map information.

[0052] In S102, a pest control grid is laid out in the initial map, and pest control consideration points in the pest control grid are determined.

[0053] When tiling the disinfection grid, Figure 2 As shown, tiling can be performed based on the main direction. That is, two of the sides of the tiled disinfecting grid are perpendicular to the main direction. Wherein, when tiling the disinfecting grid, it is necessary to ensure that at least part of the tiled killing grid is in a known area. For example, it can be ensured that the center point and at least one vertex in the tiled disinfecting grid are in a known area. The known area may include a free movement area in the initial map. Or it may also include an obstacle area.

[0054] The disinfection grid refers to the rectangular area divided in the initial map during the disinfection process. The size of the rectangular area can be determined according to the coverage density of the disinfection planning points. When the density of the disinfection planning points is higher, the side length of the rectangle is shorter, and when the density of the disinfection planning points is lower, the side length of the rectangle is longer.

[0055] The disinfection consideration point in the embodiment of the present application is the position of the robot in the disinfection grid where the disinfection action is performed when planning the disinfection path. Generally, the disinfection grid includes multiple disinfection consideration points, and different priorities can be set. The disinfection consideration point in the disinfection grid can be selected as the disinfection planning point according to the position of the robot.

[0056] In a possible implementation, three priority levels of elimination consideration points may be set, for example, elimination consideration points of first priority, second priority, and third priority. Figure 3As shown, a total of 9 disinfection consideration points numbered 0-8 can be set in the disinfection grid. The center point of the disinfection grid, that is, the disinfection consideration point numbered 0, can be set as a disinfection consideration point of the first priority, the disinfection consideration points at the midpoint of the line connecting the center point and the midpoint of the edge of the disinfection grid, that is, the disinfection consideration points numbered 1-4, can be set as disinfection consideration points of the second priority, and the disinfection consideration points numbered 5-8 at the center of the line connecting the center point and the vertex can be set as disinfection consideration points of the third priority.

[0057] The disinfection consideration point may be a position in each disinfection grid where the robot may perform disinfection work when performing disinfection work. The disinfection planning point may be a position calculated based on the position of the robot, which is conducive to the robot performing disinfection work more effectively. In a disinfection grid, the disinfection planning point is one of the disinfection consideration points. There are multiple disinfection consideration points in a disinfection grid, and there may be one disinfection planning point, or there may be no disinfection planning point.

[0058] In S103, the order of disinfecting the grids is determined according to the position of the robot when the robot completes the disinfecting of a single grid and the distance between the robot and the grid to be disinfected.

[0059] After the disinfection grid in the initial map is determined, the distance between the robot and the grid to be disinfected can be calculated based on the robot's position (which can be the robot's initial position or the robot's position after completing the disinfection work of any disinfection grid), and the nearest grid can be selected as the next grid to perform the disinfection task. Alternatively, when the robot is in the initial position, the first disinfection grid for the robot to perform disinfection work can also be determined based on the main direction.

[0060] For example, after the robot completes the disinfection work on disinfection grid A, the robot is at the location of the disinfection planning point of disinfection grid A. Based on this position, the distance between the robot and other grids to be disinfected is calculated. Through calculation, the nearest grid to be disinfected B is selected as the next disinfection grid to perform disinfection work. Similarly, after the disinfection work on disinfection grid B is completed, the next disinfection grid that meets the distance priority condition can be searched based on the location of the disinfection planning point of disinfection grid B until the disinfection work of all grids to be disinfected is completed.

[0061] When there are multiple grids to be disinfected with the same distance at the same time, any one of the disinfection grids can be selected to calculate the disinfection planning points.

[0062] The grids to be disinfected may refer to the remaining disinfection grids that need to be disinfected by the robot during the disinfection process. The disinfection grids that have completed disinfection work may be eliminated from the flat disinfection grids in the original map, and the disinfection grids where the navigation distance between the robot and all disinfection planning points in the disinfection grid is infinite may be eliminated. The disinfection grids where the distance between all disinfection consideration points in the disinfection grid and the disinfection planning points that have completed disinfection is less than a predetermined fourth distance threshold may also be eliminated.

[0063] The distance between the robot and the disinfection grid may be the distance between the robot and the center point of the disinfection grid.

[0064] In S104, a pest control planning point in the pest control grid is determined according to the distance between the position and the pest control consideration point in the pest control grid to be pest controlled, combined with the priority level of the pest control consideration point.

[0065] After determining the disinfection grid to be disinfected, it is necessary to compare the disinfection consideration points in the disinfection grid to be disinfected to determine the disinfection consideration points that can be used as disinfection planning points, or when no disinfection consideration points that can be used as disinfection planning points are found, remove the disinfection grid from the grids to be disinfected, and further search for the next disinfection grid that needs to be disinfected, such as taking the disinfection grid that is closest to the robot as the next disinfection grid that needs to be disinfected.

[0066] In this application, if Figure 2 As shown, the priority of the disinfecting consideration point located at the center position can be higher than the priority of the disinfecting consideration point located at the midpoint of the vertical line segment from the center point of the disinfecting grid to the edge of the disinfecting grid, and the priority of the disinfecting consideration point located at the midpoint of the vertical line segment from the center point of the disinfecting grid to the edge of the killing grid can be higher than the priority of the disinfecting consideration point at the midpoint of the line segment from the center point to the vertex of the killing grid. That is, the priority of disinfecting consideration point 0 is higher than that of disinfecting consideration points 1-4, and the priority of disinfecting consideration points 1-4 is higher than that of disinfecting consideration points 5-8.

[0067] After determining the priority of each disinfection consideration point, the distance between the robot's position and the disinfection consideration point can be combined with the priority of the disinfection consideration point to select the disinfection planning point for performing the disinfection work.

[0068] For example, when the distances from the robot's position to each disinfection consideration point are equal, the disinfection consideration point with the highest priority is selected first, such as the center point as the disinfection planning point.

[0069] When the first distance from the robot's position to the first priority disinfection consideration point 0 is d0, the second distances from the robot's position to the second priority disinfection consideration point are d1, d2, d3 and d4 respectively. Assume that the shortest navigation distance of the second priority disinfection consideration point, that is, the minimum value of the second distance from the robot's position to the second priority disinfection consideration point is expressed as d2min = (d1, d2, d3, d4). If the difference between the first distance d0 and the minimum value d2min of the second distance is less than the predetermined first distance threshold T1, the first priority disinfection consideration point 0 is used as the disinfection planning point. Conversely, if the difference between the first distance d0 and the minimum value d2min of the second distance is greater than the predetermined first distance threshold T1, the disinfection consideration point corresponding to the minimum value of the second distance of the second priority is used as the disinfection planning point. That is, the minimum value d2min of the distance between the robot and the second-priority disinfection consideration point is closer than the distance to the first-priority disinfection consideration point 0, and the difference is greater than a certain value (the first distance threshold T1), then the disinfection consideration point corresponding to the closer second-priority minimum distance is selected as the disinfection planning point of the disinfection grid.

[0070] In a possible implementation, assuming that the first-priority and second-priority disinfection consideration points in the disinfection grid are in the obstacle area, the navigation distance for the robot to reach the first-priority and second-priority disinfection consideration points is infinite, and then a selection is made among the third-priority disinfection consideration points.

[0071] Assume that the third distances between the third priority disinfection consideration point and the robot are d5, d6, d7, and d8, and d3min=min(d5, d6, d7, and d8) represents the minimum value of the third distance. When the first distance and the second distance are both infinite, the disinfection consideration point corresponding to d3min can be selected as the disinfection planning point corresponding to the disinfection grid.

[0072] Assuming that when selecting a disinfection planning point from the third-priority disinfection consideration points, if the distance between the third-priority disinfection consideration points and the robot is infinite, that is, the third-priority disinfection consideration points are in the obstacle area, then the disinfection grid can be ignored and the calculation and disinfection work of the next disinfection grid can be continued.

[0073] In S105, the initial map is disinfected according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids.

[0074] The disinfection order of the disinfection grids determined by the above steps, combined with the disinfection planning points in each disinfection grid in the determined disinfection order, can determine multiple target disinfection planning points for the disinfection work.

[0075] In the process of the robot moving towards the target disinfection planning point, as the robot continues to approach obstacles, the position of the target disinfection planning point that was originally reachable by navigation may be perceived to be occupied by obstacles only after the robot approaches. Therefore, the original navigation planning map will change. In order to avoid the phenomenon that the robot stops after approaching and finds that the target point is unreachable, and then plans the movement again after a pause, it is possible to determine in real time whether the original target disinfection planning point is reachable before each global path planning. If the current target disinfection planning point is unreachable, the target disinfection planning point can be updated to the nearest reachable point from the target disinfection planning point. This makes the movement of the resulting robot continuous and unstuck.

[0076] In a possible implementation, when the robot navigates to the target disinfection planning point, it can also first determine whether the target disinfection planning point needs to be disinfected. The fourth distance between the target disinfection planning point and the completed historical disinfection planning point can be compared with the predetermined second distance threshold. If it is less than the predetermined second distance threshold, the other disinfection consideration points in the disinfection grid where the target disinfection planning point is located are updated to the target disinfection planning point. For example, other disinfection consideration points can be selected in order from small to large according to the distance between them and the robot. The reselected target disinfection planning point is calculated and judged until it meets the requirements of the pre-set second distance threshold.

[0077] When the list of grids to be disinfected is empty, or the number of grids to be disinfected reaches the number required by the user, the disinfection task can be ended autonomously.

[0078] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0079] Figure 4 A schematic diagram of a robot disinfection navigation device provided in an embodiment of the present application. Figure 4 As shown, the device comprises:

[0080] An initial map acquisition unit 401 is used to acquire an initial map within the field of view of the robot at an initial position;

[0081] The disinfecting grid determining unit 402 is used to lay out the disinfecting grid in the initial map and determine the disinfecting consideration points in the disinfecting grid;

[0082] The disinfecting order determination unit 403 is used to determine the disinfecting order of the disinfecting grids according to the position of the robot when the robot completes the disinfecting of a single killing grid and the distance between the robot and the grid to be disinfected;

[0083] The pest control planning point determination unit 404 is used to determine the pest control planning point in the pest control grid according to the distance between the position and the pest control consideration point in the pest control grid to be pest controlled, combined with the priority level of the pest control consideration point;

[0084] The disinfection unit 405 is used to disinfect the initial map according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids.

[0085] Figure 4 The robot's disinfection navigation device shown in FIG. Figure 1 The robot disinfection navigation method shown corresponds to this.

[0086] Figure 5 is a schematic diagram of a robot provided in one embodiment of the present application. Figure 5 As shown, the robot 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a robot's disinfecting navigation program. When the processor 50 executes the computer program 52, the steps of the above-mentioned robot disinfecting navigation method embodiments are implemented. Alternatively, when the processor 50 executes the computer program 52, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0087] Exemplarily, the computer program 52 may be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 52 in the robot 5.

[0088] The robot may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 It is only an example of the robot 5 and does not constitute a limitation of the robot 5. The robot 5 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot may also include input and output devices, network access devices, buses, etc.

[0089] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0090] The memory 51 may be an internal storage unit of the robot 5, such as a hard disk or memory of the robot 5. The memory 51 may also be an external storage device of the robot 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot 5. The memory 51 is used to store the computer program and other programs and data required by the robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0091] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0095] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0097] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0098] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot disinfection navigation method, characterized in that: The method comprises: Acquire an initial map within the robot's field of view at an initial position; Laying out a pest control grid in the initial map, and determining pest control consideration points in the pest control grid; Determine the order of disinfection of the disinfection grids according to the position of the robot when it completes disinfection of a single disinfection grid and the distance between the robot and the grid to be disinfected; Determining the disinfection planning point in the disinfection grid according to the distance between the location and the disinfection consideration point in the disinfection grid to be disinfected, combined with the priority level of the disinfection consideration point, includes: Obtain a first distance between the position of the robot and a first-priority disinfection consideration point, and a second distance between the position of the robot and a second-priority disinfection consideration point; if the difference between the minimum value of the first distance and the second distance is less than a predetermined first distance threshold, determine the first-priority disinfection consideration point as the disinfection planning point of the disinfection grid; otherwise, determine the disinfection consideration point corresponding to the minimum value of the second distance as the disinfection planning point of the disinfection grid; if the first distance and the second distance are both infinite, determine the third distance between the position of the robot and the third-priority disinfection consideration point, and select the disinfection consideration point corresponding to the minimum third distance as the disinfection planning point of the disinfection grid; Disinfecting the initial map according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids; The disinfection and disinfecting consideration points include disinfection and disinfecting consideration points of the first priority, disinfection and disinfecting consideration points of the second priority, and disinfection and disinfecting consideration points of the third priority.

2. The method according to claim 1, characterized in that Before determining the order of disinfecting the disinfecting grids according to the position of the robot when the robot completes the disinfecting of a single disinfecting grid and the distance between the robot and the grid to be disinfected, the method further includes: Determine the distance between the position of the robot and the disinfection consideration point in the disinfection grid; Whether the disinfection grid is a grid to be disinfected is determined according to the distance between the position of the robot and a disinfection consideration point in the disinfection grid.

3. The method according to claim 1, characterized in that: The first-priority disinfection consideration point includes the center of the disinfection grid, the second-priority disinfection planning point includes the midpoint of the vertical line segment from the center point of the disinfection grid to the edge of the disinfection grid, and the third-priority disinfection planning point includes the midpoint of the line segment from the center point to the vertex of the disinfection grid.

4. The method according to claim 1, characterized in that: According to the disinfecting order of the disinfecting grid and the disinfecting planning points of the disinfecting grid, the initial map is disinfected, including: Determine whether the current target disinfection planning point can be reached; If the current target disinfection planning point is unreachable, the current target disinfection planning point is updated to the reachable point closest to the target disinfection planning point.

5. The method according to claim 4, characterized in that According to the disinfecting order of the disinfecting grid and the disinfecting planning points of the disinfecting grid, the initial map is disinfected, including: When the robot reaches the target disinfection planning point, a fourth distance between the target disinfection planning point and a historical disinfection planning point where disinfection has been completed is obtained; If the fourth distance is less than the preset second distance threshold, other pest control consideration points in the pest control grid where the target pest control planning point is located are updated to the target pest control planning point, and the fourth distance is recalculated and judged.

6. A robot disinfection navigation device, characterized in that: The device comprises: An initial map acquisition unit, used to acquire an initial map within the field of view of the robot at an initial position; A disinfecting grid determination unit, used to lay out a disinfecting grid in the initial map and determine a disinfecting consideration point in the disinfecting grid; A disinfection order determination unit, used to determine the disinfection order of the disinfection grids according to the position of the robot when it completes disinfection of a single disinfection grid and the distance between the robot and the grid to be disinfected; A disinfection planning point determination unit is used to determine the disinfection planning point in the disinfection grid according to the distance between the position and the disinfection consideration point in the disinfection grid to be disinfected, combined with the priority level of the disinfection consideration point, including: obtaining a first distance between the position of the robot and the disinfection consideration point of the first priority, and a second distance between the position of the robot and the disinfection consideration point of the second priority; if the difference between the minimum value of the first distance and the second distance is less than a predetermined first distance threshold, then determining the disinfection consideration point of the first priority as the disinfection planning point of the disinfection grid, otherwise, determining the disinfection consideration point corresponding to the minimum value of the second distance as the disinfection planning point of the disinfection grid; if the first distance and the second distance are both infinite, then determining the third distance between the position of the robot and the disinfection consideration point of the third priority, and selecting the disinfection consideration point corresponding to the minimum third distance as the disinfection planning point of the disinfection grid; A disinfection unit, configured to disinfect the initial map according to the disinfection order of the disinfection grids and the disinfection planning points of the disinfection grids; The disinfection and disinfecting consideration points include disinfection and disinfecting consideration points of the first priority, disinfection and disinfecting consideration points of the second priority, and disinfection and disinfecting consideration points of the third priority.

7. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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