Mapping and cleaning method and apparatus for a cleaning robot

Abstract

The application discloses a mapping and cleaning method and device for a cleaning robot, wherein the method applied to a user terminal comprises the following steps: obtaining photos of an indoor space according to a first control instruction of a user to obtain a photo set; generating a three-dimensional map of the indoor space according to the photo set; generating a terminal two-dimensional map of the indoor space according to the three-dimensional map; sending the three-dimensional map, the terminal two-dimensional map and a target path to the cleaning robot; receiving correction data fed back by the cleaning robot, and correcting the three-dimensional map and the terminal two-dimensional map according to the correction data. The APP of the user terminal can generate the three-dimensional map and the two-dimensional map covering the whole house and set the target path to be sent to the cleaning robot at one time, the cleaning robot can directly perform a cleaning operation, and the three-dimensional map and the two-dimensional map can be corrected by collecting data in the cleaning process, so that the long mapping and navigation planning process in the traditional method is saved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a mapping and cleaning method and apparatus for a cleaning robot. Background Technology

[0002] Cleaning robots with sweeping and mopping functions have become increasingly popular. They can automatically map and navigate to perform cleaning tasks. In current technology, most cleaning robots rely on environmental detection devices such as LiDAR and collision sensors for edge finding and mapping. LiDAR and other sensors scan the surroundings to form a local view. However, LiDAR has a narrow coverage area and cannot form a map of the entire cleaning area or a two-dimensional coordinate map of the entire house. In other words, it cannot form a three-dimensional spatial scanning model or a house spatial structure model at the robot's terminal. Its mapping and path planning process is relatively long and is suitable for long-term cleaning operations in a fixed indoor environment. For special situations such as frequently changing cleaning spaces, traditional mapping cleaning methods are less efficient and have a poor user experience. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a mapping and cleaning method and device for a cleaning robot that can quickly generate a navigation map covering the entire house.

[0004] Technical solution: To achieve the above objectives, the present invention provides a mapping and cleaning method for a cleaning robot, which is implemented by a user terminal, and the method includes:

[0005] Based on the user's first control command, indoor photos are retrieved to obtain a photo set;

[0006] Generate a 3D map of the interior space based on the photo set;

[0007] A terminal two-dimensional map of the indoor space is generated based on the three-dimensional map;

[0008] The 3D map, the terminal 2D map, and the target path are all sent to the cleaning robot.

[0009] The system receives correction data from the cleaning robot and corrects the 3D map and the terminal 2D map based on the correction data.

[0010] Furthermore, after generating a 3D map of the interior space from the photo set, the method further includes:

[0011] The target path for cleaning is obtained based on the user's second operation command;

[0012] The target path is sent to the cleaning robot.

[0013] Furthermore, after generating a 3D map of the interior space from the photo set, the method further includes:

[0014] The user's third operation command can be used to modify the overall scale of the 3D map and / or the size of local features in the 3D map.

[0015] Further, the correction data includes size correction data and / or shape correction data and / or obstacle information; the correction of the 3D map and the terminal 2D map based on the correction data includes:

[0016] The dimensions of corresponding features in the terminal's two-dimensional map are corrected according to the size correction data; and / or the shape of corresponding areas in the terminal's two-dimensional map is corrected according to the shape correction data; and / or obstacles are added or deleted in the terminal's two-dimensional map according to the obstacle information.

[0017] Furthermore, the method also includes:

[0018] Obtain the location information of the cleaning robot.

[0019] The terminal's two-dimensional map is displayed on the visualization interface, and the location of the cleaning robot is marked on the terminal's two-dimensional map based on the location information.

[0020] The mapping and cleaning device for the cleaning robot includes:

[0021] The first acquisition module is used to acquire indoor photos based on the user's first control command to obtain a photo set;

[0022] The first generation module is used to generate a 3D map of the interior space based on the photo set;

[0023] The second generation module is used to generate a terminal two-dimensional map of the indoor space based on the three-dimensional map;

[0024] The sending module is used to send the 3D map, the terminal 2D map, and the target path to the cleaning robot.

[0025] The correction module is used to receive correction data fed back by the cleaning robot and correct the three-dimensional map and the terminal two-dimensional map according to the correction data.

[0026] A mapping and cleaning method for a cleaning robot, implemented by the control unit of the cleaning robot, the method comprising:

[0027] Obtain the 3D map generated by the user terminal and the 2D map of the terminal;

[0028] The three-dimensional map is analyzed to obtain a two-dimensional map of the cleaning end;

[0029] The two-dimensional map of the cleaning end is compared with the two-dimensional map of the terminal generated by the user terminal. When there are differences between the two two-dimensional maps, the differences are recorded.

[0030] The cleaning robot is controlled to perform cleaning tasks, and during the process, the two-dimensional map with erroneous data is corrected based on the actual collected data for each difference point;

[0031] Based on the actual collected data and the differences between the two types of two-dimensional maps, the two-dimensional map of the cleaning end is updated, and correction data is generated and sent to the user terminal.

[0032] Furthermore, the method also includes:

[0033] Receive the target path sent by the user terminal;

[0034] The control of the cleaning robot to perform cleaning tasks includes:

[0035] The initial position of the cleaning robot is determined based on the obstacle and / or boundary information initially identified by the environmental detection sensors.

[0036] Send location confirmation information to the user terminal;

[0037] Control the cleaning robot to run along the target path.

[0038] Furthermore, obtaining the 3D map generated by the user terminal and the 2D map of the terminal includes:

[0039] Receive map retrieval instructions sent by the server;

[0040] The 3D map and the terminal's 2D map are obtained from the server via HTTP.

[0041] The mapping and cleaning device for the cleaning robot includes:

[0042] The second acquisition module is used to acquire the three-dimensional map and the two-dimensional map generated by the user terminal;

[0043] The parsing module is used to parse the three-dimensional map to obtain a two-dimensional map of the cleaning end.

[0044] The comparison module is used to compare the two-dimensional map of the cleaning end with the two-dimensional map of the terminal generated by the user terminal. When there are differences between the two two-dimensional maps, the differences between the two maps are recorded.

[0045] The first correction module is used to control the cleaning robot to perform cleaning tasks, and during the process, it corrects the two-dimensional map with erroneous data based on the actual collected data for each difference point.

[0046] The second correction module is used to update the two-dimensional map of the cleaning end based on the actual collected data and the differences between the two two-dimensional maps, and generate correction data to send to the user terminal.

[0047] Beneficial effects: The mapping and cleaning method and apparatus of the cleaning robot of the present invention can generate a three-dimensional map and a two-dimensional map covering the whole house at one time through the user terminal APP. The user can set the cleaning target path on the APP. The user terminal sends the three-dimensional map, two-dimensional map and target path to the cleaning robot through the server. The cleaning robot can directly obtain the navigation map and target path covering the whole house and can directly perform cleaning operations. During the cleaning process, data is collected to correct the three-dimensional map and two-dimensional map. Compared with traditional cleaning robots, it saves the long mapping and navigation planning process and can effectively improve cleaning efficiency. Attached Figure Description

[0048] Figure 1 A schematic diagram illustrating a usage scenario for a mapping-based cleaning method for cleaning robots;

[0049] Figure 2 This is a flowchart illustrating the mapping and cleaning method of the cleaning robot in the first embodiment;

[0050] Figure 3 This is a schematic diagram of a preferred process for the mapping and cleaning method of the cleaning robot in the first embodiment;

[0051] Figure 4 This is a schematic diagram of the mapping and cleaning device of the cleaning robot in the first embodiment;

[0052] Figure 5 This is a flowchart illustrating the mapping and cleaning method of the cleaning robot in the second embodiment;

[0053] Figure 6 This is a schematic diagram of the preferred process of the mapping and cleaning method of the cleaning robot in the second embodiment;

[0054] Figure 7 This is a schematic diagram of the preferred process of the mapping and cleaning method of the cleaning robot in the second embodiment;

[0055] Figure 8 This is a schematic diagram of the mapping and cleaning device of the cleaning robot in the first embodiment. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0057] It should be noted that the descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0058] Furthermore, in the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0059] like Figure 1 The illustration shows a usage scenario for the mapping and cleaning method of the cleaning robot of the present invention. It includes a cleaning robot 110, a server 120, and a user terminal 130. The cleaning robot 110 can be a robot capable of automatically performing floor cleaning tasks, such as a sweeping robot, a mopping robot, or a combined sweeping and mopping robot. The cleaning robot 110 is equipped with common environmental detection sensors such as lidar, millimeter-wave radar, and binocular cameras. The server 120 can forward data between the cleaning robot 110 and the user terminal 130. The server 120 itself also has data processing capabilities; it can be an independent server or a server cluster composed of multiple servers. Furthermore, the server 120 can be a locally located device with data forwarding capabilities, or a remote server such as a cloud server. In the following embodiments, the server 120 is described as a cloud server with computing capabilities (i.e., the cloud). The user terminal 130 is an existing user terminal such as a mobile phone, tablet computer, or computer.

[0060] Example 1

[0061] like Figure 2As shown, this embodiment provides a mapping and cleaning method for a cleaning robot, which is implemented by a user terminal 130. The user terminal 130 is pre-installed with a specific APP, which can access the camera and file management permissions of the user terminal 130. The method includes the following steps S201-S205:

[0062] Step S201: Obtain indoor photos according to the user's first control command to obtain a photo set;

[0063] In this step, the APP can either call the camera module of the user terminal 130 to take a photo, or select an existing photo from the album. At least some of the photos in the photo set contain a complete reference object or measuring ruler, and the size of the reference object or measuring ruler is known.

[0064] Step S202: Generate a 3D map of the interior space based on the photo set;

[0065] In this step, the 3D map includes at least the floor area of ​​the indoor space and information on obstacles above a first set height, such as 50cm. Thus, the 3D map encompasses the components required for the cleaning robot 110 to operate. Furthermore, the photos of adjacent indoor areas overlap, allowing for effective stitching of these overlapping elements during subsequent 3D map generation to form a complete indoor space. The specific algorithm for generating the 3D map of the indoor space from the photo set can employ existing technologies, such as using OpenGL to create the 3D map.

[0066] Step S203: Generate a terminal two-dimensional map of the indoor space based on the three-dimensional map;

[0067] This step is also based on existing technology. When generating the terminal 2D map, the projection can start from a section of the 3D map at a second predetermined height above the ground and project downwards. The second predetermined height is equal to or slightly higher than the height of the cleaning robot 110. For example, the second predetermined height can be taken as 1 times the height of the cleaning robot 110. In this way, the boundary information and obstacle information in the generated terminal 2D map are matched with the operating entity, namely the cleaning robot 110.

[0068] Step S204: Send the three-dimensional map, the terminal two-dimensional map, and the target path to the cleaning robot 110;

[0069] In this step, the specific method for sending map data is as follows: the App of user terminal 130 sends the 3D map and the terminal 2D map to the cloud via TSL (object model). The cloud then sends a map retrieval command to cleaning robot 110 via MQTT TCP long connection. After receiving the map retrieval command, cleaning robot 110 obtains the 3D map and the terminal 2D map via HTTP.

[0070] Step S205: Receive correction data fed back by the cleaning robot 110, and correct the three-dimensional map and the terminal two-dimensional map according to the correction data.

[0071] In this step, the correction data includes size correction data and / or shape correction data and / or obstacle information. Size correction data can correct the dimensions of the features that make up the 3D map, and shape correction data can add or remove areas based on the existing 3D map so that the shape of the corrected part matches the actual detection results. Obstacle information includes information on the addition or removal of obstacles.

[0072] Through the steps S201-S205 described above, the user can directly generate a rough indoor map (i.e., the aforementioned 3D map and the terminal's 2D map) through the pre-installed APP on the user terminal 130. After connecting with the cleaning robot 110, the user can directly send the indoor map to the cleaning robot 110, which can greatly save the time of the cleaning robot 110 in building the map. The cleaning robot 110 can directly clean based on the map data. During the cleaning process, it verifies the map data built by the user terminal 130 based on its onboard LiDAR and other detection sensors. When there is a difference between the actual environment and the map data, it generates correction data and shares the correction data with the user terminal 130. The APP on the user terminal 130 corrects the local map data according to the correction data, so that the map data stored by the user terminal 130 and the cleaning robot 110 are synchronized.

[0073] Preferably, after generating a three-dimensional map of the indoor space based on the photo set in step S202 above, the method further includes the following steps S301-S302:

[0074] Step S301: Obtain the target path for cleaning based on the user's second operation command;

[0075] In this step, the user sets the target path based on a 3D map or a 2D map on the terminal. This target path is also the path that the cleaning robot 110 will take when performing the cleaning operation. For example, the target path is a straight-line cleaning along the wall, with starting point x0, y0 and ending point x0, y1, and the range is the width of the rectangle from x0 to x1.

[0076] Step S302: Send the target path to the cleaning robot 110.

[0077] In this step, the App on the user terminal 130 sends the target path to the cleaning robot 110 through the object model.

[0078] Through steps S301-S302 above, the user can directly set the target path in the APP of the user terminal 130 and send the target path to the cleaning robot 110. After obtaining the map data and the target path, the cleaning robot 110 directly navigates according to the target path, reducing the path planning process. During the cleaning process of navigating according to the target path, if the cleaning robot 110 encounters obstacles that do not exist in the map, it can automatically avoid obstacles according to the obstacle avoidance algorithm and record the obstacle information in the correction data. If an area not existing in the map data is detected, or if the shape and / or size information of the detected area is inconsistent with the shape and / or size information recorded in the map data, the control unit of the cleaning robot 110 automatically modifies and stores the navigation path of the corresponding area according to the actual shape and / or size, and records the real data of the corresponding area in the correction data. Specifically, when an unknown area not existing in the original map data is detected, the cleaning robot 110 obtains the contour data of the unknown area according to the edge finding algorithm, then plans a path for the unknown area according to the path planning algorithm, and connects the newly planned path with the target path.

[0079] Preferably, after generating a three-dimensional map of the indoor space based on the photo set in step S202 above, the method further includes the following steps S401-S402:

[0080] Step S401: Modify the overall scale of the 3D map and / or modify the size of local features in the 3D map according to the user's third operation instruction.

[0081] In this step, users can modify the corresponding feature data within the 3D map based on known spatial dimensions, reference object dimensions, or measuring ruler data to correct the overall or local map data. For example, if the measuring ruler is known to be 20cm × 2cm, its size in the image can be used to calculate the correspondence between pixels and dimensions, thus obtaining the size information of other features in the image.

[0082] Preferably, the correction data includes size correction data and / or shape correction data and / or obstacle information; the step S205 above, which involves correcting the 3D map and the terminal 2D map based on the correction data, includes:

[0083] The dimensions of corresponding features in the terminal's two-dimensional map are corrected according to the size correction data; and / or the shape of corresponding areas in the terminal's two-dimensional map is corrected according to the shape correction data; and / or obstacles are added or deleted in the terminal's two-dimensional map according to the obstacle information.

[0084] In the above steps, for example, if the App sends a command to clean in a straight line along the wall, but during the cleaning process, the cleaning robot 110 detects that there is still a certain distance between it and the wall, such as 10cm, the cleaning robot 110 will send this correction data to the App. The App will then update the terminal map data in a timely manner and modify the 2D map on the cleaning terminal accordingly. Similarly, if the cleaning process detects that the straight line cleaning has curves or broken lines, the 3D and 2D data will be modified simultaneously.

[0085] Preferably, the method further includes the following steps S501-S502:

[0086] Step S501: Obtain the location information of the cleaning robot 110.

[0087] Step S502: Display the terminal two-dimensional map on the visualization interface, and mark the location of the cleaning robot 110 on the terminal two-dimensional map according to the location information.

[0088] The above steps S501-S502 can simultaneously display the initial position of the cleaning robot 110 on the APP of the user terminal 130 before the cleaning task is performed, or simultaneously display the real-time position of the cleaning robot 110 on the APP of the user terminal 130 during the cleaning task.

[0089] Furthermore, since users typically take photos from a high position, certain areas in the map generated from these photos may have inaccurate boundary contours, such as the area under the sofa that the cleaning robot 110 can access. The user-planned target path is also inaccurate in these areas. To address this issue, the method further includes: creating unknown area markers on the 3D map or the terminal's 2D map based on the user's fourth operation command. Subsequently, when the cleaning robot 110 reaches a location marked with an unknown area, it can perform area contour detection to supplement the marked area and plan a path for the supplemented area, ensuring the newly planned path aligns with the target path. This effectively prevents the cleaning robot 110 from ignoring these areas while following the target path.

[0090] This embodiment also provides a mapping and cleaning device for a cleaning robot (hereinafter referred to as "mapping and cleaning device"). The mapping and cleaning device may include or be divided into one or more program modules. One or more program modules are stored in a storage medium and executed by one or more processors to complete the present invention and realize the mapping and cleaning method of the cleaning robot described above. The program module referred to in this embodiment of the invention refers to a series of computer program instruction segments capable of performing specific functions, which are more suitable than the program itself for describing the execution process of the mapping and cleaning device in the storage medium. The following description will specifically introduce the functions of each program module in this embodiment, such as... Figure 4 As shown, it includes:

[0091] The first acquisition module 610 is used to acquire indoor photos according to the user's first control command to obtain a photo set;

[0092] The first generation module 620 is used to generate a three-dimensional map of the interior space based on the photo set;

[0093] The second generation module 630 is used to generate a terminal two-dimensional map of the indoor space based on the three-dimensional map.

[0094] The sending module 640 is used to send the three-dimensional map, the terminal two-dimensional map, and the target path to the cleaning robot 110.

[0095] The correction module 650 is used to receive correction data fed back by the cleaning robot 110 and correct the three-dimensional map and the terminal two-dimensional map according to the correction data.

[0096] Other methods for mapping and cleaning the cleaning robot based on the mapping and cleaning device have been described in detail in the previous embodiments. Please refer to the corresponding content in the previous embodiments. They will not be repeated here.

[0097] Example 2

[0098] like Figure 5 As shown, this embodiment provides a mapping and cleaning method for a cleaning robot, which is implemented by the control unit of the cleaning robot 110. The method includes the following steps S701-S705:

[0099] Step S701: Obtain the three-dimensional map and the two-dimensional map generated by the user terminal 130;

[0100] Step S702: Analyze the three-dimensional map to obtain a two-dimensional map of the cleaning end;

[0101] In this step, the control unit of the cleaning robot 110 is locally installed with a program package for parsing three-dimensional maps. The program package can obtain a two-dimensional map of the cleaning end based on the three-dimensional map. The algorithm principle of its data processing is the same as that of the APP of the user terminal 130 to obtain a two-dimensional map of the terminal based on the three-dimensional map.

[0102] Step S703: Compare the two-dimensional map of the cleaning end with the two-dimensional map of the terminal generated by the user terminal 130. When there are differences between the two two-dimensional maps, record the differences between them.

[0103] Step S704: Control the cleaning robot 110 to perform the cleaning task. During the process, based on the actual collected data, correct the two-dimensional map with erroneous data for each discrepancy point to ensure that the two-dimensional map at the cleaning end matches the two-dimensional map at the terminal. Figure 1 Both 2D maps are correct;

[0104] Step S705: Update the cleaning end two-dimensional map based on the actual collected data and the differences between the two two-dimensional maps, and generate correction data to send to the user terminal 130.

[0105] In steps S701-S705 above, the actual collected data is obtained by sensors such as lidar and millimeter-wave radar on the cleaning robot 110. After receiving the three-dimensional map and the terminal two-dimensional map sent by the user terminal 130 and processing them, the cleaning robot 110 directly obtains the indoor map data and can perform cleaning operations. During the cleaning operation, on the one hand, it can correct the map with erroneous data based on the possible differences between the cleaning terminal two-dimensional map and the terminal two-dimensional map. On the other hand, it can correct the two based on the differences between the actual collected data and the two two-dimensional maps.

[0106] In the above steps S702-S704, the process of generating a two-dimensional map from a three-dimensional map is executed once on the user terminal 130 and the cleaning robot 110 respectively, and the two-dimensional maps generated by the two are compared and the map with erroneous data is corrected. This can promptly detect erroneous data caused by algorithm problems and facilitate correction. In addition, the two two-dimensional maps are corrected based on the actual collected data, so that the two-dimensional map can be gradually improved.

[0107] Preferably, such as Figure 6 As shown, the method further includes the following step S801:

[0108] Step S801: Receive the target path sent by the user terminal 130;

[0109] In this step, the target path can cover the entire map area or a local area of ​​the map.

[0110] Based on this, such as Figure 7 As shown, controlling the cleaning robot 110 to perform the cleaning task in step S704 above includes the following steps A1-A2:

[0111] Step A1: Determine the initial position of the cleaning robot 110 based on the obstacle and / or boundary information initially identified by the environmental detection sensor;

[0112] Step A2: Send location confirmation information to the user terminal 130. The location confirmation information may include the initial location mentioned above.

[0113] Step A3: Control the cleaning robot 110 to run along the target path.

[0114] In this step, the cleaning task can begin either upon receiving a start cleaning command from the user terminal 130 or it can begin cleaning automatically. During the cleaning process along the target path, the control unit collects data using environmental sensors such as LiDAR and millimeter-wave radar mounted on the cleaning robot 110. This data includes obstacle detection, map comparison to identify discrepancies, updating the 2D map on the cleaning end, and sending corrective data to the user terminal 130. Furthermore, the control unit of the cleaning robot 110 synchronizes its location data to the user terminal 130 in real time, allowing the user to visually view the cleaning robot 110's location on the terminal's 2D map.

[0115] Furthermore, after the user resets the cleaning robot 110, it can immediately generate a 3D map of the entire house and a 2D map of the cleaning area based on the scanned spatial information, without requiring data transmission from the user's terminal 130's app. This is because the cleaning robot 110 can compare the data scanned by its own environmental sensors, such as LiDAR, with local data. If it finds that the data is part of the previous house data, it can reuse the old 3D map of the entire house and the 2D map of the cleaning area locally.

[0116] Preferably, the step S702 above, which involves obtaining the three-dimensional map generated by the user terminal 130 and the two-dimensional map of the terminal, includes the following steps S901-S902:

[0117] Step S901: Receive map retrieval command sent by server 120;

[0118] In this step, server 120 sends a map retrieval command to cleaning robot 110 via an MQTT TCP long connection, and server 120 has already received the 3D map and the terminal 2D map uploaded by user terminal 130.

[0119] Step S902: Obtain the 3D map and the terminal 2D map from the server 120 via HTTP.

[0120] This embodiment also provides a mapping and cleaning device for a cleaning robot (hereinafter referred to as "mapping and cleaning device"). The mapping and cleaning device may include or be divided into one or more program modules. One or more program modules are stored in a storage medium and executed by one or more processors to complete the present invention and realize the mapping and cleaning method of the cleaning robot described above. The program module referred to in this embodiment of the present invention refers to a series of computer program instruction segments capable of performing specific functions, which are more suitable than the program itself for describing the execution process of the mapping and cleaning device in the storage medium. The following description will specifically introduce the functions of each program module in this embodiment, such as... Figure 8 As shown, it includes:

[0121] The second acquisition module 1010 is used to acquire the three-dimensional map and the two-dimensional map of the terminal generated by the user terminal 130.

[0122] The parsing module 1020 is used to parse the three-dimensional map to obtain a two-dimensional map of the cleaning end;

[0123] The comparison module 1030 is used to compare the two-dimensional map of the cleaning end with the two-dimensional map of the terminal generated by the user terminal 130. When there are differences between the two two-dimensional maps, the differences between the two maps are recorded.

[0124] The first correction module 1040 is used to control the cleaning robot 110 to perform cleaning tasks, and during the process, it corrects the two-dimensional map with erroneous data based on the actual collected data for each difference point.

[0125] The second correction module 1050 is used to update the two-dimensional map of the cleaning end based on the actual collected data and the differences between the two two-dimensional maps, and generate correction data to send to the user terminal 130.

[0126] Other methods for mapping and cleaning the cleaning robot based on the mapping and cleaning device have been described in detail in the previous embodiments. Please refer to the corresponding content in the previous embodiments. They will not be repeated here.

[0127] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mapping and cleaning method for a cleaning robot, implemented by a user terminal, characterized in that: The method includes: Based on the user's first control command, indoor photos are acquired to obtain a photo set; at least some of the photos in the photo set contain complete reference objects or measuring rulers, and the dimensions of the reference objects or measuring rulers are known. Generate a 3D map of the interior space based on the photo set; The target path for cleaning is obtained based on the user's second operation command; A terminal two-dimensional map of the indoor space is generated based on the three-dimensional map; The 3D map, the terminal 2D map, and the target path are all sent to the cleaning robot. Receive correction data fed back by the cleaning robot, and correct the three-dimensional map and the terminal two-dimensional map according to the correction data; After generating a 3D map of the indoor space based on the photo set, the method further includes: According to the user's third operation command, the overall scale of the 3D map and / or the size of local features in the 3D map are modified; wherein, the user calculates the correspondence between pixels and sizes in the photo based on the known size of the reference object or the measuring ruler and the size of the reference object or the measuring ruler in the photo, thereby obtaining the size information of other features in the photo, and modifying the overall scale of the 3D map and / or the size of local features in the 3D map accordingly. The method further includes: forming unknown area markers in the three-dimensional map or the terminal two-dimensional map according to the user's fourth operation instruction; The correction data includes size correction data and / or shape correction data and / or obstacle information; the correction of the 3D map and the terminal 2D map based on the correction data includes: The dimensions of corresponding features in the terminal's two-dimensional map are corrected according to the size correction data; and / or the shape of corresponding areas in the terminal's two-dimensional map is corrected according to the shape correction data; and / or obstacles are added or deleted in the terminal's two-dimensional map according to the obstacle information.

2. The mapping and cleaning method for a cleaning robot according to claim 1, characterized in that, The method further includes: Obtain the location information of the cleaning robot; The terminal's two-dimensional map is displayed on the visualization interface, and the location of the cleaning robot is marked on the terminal's two-dimensional map based on the location information.

3. A mapping and cleaning device for a cleaning robot, used to implement the mapping and cleaning method of claim 1, comprising: The first acquisition module is used to acquire indoor photos based on the user's first control command to obtain a photo set; The first generation module is used to generate a 3D map of the interior space based on the photo set; The second generation module is used to generate a terminal two-dimensional map of the indoor space based on the three-dimensional map; The sending module is used to send the 3D map, the terminal 2D map, and the target path to the cleaning robot. A marking module, which is used to form unknown area markings in the three-dimensional map or the terminal two-dimensional map according to the user's fourth operation command; The correction module is used to receive correction data fed back by the cleaning robot and correct the three-dimensional map and the terminal two-dimensional map according to the correction data.

4. A mapping and cleaning method for a cleaning robot, implemented by the control unit of the cleaning robot, characterized in that, The method includes: The system acquires a 3D map and a 2D map generated by the user terminal; the 3D map is generated based on a set of indoor photos acquired by the user terminal, and the 2D map is generated based on the 3D map. The three-dimensional map is analyzed to obtain a two-dimensional map of the cleaning end; The two-dimensional map of the cleaning terminal is compared with the two-dimensional map of the terminal generated by the user terminal. When there are differences between the two two-dimensional maps, the differences are recorded. The cleaning robot is controlled to perform cleaning tasks, and during the process, the two-dimensional map with erroneous data is corrected based on the actual collected data for each difference point; The cleaning end 2D map is updated based on the actual collected data and the differences between the two 2D maps, and correction data is generated and sent to the user terminal. The method further includes: Receive the target path sent by the user terminal; The control of the cleaning robot to perform cleaning tasks includes: The initial position of the cleaning robot is determined based on the obstacle and / or boundary information initially identified by the environmental detection sensors. Send location confirmation information to the user terminal; Control the cleaning robot to run along the target path; The control of the cleaning robot to run along the target path includes: if an obstacle not present in the map is encountered, obstacle avoidance is performed according to an obstacle avoidance algorithm and the obstacle information is recorded in the correction data; if an area not present in the map data is detected, or if the shape and / or size information of the area is inconsistent with the shape and / or size information recorded in the map data, the navigation path of the corresponding area is modified and stored according to the actual shape and / or size, and the real data of the corresponding area is recorded in the correction data; when an unknown area not present in the original map data is detected, the outline data of the unknown area is obtained according to an edge finding algorithm, and then a path is planned for the unknown area according to a path planning algorithm, and the newly planned path is aligned with the target path; The method further includes: when running to a location marked with an unknown area, performing region contour detection, supplementing the location marked with an unknown area, and performing path planning for the supplemented area so that the newly planned path connects with the target path.

5. The mapping and cleaning method for a cleaning robot according to claim 4, characterized in that, The step of obtaining the three-dimensional map and the two-dimensional map generated by the user terminal includes: Receive map retrieval instructions sent by the server; The 3D map and the terminal's 2D map are obtained from the server via HTTP.

6. A mapping and cleaning device for a cleaning robot, used to implement the mapping and cleaning method of claim 4, characterized in that, It includes: The second acquisition module is used to acquire the three-dimensional map and the two-dimensional map generated by the user terminal; The parsing module is used to parse the three-dimensional map to obtain a two-dimensional map of the cleaning end. The comparison module is used to compare the two-dimensional map of the cleaning end with the two-dimensional map of the terminal generated by the user terminal, and record the difference points when there are differences between the two two-dimensional maps. The first correction module is used to control the cleaning robot to perform cleaning tasks, and during the process, it corrects the two-dimensional map with erroneous data based on the actual collected data for each difference point. The second correction module is used to update the two-dimensional map of the cleaning end based on the actual collected data and the differences between the two two-dimensional maps, and generate correction data to send to the user terminal.

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