Map storage method and system for a self-moving robot and self-moving robot

Abstract

This invention discloses a map storage method, system, and autonomous mobile robot for self-moving robots. Based on this method, when an autonomous mobile robot, such as a robotic vacuum cleaner, detects that it has completed a target area coverage task, it does not directly store a reused map. Instead, it first performs a map storage condition detection and determines whether the detection result meets preset storage conditions. Only when the detection result confirms that the preset storage conditions are met will the currently acquired map be saved as a reused map. This effectively improves the accuracy of the saved reused map, reduces map errors, and makes the saved reused map highly valuable.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a map storage method, system, and self-moving robot for autonomous robots. Background Technology

[0002] In existing technologies, self-propelled robots, such as robotic vacuum cleaners, periodically generate and save temporary maps when performing a cleaning task on a certain area for the first time; upon completion of the first cleaning task, they generate and save reused maps. Subsequent cleaning of the same area can then directly use the previously saved reused maps as navigation maps for that area.

[0003] However, reused maps saved in the above way may contain errors and have relatively poor accuracy. Given current technology, these errors are often undetectable, leading to potential errors when directly using the saved reused maps for navigation, thus impacting the user experience.

[0004] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a map storage method for a self-moving robot, comprising: identifying whether the self-moving robot has completed a target area coverage task; if the self-moving robot has completed the target area coverage task, performing a map storage condition detection, and determining whether the detection result of the map storage condition detection meets preset map storage conditions; if the detection result of the map storage condition detection meets the preset map storage conditions, saving the currently acquired map as a reusable map.

[0006] In one embodiment, after performing map storage condition detection, the method further includes: if it is determined that the detection result of the map storage condition detection does not meet the preset map storage conditions, saving the currently acquired map as a temporary map.

[0007] In one embodiment, the map storage condition detection includes: a first type of detection for changes in the position of the charging dock, and / or a second type of detection for operational errors of the map processing module.

[0008] In one embodiment, the first type of detection for changes in the position of the charging dock includes: acquiring the current position information of the charging dock; determining the current position offset value of the charging dock based on the current position information of the charging dock and reference position information of the charging dock pre-saved locally; detecting whether the current position offset value of the charging dock is greater than a preset offset value threshold; and determining that the detection result does not meet the preset image storage conditions if the current position offset value of the charging dock is determined to be greater than the preset offset threshold.

[0009] In one embodiment, the second type of detection of operational errors of the map processing module includes: acquiring first map data currently output by the map processing module and reference map data; calculating the matching degree between the first map data and the reference map data; detecting whether the matching degree is less than a preset matching degree threshold; and determining that the detection result does not meet the preset map storage conditions if the matching degree is determined to be less than the preset matching degree threshold.

[0010] In one embodiment, the second type of detection of operational errors of the map processing module includes: acquiring second map data output by the map processing module; detecting whether partitioning has been completed in the second map data; and determining that the detection result does not meet the preset map storage conditions if it is determined that the second map data has not been partitioned.

[0011] In one embodiment, if it is detected that the self-moving robot has not completed the target area coverage task, the method further includes: saving the currently acquired map as a temporary map; continuing to execute the target area coverage task; and updating the temporary map during the execution of the target area coverage task.

[0012] In one embodiment, the self-moving robot includes a cleaning robot; correspondingly, the target area coverage task includes a cleaning task of the target area.

[0013] The present invention also provides a map storage system for a self-moving robot, comprising: an identification module for identifying whether the self-moving robot has completed the target area coverage task; a map storage condition detection module for performing map storage condition detection when the self-moving robot has completed the target area coverage task, and determining whether the detection result of the map storage condition detection meets preset map storage conditions; and a map storage module for saving the currently acquired map as a reusable map when it is determined that the detection result of the map storage condition detection meets the preset map storage conditions.

[0014] The present invention also provides a self-moving robot, comprising: a robot body; and a controller disposed on the robot body; wherein the controller is configured to: identify whether the self-moving robot has completed the target area coverage task; when it is identified that the self-moving robot has completed the target area coverage task, perform map storage condition detection and determine whether the detection result of the map storage condition detection meets the preset map storage conditions; and when it is determined that the detection result of the map storage condition detection meets the preset map storage conditions, save the currently acquired map as a reuse map.

[0015] Based on the technical solution provided by this invention, when the self-moving robot is identified as having completed the target area coverage task, it does not directly store the reused map. Instead, it first performs a map storage condition detection and determines whether the detection result meets the preset map storage conditions. The map storage condition detection includes: a first type of detection targeting changes in the charging dock's position, and / or a second type of detection targeting operational errors in the map processing module. Only when the detection result meets the preset map storage conditions will the currently acquired map be saved as a reused map. This has the following advantages: it can intelligently and accurately identify and determine the timing for saving the reused map, and save a reused map that accurately covers the target area, effectively improving the accuracy of the saved reused map, reducing map errors, making the saved reused map highly valuable, reducing errors that occur during subsequent navigation based on the reused map, and providing users with a better user experience. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating the map storage method for a self-moving robot provided in an embodiment of the present invention;

[0018] Figure 2 A schematic diagram illustrating the connection between the SLAM module and the partitioning module in a self-moving robot provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structural composition of the map storage system for a self-moving robot provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the structural composition of a self-moving robot provided in an embodiment of the present invention. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0023] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0024] This embodiment provides a map storage method for a self-moving robot. See also... Figure 1 As shown, the specific implementation of this method may include the following:

[0025] S101: Identify whether the self-moving robot has completed the target area coverage task.

[0026] In some embodiments, the map storage method for the self-moving robot described above can be specifically applied to the self-moving robot. Specifically, the self-moving robot may include cleaning robots, such as automatic sweeping robots, automatic mopping robots, etc. Furthermore, the self-moving robot may also include inspection robots, nanny robots, etc.

[0027] Of course, it should be noted that the self-moving robots listed above are only illustrative. In actual implementation, depending on the specific application scenario and processing requirements, the above methods can also be applied to other suitable types of self-moving robots or related devices in other scenarios.

[0028] In some embodiments, corresponding to different types of self-moving robots in different application scenarios, the target area coverage tasks performed by the self-moving robot may also include different types of operational tasks that require covering the target area.

[0029] Specifically, for example, when the self-moving robot is a cleaning robot, the target area can be a room to be cleaned as specified by the user, and correspondingly, the target area coverage task can be an automatic cleaning task that includes covering the room. For example, for an automatic vacuum cleaner, the target area coverage task can be a vacuuming task that covers the room to be cleaned.

[0030] For example, if the self-moving robot is an inspection robot, the target area can be the factory to be inspected, and correspondingly, the target area coverage task can include the automatic inspection task covering the factory, etc.

[0031] In some embodiments, the self-moving robot described above is at least configured with a map processing module, which can be used to generate and process map data formed when performing a target area coverage task to obtain a map.

[0032] In some embodiments, the map processing module may specifically include: a SLAM module and / or a partitioning module.

[0033] Specifically, for example, see Figure 2 As shown, the map processing module of the self-propelled robot can include two parts: an SLAM module and a partitioning module. The SLAM module is connected to the central control unit for data interaction. The partitioning module is also connected to the central control unit for data interaction.

[0034] The aforementioned SLAM module (also known as the map generation module) is specifically used to collect data and generate corresponding map data based on the collected data. This map data is then transferred from the SLAM module to the partitioning module via the central control console. The partitioning module is specifically used to partition the map data generated by the SLAM module, obtaining partitioned map data. The central control console can also be used to store the obtained map data.

[0035] In some embodiments, the self-moving robot described above may also be configured with a signal monitoring module. Specifically, when the self-moving robot begins performing a target area coverage task, it triggers the signal monitoring module to activate and monitor whether a task completion signal, representing the completion of the target area coverage task, is received. Upon completing the target area coverage task, the self-moving robot can generate a task completion signal. Correspondingly, the signal monitoring module can receive this task completion signal and identify that the self-moving robot has completed the target area coverage task.

[0036] Based on existing technology, during the initial movement of the self-moving robot in the target area and the execution of the target area coverage task, a temporary map is generated periodically by the aforementioned map processing module. When the self-moving robot completes the target area coverage task, the map data generated by the aforementioned map processing module at this time is identified as a reused map, and the central control unit directly stores the reused map for subsequent use.

[0037] In this embodiment, based on the map storage method provided in the embodiments of this specification, during the actual implementation, the self-moving robot can detect and identify whether the target area coverage task has been completed in real time or at regular intervals while moving in the target area and performing the target area coverage task. When it is detected that the self-moving robot has completed the target area coverage task, it will not directly store the map data provided by the map processing module as a reused map. Instead, it will first perform a map storage condition detection. By judging whether the detection result meets the preset map storage conditions, it determines whether the currently obtained reused map is accurate, reliable, and whether it can cover the target area well and has high accuracy. Only when the preset map storage conditions are met will the self-moving robot store the reused map.

[0038] S102: When it is recognized that the self-moving robot has completed the target area coverage task, a map storage condition detection is performed, and it is determined whether the detection result of the map storage condition detection meets the preset map storage conditions.

[0039] Specifically, the map storage condition detection may include: a first type of detection targeting changes in the position of the charging dock, and / or a second type of detection targeting operational errors of the map processing module.

[0040] In some embodiments, the above-mentioned map storage condition detection may specifically include: a first type of detection for changes in the position of the charging dock, and / or a second type of detection for operational errors of the map processing module. Accordingly, the detection result of the map storage condition detection may specifically include: a first type of detection result (e.g., whether the first type of detection passed), and / or a second type of detection result (e.g., whether the second type of detection passed).

[0041] In some embodiments, the first type of detection of changes in the position of the charging dock may specifically include the following:

[0042] S1: Obtain the current location information of the charging dock;

[0043] S2: Determine the current charging dock's position offset value based on the current charging dock's position information and the charging dock's reference position information stored locally in advance;

[0044] S3: Detect whether the current position offset value of the charging dock is greater than a preset offset value threshold;

[0045] S4: If the current position offset of the charging dock is determined to be greater than the preset offset threshold, the detection result is determined not to meet the preset image storage conditions.

[0046] In this embodiment, when the self-propelled robot begins performing the target area coverage task, it first collects and records the initial position information of the charging dock as reference position information for the charging dock, and saves this reference position information locally. Alternatively, this reference position information can be uploaded to a cloud server for storage.

[0047] In this embodiment, if the current charging dock's position offset is greater than a preset offset threshold, it can be determined that the current charging dock's position has significantly changed relative to its initial position, and this change exceeds the tolerable error range. Map data generated under these circumstances can be considered unreliable. In this case, the first type of detection fails, and the self-moving robot can directly determine that the preset map storage conditions are not met.

[0048] Conversely, if the current charging dock's position offset is less than or equal to a preset offset threshold, it can be determined that the current charging dock's position has not changed significantly relative to its initial position, or the change is small and within a tolerable error range. Map data generated under these circumstances can be considered reliable. In this case, the first type of detection can be considered passed. If the map storage condition detection only includes the first type of detection, the preset map storage conditions can be directly determined to be met. If the map storage condition detection includes both the first and second types of detection, the second type of detection result needs to be acquired and combined. Only if the second type of detection is also confirmed to be passed can the final determination be made that the map storage condition detection result meets the preset map storage conditions.

[0049] Based on the above embodiments, the reliability of the map data to be stored as a reuse map by the self-moving robot can be judged by performing the first type of detection: if the position of the current charging dock changes and it is determined that the currently formed map data is inaccurate, it can efficiently determine that the detection result of the map storage condition detection does not meet the preset map storage conditions, and thus will not directly store the currently formed inaccurate map data with errors as a reuse map.

[0050] In some embodiments, where the map processing module includes at least a SLAM module, the second type of detection of operational errors of the map processing module may specifically include the following:

[0051] S1: Obtain the first map data currently output by the map processing module, as well as the reference map data;

[0052] S2: Calculate the matching degree between the first map data and the reference map data;

[0053] S3: Detect whether the matching degree is less than a preset matching degree threshold;

[0054] S4: If the matching degree is determined to be less than the preset matching degree threshold, the detection result is determined not to meet the preset image storage conditions.

[0055] In this embodiment, the aforementioned first map data can be specifically understood as the map data generated and output by the SLAM module in the current map processing module. The aforementioned reference map data can be specifically understood as the map data previously generated and output by the SLAM module.

[0056] In this embodiment, the offset distance between key points in the reference map data and the first map data can be calculated as the matching degree between the first map data and the reference map data. Specifically, the key points may include at least one of the following: corner points on the map, the location of the charging dock, or landmark points in the target area suitable for positioning.

[0057] In this embodiment, the matching degree can be compared with a preset matching degree threshold. If the matching degree is greater than or equal to the preset matching degree threshold, it can be determined that the first map data generated and output by the current SLAM module is accurate and reliable, the SLAM module has no operational error, or the operational error of the SLAM module is within the tolerable error range.

[0058] Conversely, if the matching degree is determined to be less than the preset matching degree threshold, it can be determined that the SLAM module has a large operational error, exceeding the tolerable error range. Therefore, the first map data generated and output by the current SLAM module is inaccurate and unreliable. In this case, a second type of detection can be performed directly to determine that the detection result of the map storage condition detection does not meet the preset map storage conditions.

[0059] In this embodiment, by combining reference map data, it is also possible to detect whether the first map data has ghosting or whether the objects in the first map data overlap, so as to more accurately determine whether the first map data is accurate and reliable, and determine whether there is an operational error in the SLAM module.

[0060] Based on the above embodiments, the reliability of the map data to be stored as a reuse map by the self-moving robot can be judged by performing the second type of detection for the operation error detection of the SLAM module: if it is detected that the matching degree between the first map data currently output by the SLAM module and the reference map data is low, and the map data formed by the current SLAM module is inaccurate, it is determined that the second type of detection fails, the preset map storage conditions are not met, and therefore the inaccurate map data with errors formed at present will not be directly stored as a reuse map.

[0061] In some embodiments, where the map processing module includes at least a partitioning module, the second type of detection of operational errors of the map processing module may specifically include the following:

[0062] S1: Obtain the second map data output by the map processing module;

[0063] S2: Detect whether partitioning has been completed in the second map data;

[0064] S3: If it is determined that the second map data has not been partitioned, the detection result does not meet the preset map storage conditions.

[0065] In this embodiment, the aforementioned second map data can be specifically understood as the map data processed and output by the partitioning module in the current map processing module.

[0066] Under normal circumstances, after receiving the map data generated and output by the SLAM module through the central control console, the partitioning module will first partition the map data and then output the partitioned map data.

[0067] However, sometimes due to operational errors in the partitioning module, map data may be missed during partitioning, or incomplete partitioning may be output directly. In such cases, the map data obtained by the mobile robot may also contain errors and is unreliable.

[0068] In this embodiment, the above-mentioned problem is taken into account. The second map data currently output by the partitioning module is obtained, and the partitioning is determined based on the second map data by detecting whether the partitioning is completed, so as to determine whether there is an operational error in the partitioning module.

[0069] In this embodiment, detecting whether the second map data has been partitioned can specifically include the following: detecting whether the second map data carries partition markers; and / or detecting whether the boundary lines between different areas in the second map data meet preset partitioning requirements.

[0070] In this embodiment, the aforementioned partition marker may specifically include the region label carried by a single region in the partitioned map data, or it may include the end identifier generated by the partitioning module after completing the partitioning process for the target region, or it may include the boundary line used by the partitioning module when partitioning the map data.

[0071] Specifically, for example, under normal circumstances, when processing map data, the partitioning module of the self-moving robot can first identify and distinguish different types of areas within the target area based on the collected environmental information; then, using preset types of boundary lines (e.g., dotted lines, dashed lines, etc.), it can divide the target area (e.g., a user's home) into multiple different types of areas (e.g., kitchen area, living room area, bedroom area, etc.) on the map data; and it can also set corresponding area labels for each area (e.g., setting the label "kitchen" for the kitchen area in the map data). After completing the partitioning process of the target area, the partitioning module will also generate an identifier such as "11" as an end identifier indicating the end of the partitioning.

[0072] Correspondingly, when performing the second type of detection for the operation error detection of the partitioning module, it can be determined whether the second map data carries partitioning marks by detecting whether there are pre-defined boundary lines in the second map data; and / or detecting whether the area in the second map data carries area labels; and / or detecting whether the end identifier generated by the partitioning module is detected.

[0073] In addition, the self-moving robot can also determine whether the boundary lines between different areas in the second map data are complete and whether they are using a preset type of boundary line, so as to more accurately judge whether the partitioning module is accurate and has completed the partitioning process of the map data.

[0074] This allows for a more accurate detection and determination of whether the partitioning module has partitioned the map data and whether the partitioning process has been completed completely. Consequently, it enables a more comprehensive and precise assessment of whether there are operational errors in the partitioning module.

[0075] Based on the above embodiments, the reliability of the map data to be stored as a reuse map by the self-moving robot can be judged by performing the operation error detection of the partitioning module in the second type of detection: if the second map data currently output by the partitioning module does not carry partitioning marks; and / or the boundary line does not meet the preset partitioning requirements, it is determined that the second type of detection fails and the preset map storage conditions are not met, and therefore the inaccurate map data with errors will not be directly stored as a reuse map.

[0076] S103: If the detection result of the map storage condition detection meets the preset map storage condition, save the currently acquired map as a reuse map.

[0077] In some embodiments, when the image storage condition detection includes a first type of detection and a second type of detection, the detection result of the image storage condition detection can be determined to meet the preset image storage conditions if both the first type of detection and the second type of detection are passed.

[0078] If the detection result of the map storage condition detection meets the preset map storage conditions, the currently acquired map can be identified as a reused map and saved locally on the mobile robot.

[0079] When storing and reusing maps, the autonomous mobile robot can also set map markers on the reusing map to indicate the target area. This way, when the autonomous mobile device re-enters the target area to perform a target area coverage task (e.g., for the second or Nth time), it can directly find the reusing map locally based on the map markers. It can then use this reusing map for navigation, controlling the autonomous mobile robot to move within the target area and complete the corresponding tasks.

[0080] The autonomous mobile robot can also send and save the reused map to a cloud server. This way, when the autonomous mobile robot needs to use the reused map, or if it cannot find the map locally, it can send a map retrieval request to the cloud server to obtain the reused map.

[0081] In some embodiments, when it is specifically implemented, if it is determined that at least one of the first type of detection and the second type of detection has failed, it can be determined that the detection result of the image storage condition detection does not meet the preset image storage conditions.

[0082] If the detection result of the map storage condition detection does not meet the preset map storage conditions, the currently acquired map can be determined as a temporary map and saved accordingly.

[0083] In some embodiments, when it is detected that the self-moving robot has not completed the target area coverage task, the method may further include the following: saving the currently acquired map as a temporary map; continuing to execute the target area coverage task; and updating the temporary map during the execution of the target area coverage task.

[0084] In this embodiment, if it is detected that the self-moving robot has not completed the target area coverage task, the map storage condition detection will not be triggered, nor will the currently acquired map be directly saved as a reused map. Instead, the currently acquired map will be saved and recorded as a temporary map; the target area coverage task will continue to be executed, and the temporary map will be continuously updated during the execution of the target area coverage task until it is detected that the self-moving robot has completed the target area coverage task.

[0085] Based on the map storage method for self-moving robots provided in the embodiments of this specification, when the self-moving robot recognizes that it has completed the target area coverage task, it will not directly store the reused map. Instead, it will first perform a map storage condition detection and determine whether the detection result meets the preset map storage conditions. The map storage condition detection includes: a first type of detection for changes in the charging dock's position, and / or a second type of detection for operational errors in the map processing module. Only when the detection result of the map storage condition detection meets the preset map storage conditions will the currently acquired map be saved as a reused map. This method has the following advantages: it can intelligently and accurately identify and determine the timing for saving the reused map, and save reused maps with high accuracy, effectively improving the accuracy of the saved reused map, reducing map errors, making the saved reused map have high usability and coverage, reducing errors in subsequent navigation based on the reused map, and providing users with a better user experience.

[0086] This embodiment provides a map storage system for a self-moving robot. See also... Figure 3 As shown, the system includes at least an identification module 301, an image storage condition detection module 302, and an image storage module 304.

[0087] The identification module 301 can be used to identify whether the self-moving robot has completed the target area coverage task.

[0088] The map storage condition detection module 302 is specifically used to perform map storage condition detection when the self-moving robot has completed the target area coverage task, and to determine whether the detection result of the map storage condition detection meets the preset map storage conditions; the map storage module 303 is specifically used to save the currently acquired map as a reuse map when it is determined that the detection result of the map storage condition detection meets the preset map storage conditions.

[0089] In some embodiments, if the system determines that the detection result of the map storage condition detection does not meet the preset map storage conditions, it may save the currently acquired map as a temporary map.

[0090] In some embodiments, the map storage condition detection includes: a first type of detection for changes in the position of the charging dock, and / or a second type of detection for operational errors of the map processing module.

[0091] In some embodiments, the first type of detection for changes in the position of the charging dock may specifically include: acquiring the current position information of the charging dock; determining the current position offset value of the charging dock based on the current position information of the charging dock and reference position information of the charging dock pre-saved locally; detecting whether the current position offset value of the charging dock is greater than a preset offset value threshold; and determining that the detection result does not meet the preset image storage conditions if the current position offset value of the charging dock is determined to be greater than the preset offset threshold.

[0092] In some embodiments, the map processing module may specifically include: a SLAM module and / or a partitioning module.

[0093] In some embodiments, the second type of detection of operational errors of the map processing module may specifically include: acquiring the first map data currently output by the map processing module and the reference map data; calculating the matching degree between the first map data and the reference map data; detecting whether the matching degree is less than a preset matching degree threshold; and determining that the detection result does not meet the preset map storage conditions if the matching degree is determined to be less than the preset matching degree threshold.

[0094] In some embodiments, the second type of detection of operational errors of the map processing module may further include: acquiring second map data output by the map processing module; detecting whether partitioning has been completed in the second map data; and determining that the detection result does not meet the preset map storage conditions if it is determined that the second map data has not been partitioned.

[0095] In some embodiments, detecting whether the second map data has been partitioned may specifically include: detecting whether the second map data carries partition markers; and / or detecting whether the boundary lines between different areas in the second map data meet preset partitioning requirements.

[0096] In some embodiments, when the device detects that the self-moving robot has not completed the target area coverage task, it can also be used to save the currently acquired map as a temporary map; continue to perform the target area coverage task; and update the temporary map during the execution of the target area coverage task.

[0097] The map storage system for self-moving robots provided in the embodiments of this specification effectively improves the accuracy of the saved reused maps, reduces map errors, and makes the saved reused maps have high usability and coverage.

[0098] This specification also provides an embodiment of a self-moving robot, see below. Figure 4 As shown, it includes at least: a robot body 401 and a controller 402, with the controller 402 disposed on the robot body 401.

[0099] Specifically, the controller 402 can be used to: identify whether the self-moving robot has completed the target area coverage task; when it is identified that the self-moving robot has completed the target area coverage task, perform map storage condition detection and determine whether the detection result of the map storage condition detection meets the preset map storage conditions; when it is determined that the detection result of the map storage condition detection meets the preset map storage conditions, save the currently acquired map as a reuse map.

[0100] Furthermore, the subsequent controller 402 can control the self-moving robot to move in the target area and complete the corresponding tasks by controlling the robot body 401 based on the above reused map.

[0101] This specification also provides a computer storage medium for the map storage method based on the above-described self-moving robot. The computer storage medium stores computer program instructions, which, when executed, perform the following steps: identifying whether the self-moving robot has completed the target area coverage task; if the self-moving robot has completed the target area coverage task, performing map storage condition detection and determining whether the detection result of the map storage condition detection meets preset map storage conditions; if the detection result of the map storage condition detection meets the preset map storage conditions, saving the currently acquired map as a reuse map.

[0102] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0103] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained in comparison with other implementation methods, and will not be repeated here.

[0104] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A map storage method for a self-moving robot, characterized in that, include: Identify whether the self-moving robot has completed the target area coverage task; When it is recognized that the self-moving robot has completed the target area coverage task, the image storage condition detection is performed, and it is determined whether the detection result of the image storage condition detection meets the preset image storage conditions. The image storage condition detection includes: a first type of detection for changes in the position of the charging dock, wherein the changes in the position of the charging dock are obtained based on the current position information of the charging dock and the reference position information of the charging dock, wherein the reference position information of the charging dock is collected and recorded at the beginning when the self-mobile robot starts to perform the target area coverage task; If the detection result of the map storage condition detection meets the preset map storage condition, the currently acquired map is saved as a reused map. The first type of detection for changes in the position of the charging dock includes: Get the current location information of the charging dock; Based on the current location information of the charging dock and the reference location information of the charging dock stored locally in advance, the current location offset value of the charging dock is determined. Detect whether the current position offset value of the charging dock is greater than a preset offset value threshold; If the current position offset of the charging dock is determined to be greater than the preset offset threshold, the detection result is determined not to meet the preset image storage conditions.

2. The map storage method for a self-moving robot according to claim 1, characterized in that, After performing image storage condition detection, the method further includes: If the detection result of the map storage condition detection does not meet the preset map storage conditions, the currently acquired map is saved as a temporary map.

3. The map storage method for a self-moving robot according to claim 1 or 2, characterized in that, The map storage condition detection also includes a second type of detection for operational errors of the map processing module.

4. The map storage method for a self-moving robot according to claim 3, characterized in that, The second type of detection of operational errors in the map processing module includes: Obtain the first map data currently output by the map processing module, as well as the reference map data; Calculate the matching degree between the first map data and the reference map data; Detect whether the match is less than a preset matching degree threshold; If the matching degree is determined to be less than the preset matching degree threshold, the detection result is determined not to meet the preset image storage conditions.

5. The map storage method for a self-moving robot according to claim 3, characterized in that, The second type of detection of operational errors in the map processing module includes: Obtain the second map data output by the map processing module; Check whether partitioning has been completed in the second map data; If it is determined that the second map data has not been partitioned, the detection result does not meet the preset map storage conditions.

6. The map storage method for a self-moving robot according to claim 5, characterized in that, The step of detecting whether partitioning has been completed in the second map data includes: Detect whether the second map data contains partition markers; and / or, detect whether the boundary lines between different areas in the second map data meet the preset partition requirements.

7. The map storage method for a self-moving robot according to claim 1, characterized in that, If it is detected that the self-moving robot has failed to complete the target area coverage task, the method further includes: Save the currently acquired map as a temporary map; Continue executing the target area coverage task; and update the temporary map during the execution of the target area coverage task.

8. A map storage system for a self-moving robot, characterized in that, include: The identification module is used to identify whether the self-moving robot has completed the target area coverage task; The image storage condition detection module is used to perform image storage condition detection when the self-moving robot has completed the target area coverage task, and to determine whether the detection result of the image storage condition detection meets the preset image storage conditions. The image storage condition detection includes: a first type of detection for changes in the charging dock's position, wherein the changes in the charging dock's position are obtained based on the current position information of the charging dock and reference position information of the charging dock. The reference position information of the charging dock is the position information of the charging dock collected and recorded at the beginning when the self-mobile robot starts performing the target area coverage task; wherein, the first type of detection for changes in the charging dock's position includes: acquiring the current position information of the charging dock; determining the current position offset value of the charging dock based on the current position information of the charging dock and the reference position information of the charging dock pre-saved locally; detecting whether the current position offset value of the charging dock is greater than a preset offset value threshold; if it is determined that the current position offset value of the charging dock is greater than the preset offset value threshold, it is determined that the detection result does not meet the preset image storage condition; The map storage module is used to save the currently acquired map as a reusable map when the detection result of the map storage condition detection meets the preset map storage conditions.

9. A self-moving robot, characterized in that, include: Robot body; The controller is located on the main body of the robot; The controller is used for: Identify whether the self-moving robot has completed the target area coverage task; Upon detecting that the self-moving robot has completed the target area coverage task, a map storage condition detection is performed, and it is determined whether the detection result of the map storage condition detection meets the preset map storage conditions. The map storage condition detection includes: a first type of detection for changes in the position of the charging dock, wherein the changes in the position of the charging dock are obtained based on the current position information of the charging dock and the reference position information of the charging dock. The reference position information of the charging dock is the position information of the charging dock collected and recorded at the beginning when the self-moving robot starts performing the target area coverage task. The first type of detection for changes in the position of the charging dock includes: acquiring the current position information of the charging dock; determining the current position offset value of the charging dock based on the current position information of the charging dock and the reference position information of the charging dock pre-saved locally; detecting whether the current position offset value of the charging dock is greater than a preset offset value threshold; if it is determined that the current position offset value of the charging dock is greater than the preset offset value threshold, it is determined that the detection result does not meet the preset map storage conditions. If the detection result of the map storage condition detection meets the preset map storage condition, the currently acquired map is saved as a reused map.

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