Fast mapping method, system and cleaning robot

Abstract

The application relates to a rapid mapping method, a system and a cleaning robot. The method comprises the following steps: controlling the cleaning robot to move in a to-be-cleaned area, and establishing an initial area map of the cleaning robot at an initial position; obtaining an initial map boundary line of the initial area map and an un-mapped area in the to-be-cleaned area according to the obtained initial area map; obtaining a new mapping position on the initial map boundary line for covering the largest area in the un-mapped area according to the obtained initial map boundary line; controlling the cleaning robot to move to the new mapping position, and establishing a new area map of the cleaning robot at the new mapping position until the mapping of the entire to-be-cleaned area is completed. The application can solve the problems that, in the prior art, the cleaning robot takes a long time to establish a cleaning map of the to-be-cleaned area, and the mapping is not accurate.

Description

Technical Field

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

[0002] In traditional technologies, cleaning robots such as vacuum cleaners typically create a cleaning map of an area to be cleaned by walking around the boundary of the area, recording their position coordinates during the journey, returning to the starting point, and then using the position coordinates of the boundary of the area to be cleaned to build the map. This mapping method requires the vacuum cleaner to walk on the ground, which is time-consuming; moreover, the boundary lines of the map are inaccurate due to the influence of boundary obstacles. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is that in the traditional technology, when cleaning robots create a cleaning map of the area to be cleaned, it takes a long time and the mapping is inaccurate.

[0004] To address the aforementioned technical problems, this invention provides a rapid mapping method applied to cleaning robots, the method comprising:

[0005] Control the cleaning robot to move in the area to be cleaned, and create an initial area map of the cleaning robot at its initial position;

[0006] Based on the obtained initial area map, obtain the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned;

[0007] Based on the obtained initial map boundary line, obtain the location of the new map on the initial map boundary line that covers the largest area of ​​the unmapped area;

[0008] The cleaning robot is controlled to move to the newly created map location, and a new area map of the cleaning robot at the newly created map location is created until the mapping of the entire area to be cleaned is completed.

[0009] Optionally, establishing an initial area map of the cleaning robot at its initial location includes:

[0010] When the cleaning robot is at its initial position in the area to be cleaned, the mapping sensor installed on the cleaning robot is controlled to acquire the initial environmental information of the surrounding environment at the initial position.

[0011] Based on the obtained initial environmental information, an initial area map of the cleaning robot at the initial location is constructed.

[0012] Optionally, obtaining the location of the new map on the initial map boundary line that covers the largest area of ​​the unmapped area, based on the obtained initial map boundary line, includes:

[0013] Based on the obtained initial map boundary line, at least one boundary line segment of the initial map boundary line is constructed;

[0014] Select the longest boundary line segment among the obtained boundary line segments as the new map line segment, and obtain the midpoint of the new map line segment;

[0015] The midpoint of the newly created map line segment is selected as the location of the new map on the initial map boundary line, which is the largest area to cover the unmapped area.

[0016] Optionally, constructing at least one boundary segment of the initial map boundary line based on the obtained initial map boundary line includes:

[0017] Based on the obtained initial map boundary lines, analyze the shape characteristics of the initial map boundary lines;

[0018] When the initial map boundary line is detected to be an irregular curve, at least one sub-curve constituting the irregular curve is identified, and at least one boundary line segment of the initial map boundary line is constructed.

[0019] When the initial map boundary line is detected to be a regular curve, it is divided into at least one sub-curve according to the characteristics of the regular curve, and at least one boundary line segment of the initial map boundary line is constructed.

[0020] Optionally, when the initial map boundary line is detected to be an irregular curve, identifying at least one sub-curve constituting the irregular curve and constructing at least one boundary line segment of the initial map boundary line includes:

[0021] When the initial map boundary line is detected to be an irregular curve, multiple turning points on the irregular curve are identified.

[0022] Based on the obtained multiple inflection points, the irregular curve is divided into at least one sub-curve;

[0023] Fit the sub-curve between each pair of adjacent inflection points to construct a corresponding boundary line segment, until at least one boundary line segment of the entire initial map boundary line is constructed.

[0024] Optionally, when the initial map boundary line is detected to be a regular curve, dividing it into at least one sub-curve according to the characteristics of the regular curve to construct at least one boundary line segment of the initial map boundary line includes:

[0025] When the initial map boundary line is detected to be a regular curve, the curve characteristics of the regular curve are analyzed;

[0026] When it is detected that the regular curve includes at least one regular arc, each regular arc is divided into a sub-curve;

[0027] Based on each of the obtained sub-curves, a corresponding boundary line segment is constructed until at least one boundary line segment of the entire initial map boundary line is constructed.

[0028] Optionally, after analyzing the curve characteristics of the regular curve, the method further includes:

[0029] When the rule curve is detected to include at least one rule line segment, each rule line segment is constructed as a boundary line segment until at least one boundary line segment of the entire initial map boundary line is constructed.

[0030] Optionally, controlling the cleaning robot to move to the newly created map location and creating a new area map of the cleaning robot at the newly created map location includes:

[0031] Obtain the straight-line movement path between the initial position of the cleaning robot and the newly created map position, and control the cleaning robot to move to the newly created map position along the straight-line path;

[0032] When the cleaning robot moves to the newly mapped location of the area to be cleaned, the mapping sensor is controlled to acquire new environmental information about the surrounding environment of the newly mapped location;

[0033] Based on the obtained new environmental information, a new area map of the cleaning robot at the newly created location is constructed.

[0034] Furthermore, this invention also proposes a rapid mapping system for use in cleaning robots, comprising:

[0035] The area map building module is used to control the cleaning robot to move in the area to be cleaned and to build an initial area map of the cleaning robot at its initial position.

[0036] The boundary line acquisition module is communicatively connected to the region map construction module and is used to acquire the initial map boundary line between the initial region map and the unmapped region in the region to be cleaned, based on the obtained initial region map.

[0037] A new map location acquisition module is communicatively connected to the boundary line acquisition module, and is used to acquire the new map location on the initial map boundary line that covers the maximum area of ​​the unmapped area based on the obtained initial map boundary line;

[0038] The new map building module is communicatively connected to the new map location acquisition module. It is used to control the cleaning robot to move to the new map location and build a new area map of the cleaning robot at the new map location until the mapping of the entire area to be cleaned is completed.

[0039] Furthermore, the present invention also proposes a cleaning robot, comprising:

[0040] Robot body;

[0041] Mapping sensors are mounted on the robot body; and,

[0042] A control processor is located on the robot body and is communicatively connected to the mapping sensor.

[0043] The control processor is used for:

[0044] Control the cleaning robot to move in the area to be cleaned, and create an initial area map of the cleaning robot at its initial position;

[0045] Based on the obtained initial area map, obtain the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned;

[0046] Based on the obtained initial map boundary line, obtain the location of the new map on the initial map boundary line that is used to cover the largest area of ​​the unmapped area;

[0047] The cleaning robot is controlled to move to the newly created map location, and a new area map of the cleaning robot at the newly created map location is created until the mapping of the entire area to be cleaned is completed.

[0048] The technical solution provided by this invention has the following advantages:

[0049] The rapid mapping method provided by this invention searches for and establishes an initial area map at its initial position based on the mapping radius of the cleaning robot when it enters the area to be cleaned. Then, based on the boundary lines between the initial area map and other unmapped areas in the area to be cleaned, the initial map boundary line of the new map is obtained. Furthermore, a new map location can be found on the initial map boundary line where a new area map can be established, maximizing the coverage area of ​​the new area map established by the cleaning robot at that location compared to other locations on the initial map boundary line. Moreover, after controlling the cleaning robot to move to the new map location to search for and establish the new area map, the above steps are repeated, that is, a new mapping location is searched on the boundary line of the new area map again, maximizing the coverage area of ​​the new area map established at the new mapping location. This allows the cleaning robot to find the largest boundary point of the unmapped area each time, and then search and build the surrounding map again. This enables it to quickly locate large unmapped areas and build maps of them. The cleaning robot does not need to walk around the boundary of the area to be cleaned to build a map of the entire area, which improves the efficiency of mapping and makes obstacle detection more accurate, resulting in accurate and reliable boundary lines of the map. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the steps of the rapid mapping method described in the embodiments of the present invention;

[0052] Figure 2 This is a simplified structural diagram of the rapid mapping system described in an embodiment of the present invention;

[0053] Figure 3 This is a simplified structural diagram of the cleaning robot described in an embodiment of the present invention;

[0054] Figure 4 This is a three-dimensional structural diagram of the cleaning robot described in an embodiment of the present invention. Detailed Implementation

[0055] 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.

[0056] 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.

[0057] 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.

[0058] In traditional technologies, cleaning robots such as vacuum cleaners typically create a map of an area to be cleaned by walking around the boundary of the area, recording their position coordinates during the journey, and then returning to the starting point to build the map using the coordinates of the boundary. This mapping method requires the vacuum cleaner to walk on-site, which is time-consuming; moreover, the boundary lines of the map are inaccurate due to the influence of boundary obstacles. To solve the above technical problems, this invention proposes a rapid mapping method, system, and cleaning robot.

[0059] The rapid mapping method and system proposed in this invention can be applied not only to cleaning robots such as sweeping machines, but also to other self-moving machines and equipment that require the creation of working maps, such as automated guided vehicles, automated forklifts, and other automated transportation equipment used in factories, parks, and warehouses, as well as automated vehicles traveling in fixed areas. In the following embodiments, this invention is illustrated using a cleaning robot as an example.

[0060] Example 1

[0061] This embodiment provides a rapid mapping method applied to cleaning robots. For example... Figure 1 As shown, this rapid mapping method may specifically include the following steps:

[0062] S100: Control the cleaning robot to move in the area to be cleaned and create an initial area map of the cleaning robot at its initial position;

[0063] S200. Based on the obtained initial area map, obtain the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned;

[0064] S300. Based on the obtained initial map boundary line, obtain the location of the new map on the initial map boundary line that covers the largest area of ​​the unmapped area;

[0065] S400: Control the cleaning robot to move to the newly created map location and create a new area map of the cleaning robot at the newly created map location until the mapping of the entire area to be cleaned is completed.

[0066] When the cleaning robot enters the area to be cleaned, it searches for and establishes an initial area map at its initial position based on the robot's mapping radius. Then, based on the boundary lines between the initial area map and other unmapped areas in the area to be cleaned, the initial map boundary line for the new area map is obtained. Furthermore, a new map location can be found on the initial map boundary line where a new area map can be established, maximizing the coverage area of ​​the new area map established by the cleaning robot at that location compared to other locations on the initial map boundary line. Moreover, after controlling the cleaning robot to move to the new map location to search for and establish the new area map, the above steps are repeated, that is, a new mapping location is searched on the boundary line of the new area map again, maximizing the coverage area of ​​the new area map established at the new mapping location.

[0067] This allows the cleaning robot to find the largest boundary point of the unmapped area each time, and then search and build the surrounding map again. This enables it to quickly locate large unmapped areas and build maps of them. The cleaning robot does not need to walk around the boundary of the area to be cleaned to build a map of the entire area, which improves the efficiency of mapping and makes obstacle detection more accurate, resulting in accurate and reliable boundary lines of the map.

[0068] Further, in step S100, an initial area map of the cleaning robot at its initial position is established, which may specifically include the following steps:

[0069] S110. When the cleaning robot is in the initial position of the area to be cleaned, control the mapping sensor set on the cleaning robot to obtain the initial environmental information of the surrounding environment at the initial position.

[0070] When the cleaning robot enters the area to be cleaned, its mapping sensors can be controlled to detect the surrounding environment and acquire obstacle information. Specifically, the surrounding environment can be detected using laser detection sensors and / or visual detection sensors to obtain initial environmental information (i.e., obstacle information) at the robot's initial position. Furthermore, the initial environmental information obtained by the cleaning robot is determined by the detection radius of the laser or visual detection sensors; the larger the detection radius, the more initial environmental information is acquired.

[0071] Furthermore, in this embodiment, the initial position can be located on the boundary line of the area to be cleaned, or it can be located inside the area to be cleaned. Moreover, when the initial position is located inside the area to be cleaned, the initial position can be located within the detection radius of the laser detection sensor or the visual detection sensor, or it can be located on the detection radius, or it can be located outside the detection radius.

[0072] S120. Based on the obtained initial environmental information, construct an initial area map of the cleaning robot at its initial position.

[0073] After obtaining initial environmental information (i.e. obstacle information) through laser detection sensors and / or visual detection sensors, an initial grid map can be built, thereby obtaining the corresponding initial area map.

[0074] Furthermore, in step S200, based on the obtained initial area map, the initial map boundary line between the initial area map and the unmapped areas in the area to be cleaned is obtained, which may include the following steps:

[0075] The initial area map is created based on the initial environmental information obtained by the cleaning robot at its initial position. The boundary line of this initial area map is the intersection line between the initial area map and other unmapped areas in the area to be cleaned (i.e., the boundary line of the initial map).

[0076] Furthermore, the shape of the initial map boundary line can be determined based on obstacle information in the initial area map and the detection radius of the laser detection sensor or visual detection sensor. Moreover, the shape of the initial map boundary line can be either regular or irregular.

[0077] Furthermore, in step S300, based on the obtained initial map boundary line, the location of the new map with the largest area to cover the unmapped area on the initial map boundary line is obtained, which may specifically include the following steps:

[0078] S310. Based on the obtained initial map boundary lines, construct at least one boundary line segment of the initial map boundary lines;

[0079] Typically, the initial map boundary line of an initial region map is curved and needs to be processed to construct straight line segments (i.e., boundary line segments) based on the curve. This makes it easier to select a point on the boundary line segment as the location for creating a new map, used to detect and build the new region map. Moreover, a curved initial map boundary line can be used to construct a single boundary line segment or multiple sequentially connected boundary line segments.

[0080] S320. Select the longest boundary line segment among the obtained boundary line segments as the new map line segment, and obtain the midpoint of the new map line segment;

[0081] When multiple boundary segments are constructed, the longest one can be selected as the segment for detecting and building a new map of the region (i.e., the new map segment). The longest boundary segment corresponds to the largest area of ​​the unmapped area in the area to be cleaned, and selecting this boundary segment as the new map segment will result in a relatively larger mapping area.

[0082] Furthermore, when a boundary segment is constructed, this boundary segment is the newly constructed map segment with the largest corresponding area to the unmapped area in the area to be cleaned.

[0083] Furthermore, the midpoint of the newly created map line segment is the point with the largest area of ​​the unmapped area in the area to be cleaned, making it the most suitable location for creating the new map.

[0084] S330. Select the midpoint of the newly created map line segment as the location of the new map on the initial map boundary line, which is the largest area to cover the unmapped area.

[0085] By using the midpoint of the newly created map segment to detect and map unmapped areas within the area to be cleaned, the cleaning robot can achieve the maximum mapped area. Therefore, the midpoint of the newly created map segment can be used as the location for creating the new map; when building a new area map at this location, it can cover the unmapped areas within the area to be cleaned to the maximum extent.

[0086] Furthermore, in step S310 above, at least one boundary line segment of the initial map boundary line is constructed based on the obtained initial map boundary line, which may specifically include the following steps:

[0087] S312. Based on the obtained initial map boundary lines, analyze the shape characteristics of the initial map boundary lines;

[0088] Before constructing boundary segments based on the initial map boundary lines, it is necessary to analyze the shape characteristics of the initial map boundary lines. This is because the initial map boundary lines may be regular or irregular curves, and different curve characteristics require different boundary segment construction methods.

[0089] S314. When the initial map boundary line is detected to be an irregular curve, identify at least one sub-curve that constitutes the irregular curve and construct at least one boundary line segment of the initial map boundary line.

[0090] When the initial map boundary line is an irregular curve, the irregular curve can be divided into one or more sub-curves, and each sub-curve forms a boundary line segment.

[0091] Furthermore, when an irregular curve is detected as the initial map boundary line, at least one sub-curve constituting the irregular curve is identified, and at least one boundary line segment of the initial map boundary line is constructed. Specifically, this may include the following steps:

[0092] S3142. When the initial map boundary line is detected to be an irregular curve, identify multiple turning points on the irregular curve.

[0093] Irregular curves typically have multiple inflection points, which are formed by connecting multiple regular curves. Therefore, it is necessary to first identify the multiple inflection points on the irregular curve to facilitate the breakdown of the irregular curve into one or more regular curves.

[0094] S3144. Based on the obtained multiple inflection points, divide the irregular curve into at least one sub-curve;

[0095] After obtaining multiple inflection points on an irregular curve, the curve segment between each pair of adjacent inflection points can be divided into a sub-curve (i.e., a regular curve).

[0096] S3146. Fit the sub-curve between each pair of adjacent inflection points to construct a corresponding boundary line segment, until at least one boundary line segment of the entire initial map boundary line is constructed.

[0097] After breaking down an irregular curve into one or more sub-curves, each sub-curve can be fitted to form a straight line segment. Furthermore, when the fitted straight line segment is short, two adjacent fitted straight line segments can be further fitted to obtain a longer new straight line segment, which can be used as a boundary line segment; while when the fitted straight line segment is long, it can be directly set as the boundary line segment.

[0098] Moreover, the aforementioned irregular curves can be wavy lines, sawtooth lines, irregular lines randomly connected by multiple arcs and multiple straight line segments, or other irregular curved or zigzag lines.

[0099] S316. When the initial map boundary line is detected to be a regular curve, it is divided into at least one sub-curve according to the characteristics of the regular curve, and at least one boundary line segment of the initial map boundary line is constructed.

[0100] For some regular curves, such as a large-angle arc, or a regular curve formed by splicing together multiple regular arcs, or a regular curve formed by splicing together multiple regular straight line segments, it may not be suitable to directly fit them to form boundary line segments (the boundary line segments formed by direct fitting may be relatively short, and the coverage area of ​​the new regional map on the boundary line segment may be relatively small). It is necessary to split them into multiple boundary line segments.

[0101] Furthermore, when the initial map boundary line is detected to be a regular curve, it is divided into at least one sub-curve according to the characteristics of the regular curve, thus constructing at least one boundary line segment of the initial map boundary line. Specifically, this may include the following steps:

[0102] S3162. When the initial map boundary line is detected to be a regular curve, analyze the curve characteristics of the regular curve;

[0103] It can detect regular curves that are a single regular arc, a regular curve composed of multiple regular arcs, a regular curve composed of multiple regular straight line segments, or other regular curves.

[0104] S3164. When a regular curve is detected to include at least one regular arc, each regular arc is divided into a sub-curve.

[0105] When a regular curve is detected to include a regular arc, and the arc length of the regular arc is too long to be suitable for constructing a boundary line segment, the regular arc can be divided into multiple regular sub-curves; when a regular curve is detected to include a regular arc, and the arc length of the regular arc is moderate, it can be directly divided into a sub-curve.

[0106] S3166. Based on each obtained sub-curve, construct a corresponding boundary line segment until at least one boundary line segment of the entire initial map boundary line is constructed.

[0107] For sub-curves formed by regular arcs, their chords can be used as boundary segments. When there is only one sub-curve, only one chord needs to be used as the boundary segment. When there are multiple sub-curves, multiple chords need to be used. If the chords are short, a longer new straight line segment can be obtained by fitting each pair of adjacent chords, and this new straight line segment can be used as the boundary segment. When the chord is long, it can be used directly as the boundary segment.

[0108] Furthermore, in step S3162 above, after analyzing the curve characteristics of the regular curve, the following steps may also be included:

[0109] S3168. When a regular curve is detected to include at least one regular straight line segment, each regular straight line segment is constructed as a boundary line segment until at least one boundary line segment of the entire initial map boundary line is constructed.

[0110] Similarly, when a regular curve includes multiple straight line segments, and at least one of these segments is relatively short, this segment can be fitted with adjacent segments to obtain a longer new segment, which can then be used as the boundary segment. Conversely, when each straight line segment is of appropriate length, it can be directly set as the boundary segment. Furthermore, the appropriateness of the straight line segment length can be determined based on whether it meets the mapping coverage requirements of the cleaning robot.

[0111] In addition, in step S400, the cleaning robot is controlled to move to the newly created map location, and a new area map of the cleaning robot at the newly created map location is created. Specifically, this may include the following steps:

[0112] S410. Obtain the straight-line movement path between the initial position of the cleaning robot and the newly created map position, and control the cleaning robot to move to the newly created map position along the straight-line path.

[0113] To enable the cleaning robot to quickly move from its current position (initial position) to the newly created map position, a straight-line movement path can be generated based on the shortest distance between the cleaning robot's current position and the newly created map position. This allows the cleaning robot to move quickly along the straight-line movement path to the newly created map position, improving mapping efficiency.

[0114] When the S420 cleaning robot moves to the newly mapped location of the area to be cleaned, it controls the mapping sensor to obtain new environmental information about the surrounding environment of the newly mapped location.

[0115] Similarly, when the cleaning robot reaches the newly mapped location, the mapping sensors on the robot can be controlled to detect the surrounding environment of the newly mapped location, thereby obtaining obstacle information. Specifically, the surrounding environment of the cleaning robot can be detected by laser detection sensors and / or visual detection sensors to obtain new environmental information (i.e., new obstacle information) at the newly mapped location.

[0116] Based on the new environmental information obtained, S430 constructs a new area map of the cleaning robot at the newly created location.

[0117] Similarly, after obtaining new environmental information (i.e. new obstacle information) through laser detection sensors and / or visual detection sensors, a new grid map can be built, thereby obtaining a corresponding new area map.

[0118] By repeating the above steps, new mapping locations can be continuously found in the area to be cleaned, and new area maps can be created at the mental mapping locations until the mapping work for the entire area to be cleaned is completed.

[0119] Example 2

[0120] This embodiment proposes a rapid mapping system for use in cleaning robots. For example... Figure 2 As shown, the rapid mapping system 100 may include:

[0121] The area map building module 102 is used to control the cleaning robot to move in the area to be cleaned and to build an initial area map of the cleaning robot at its initial position.

[0122] The boundary line acquisition module 104 is communicatively connected to the area map construction module 102 and is used to acquire the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned, based on the obtained initial area map.

[0123] The new map location acquisition module 106 is communicatively connected to the boundary line acquisition module 104, and is used to acquire the new map location on the initial map boundary line that covers the maximum area of ​​the unmapped area based on the obtained initial map boundary line.

[0124] The new map building module 108 is communicatively connected to the new map location acquisition module 106. It is used to control the cleaning robot to move to the new map location and build a new area map of the cleaning robot at the new map location until the mapping of the entire area to be cleaned is completed.

[0125] The rapid mapping system 100 described in this embodiment corresponds to the rapid mapping method described above. The functions of each module in the rapid mapping system 100 in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here.

[0126] Example 3

[0127] This embodiment proposes a cleaning robot, such as Figure 3 and Figure 4 As shown, the cleaning robot may include a robot body, a mapping sensor mounted on the robot body, and a control processor mounted on the robot body and communicatively connected to the mapping sensor. The control processor can control the robot body to move within the area to be cleaned and perform cleaning. Furthermore, the control processor can also control the mapping sensor to detect the surrounding environment at the mapping location to construct a map of the area. In this embodiment, the mapping sensor may include a laser detection sensor, a vision detection sensor, or both. The control processor may be directly mounted on the robot body or indirectly connected to the robot body via a lower-level controller mounted on the robot body.

[0128] Furthermore, the control processor 14 can be used to: control the cleaning robot to move in the area to be cleaned and establish an initial area map of the cleaning robot at its initial position; obtain the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned based on the obtained initial area map; obtain the new map position on the initial map boundary line that covers the largest area of ​​the unmapped area; control the cleaning robot to move to the new map position and establish a new area map of the cleaning robot at the new map position, until the mapping of the entire area to be cleaned is completed.

[0129] Similarly, in this embodiment, the control processor can be used to control the cleaning robot to implement each step in the above-mentioned rapid mapping method. The specific implementation method can be referred to the specific content of the above-mentioned rapid mapping method, which will not be repeated here.

[0130] Furthermore, in this embodiment, the cleaning robot can be a sweeping robot with rapid mapping capabilities. Alternatively, the cleaning robot can also be a floor scrubber, a vacuum cleaner, or something similar with rapid mapping capabilities.

[0131] Furthermore, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement all or part of the method steps of the fast mapping method described above.

[0132] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0133] Based on the same inventive concept, this application also provides an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps in the above-described rapid mapping method.

[0134] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0135] Memory can be used to store computer programs and / or models. The processor performs various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0136] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0137] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0138] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0139] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0140] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A rapid mapping method applied to cleaning robots, characterized in that, The method includes: Control the cleaning robot to move in the area to be cleaned, and create an initial area map of the cleaning robot at its initial position; Based on the obtained initial area map, obtain the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned; Based on the obtained initial map boundary line, at least one boundary line segment of the initial map boundary line is constructed; Select the longest boundary line segment among the obtained boundary line segments as the new map line segment, and obtain the midpoint of the new map line segment; The midpoint of the newly created map line segment is selected as the location of the new map on the initial map boundary line, which is the largest area to cover the unmapped area. The cleaning robot is controlled to move to the newly created map location, and a new area map of the cleaning robot at the newly created map location is created until the mapping of the entire area to be cleaned is completed.

2. The rapid mapping method according to claim 1, characterized in that, The process of establishing an initial area map of the cleaning robot at its initial location includes: When the cleaning robot is at its initial position in the area to be cleaned, the mapping sensor installed on the cleaning robot is controlled to acquire the initial environmental information of the surrounding environment at the initial position. Based on the obtained initial environmental information, an initial area map of the cleaning robot at the initial location is constructed.

3. The rapid mapping method according to claim 1, characterized in that, The step of constructing at least one boundary line segment of the initial map boundary line based on the obtained initial map boundary line includes: Based on the obtained initial map boundary lines, analyze the shape characteristics of the initial map boundary lines; When the initial map boundary line is detected to be an irregular curve, at least one sub-curve constituting the irregular curve is identified, and at least one boundary line segment of the initial map boundary line is constructed. When the initial map boundary line is detected to be a regular curve, it is divided into at least one sub-curve according to the characteristics of the regular curve, and at least one boundary line segment of the initial map boundary line is constructed.

4. The rapid mapping method according to claim 3, characterized in that, When the initial map boundary line is detected to be an irregular curve, identifying at least one sub-curve constituting the irregular curve and constructing at least one boundary line segment of the initial map boundary line includes: When the initial map boundary line is detected to be an irregular curve, multiple turning points on the irregular curve are identified. Based on the obtained multiple inflection points, the irregular curve is divided into at least one sub-curve; Fit the sub-curve between each pair of adjacent inflection points to construct a corresponding boundary line segment, until at least one boundary line segment of the entire initial map boundary line is constructed.

5. The rapid mapping method according to claim 3, characterized in that, When the initial map boundary line is detected to be a regular curve, it is divided into at least one sub-curve according to the characteristics of the regular curve, and at least one boundary line segment of the initial map boundary line is constructed, including: When the initial map boundary line is detected to be a regular curve, the curve characteristics of the regular curve are analyzed; When it is detected that the regular curve includes at least one regular arc, each regular arc is divided into a sub-curve; Based on each of the obtained sub-curves, a corresponding boundary line segment is constructed until at least one boundary line segment of the entire initial map boundary line is constructed.

6. The rapid mapping method according to claim 5, characterized in that, After analyzing the curve characteristics of the regular curve, the method further includes: When the rule curve is detected to include at least one rule line segment, each rule line segment is constructed as a boundary line segment until at least one boundary line segment of the entire initial map boundary line is constructed.

7. The rapid mapping method according to any one of claims 1 to 6, characterized in that, The process of controlling the cleaning robot to move to the newly created map location and creating a new area map of the cleaning robot at that location includes: Obtain the straight-line movement path between the initial position of the cleaning robot and the newly created map position, and control the cleaning robot to move to the newly created map position according to the straight-line movement path; When the cleaning robot moves to the newly mapped location of the area to be cleaned, the mapping sensor on the cleaning robot is controlled to acquire new environmental information about the surrounding environment of the newly mapped location; Based on the obtained new environmental information, a new area map of the cleaning robot at the newly created location is constructed.

8. A rapid mapping system for use in cleaning robots, characterized in that, include: The area map building module is used to control the cleaning robot to move in the area to be cleaned and to build an initial area map of the cleaning robot at its initial position. The boundary line acquisition module is communicatively connected to the region map construction module and is used to acquire the initial map boundary line between the initial region map and the unmapped region in the region to be cleaned, based on the obtained initial region map. A new map location acquisition module is established and communicates with the boundary line acquisition module. It is used to construct at least one boundary line segment of the initial map boundary line based on the obtained initial map boundary line. Select the longest boundary line segment among the obtained boundary line segments as the new map line segment, and obtain the midpoint of the new map line segment; select the midpoint of the new map line segment as the new map position on the initial map boundary line that covers the largest area of ​​the unmapped area; The new map building module is communicatively connected to the new map location acquisition module. It is used to control the cleaning robot to move to the new map location and build a new area map of the cleaning robot at the new map location until the mapping of the entire area to be cleaned is completed.

9. A cleaning robot, characterized in that, include: Robot body; Mapping sensors are mounted on the robot body; and, A control processor is located on the robot body and is communicatively connected to the mapping sensor. The control processor is used for: Control the cleaning robot to move in the area to be cleaned, and create an initial area map of the cleaning robot at its initial position; Based on the obtained initial area map, obtain the initial map boundary line between the initial area map and the unmapped area in the area to be cleaned; Based on the obtained initial map boundary line, at least one boundary line segment of the initial map boundary line is constructed; the longest boundary line segment among the obtained boundary line segments is selected as the new map line segment, and the midpoint of the new map line segment is obtained; the midpoint of the new map line segment is selected as the new map position on the initial map boundary line for the largest area used to cover the unmapped area. Control the cleaning robot to move to the newly created map location, and create a new area map of the cleaning robot at the newly created map location, until the mapping of the entire area to be cleaned is completed.

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