Marking construction methods, devices, cleaning robots, and storage media

Abstract

This application relates to a marker construction method, apparatus, cleaning robot, storage medium, and computer program product. The cleaning robot is programmed with marker construction-related information. When the cleaning robot enters marker construction mode, it can determine the required marker path information for completing the marker task in the current construction scene based on the marker task information and the map information corresponding to the current construction scene. Finally, by simply controlling the cleaning robot to release markers while moving along the marker path, the corresponding marker task can be completed. This solution automatically constructs markers using a cleaning robot, eliminating the need for manual construction by the user and effectively improving marker construction efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a marker construction method, apparatus, cleaning robot, storage medium, and computer program product. Background Technology

[0002] Currently, in places such as playgrounds, indoor sports venues, or outdoor activities, there is often a need to use markers such as directional tape and lime to construct marking lines and warning lines. The construction of these markings is usually accomplished by staff operating specific containers or equipment, which is inefficient. Summary of the Invention

[0003] Therefore, it is necessary to provide a tag building method, apparatus, cleaning robot, storage medium, and computer program product to improve tag building efficiency.

[0004] A marker construction method includes: upon entering a marker construction operation mode, acquiring marker task information; determining map information corresponding to the current construction scene; determining marker path information based on the map information and the marker task information; and controlling a cleaning robot to open its marker container and release markers while moving along the marker path corresponding to the marker path information.

[0005] In one embodiment, determining the map information corresponding to the current construction scene includes: obtaining environmental parameter information of the current construction scene; verifying whether historical map information corresponding to the current construction scene is stored based on the environmental parameter information; and if the historical map information is stored, using the historical map information as the map information of the current construction scene.

[0006] In one embodiment, after verifying whether historical map information corresponding to the current construction scene is stored based on the environmental parameter information, the method further includes: if the historical map information is not stored, obtaining the map information of the current construction scene through map construction.

[0007] In one embodiment, determining the marking path information based on the map information and the marking task information includes: verifying whether it is necessary to create the marking path manually; if it is not necessary to create the marking path manually, matching and determining the marking path information in the map corresponding to the map information based on the preset path information corresponding to the marking task information.

[0008] In one embodiment, the step of matching and determining the marked path information in the map corresponding to the map information based on the preset path information corresponding to the marked task information includes: matching the preset path information in the preset mark database based on the task information; and determining the marked path information by performing optimal ratio matching and coverage based on the preset path information and the map information.

[0009] In one embodiment, after verifying whether a self-created marker path is required, the method further includes: if a self-created marker path is required, determining path information according to a self-creating instruction; and performing a matching analysis based on the path information and the map information to determine the marker path information.

[0010] In one embodiment, after performing matching analysis based on the path information and the map information to determine the marked path information, the method further includes: updating the preset marked database based on the self-created marked path information.

[0011] In one embodiment, the verification of whether a self-created marking path is required includes: verifying whether a preset marking database stores preset path information corresponding to the marking task information; if the preset path information corresponding to the marking task information is not stored, determining that a self-created marking path is required; and / or, verifying whether a self-created instruction is received within a preset time period; if a self-created instruction is received, determining that a self-created marking path is required.

[0012] In one embodiment, before controlling the cleaning robot's marking container to open and release the markings while moving along the marking path corresponding to the marking path information, the method further includes: controlling the cleaning robot to enter a marking movement mode.

[0013] In one embodiment, the marker construction method further includes: upon receiving a marker cleaning instruction, performing a cleaning operation based on the marker path corresponding to the marker path information.

[0014] A marker construction device includes: a marker task acquisition module for acquiring marker task information when entering a marker construction operation mode; a map determination module for determining map information corresponding to the current construction scene; a marker path determination module for determining marker path information based on the map information and the marker task information; and a marker control module for controlling the marker container of a cleaning robot to open and release markers while moving along the marker path corresponding to the marker path information.

[0015] A cleaning robot includes a marking container and a control device. The marking container is used to store markings, and the control device is connected to the marking container and is used to perform the steps of the marking construction method described above.

[0016] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described tag construction method.

[0017] A computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described tag construction method.

[0018] The aforementioned marker construction method, apparatus, cleaning robot, storage medium, and computer program products include a marker construction-related program embedded in the cleaning robot. When the cleaning robot enters the marker construction operation mode, it can determine the required marker path information for completing the marker task in the current construction scene based on the marker task information and the map information corresponding to the current construction scene. Finally, by simply controlling the cleaning robot to release markers while moving along the marker path corresponding to the marker path information, the corresponding marker task can be completed using the markers. This solution automatically constructs markers using a cleaning robot, eliminating the need for manual construction by the user and effectively improving marker construction efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a marker construction method in one embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the map information determination process in one embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the process for determining the marked path information in one embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the marker construction method in another embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the marker construction device in one embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the marker construction device structure in another embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the marker construction device in another embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the cleaning robot structure in one embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the cleaning robot structure in another embodiment of this application.

[0029] Explanation of reference numerals in the attached drawings: 801 - Container; 802 - Control device. Detailed Implementation

[0030] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of this application.

[0031] The marker construction method disclosed in this application can be applied to cleaning robots, such as sweeping robots, mopping robots, or vacuuming robots, etc., without specific limitations. The cleaning robot has the function of storing and releasing markers. Specifically, the cleaning robot is equipped with a marker container for storing and releasing markers. The markers can be lime, dye, directional tape, etc., without specific limitations.

[0032] The placement of the marker container in a cleaning robot is not unique. In one embodiment, the marker container is detachably mounted on the robot's water tank. That is, when marker construction is required, the water tank is removed, and the marker container is installed in the corresponding location. In another embodiment, the marker container can be independently mounted on the outside of the cleaning robot, such as by attaching it to the robot. In this case, marker construction can also be achieved by controlling the marker path through the cleaning robot. In practical scenarios, the specific placement of the marker container is not limited; it can be chosen based on actual needs.

[0033] Furthermore, the method of releasing the markers in the embodiments of this application is not unique. In one embodiment, the markers can be released like water during a cleaning operation, and then marked or applied to the marking path by the main brush or side brushes to achieve marker construction. In another embodiment, the markers can be released directly onto the location to be marked without passing through other components such as the side brushes or main brushes of the cleaning robot. For example, the marking container can be a spray bottle with a spraying function, which can be opened directly to spray the markers onto the location to be marked.

[0034] Please see Figure 1This application provides a marker construction method for use in the control device of a cleaning robot, including steps 102, 104, 106 and 108.

[0035] Step 102: In the case of entering the tagging build run mode, obtain tagging task information.

[0036] Specifically, the marker-based build operation mode refers to a mode in which marker-based builds are implemented through the operation of a cleaning robot. The marker task information refers to the information related to the marker type required by the user when marking the current build scenario. It should be noted that the specific type of marker task information is not unique, and the marker task information may vary depending on the actual build scenario.

[0037] In a more detailed embodiment, if the current construction scenario is a sports scene such as a basketball court or a football field, the corresponding marking task information is the marker line for marking the sports scene. If the current construction scenario is a scene such as a subway, station, or shopping mall, the corresponding marking task information is the marker line for marking warning lines.

[0038] It should be noted that the method of obtaining the marked task information is not unique. In one embodiment, the user can interact with the cleaning robot to issue a task, thereby enabling the cleaning robot to obtain the corresponding marked task information. In another embodiment, the cleaning robot can also communicate with terminal devices such as mobile phones and tablets, allowing the user to issue a task to the cleaning robot through the terminal device, thus enabling the cleaning robot to obtain the corresponding marked task information.

[0039] It is understood that there is no single way for a cleaning robot to enter the tag-building operation mode. In one embodiment, the cleaning robot may enter the tag-building operation mode after receiving a tag-building instruction from the user through human-computer interaction or a terminal device.

[0040] In another embodiment, when there is a need for tag building, the user can directly issue a task to the cleaning robot through human-computer interaction or terminal device. After receiving the task, the cleaning robot enters the tag building operation mode.

[0041] Furthermore, in other embodiments, the cleaning robot may automatically enter the tag-building operation mode when it detects that the user has configured a tagging container for the cleaning robot. For example, if the cleaning robot detects that the water tank has been replaced with a tagging container (such as an ink tray or lime tray), it will automatically enter the tag-building operation mode.

[0042] Step 104: Determine the map information corresponding to the current construction scene.

[0043] Specifically, the current construction scenario refers to the environment surrounding the location where the cleaning robot needs to be used for marking and construction. Map information refers to the map information of the entire area within the current construction scenario, including the area to be marked. After acquiring the marking task information and entering the marking and construction operation mode, the cleaning robot will determine the map information corresponding to the current construction scenario.

[0044] Step 106: Determine the marking path information based on the map information and the marking task information.

[0045] Specifically, path information refers to the path required by the marking task information to reach each location to be marked when the cleaning robot performs the marking operation. After obtaining the map information and the marking task information, the cleaning robot will combine the two and analyze them to obtain the path required by the cleaning robot to perform the marking operation on the map corresponding to the map information when completing the marking task information.

[0046] It should be noted that, in one embodiment, the marking path information can be the path information corresponding to a continuous path. That is, the travel path of the cleaning robot from the start of the marking operation to the end of the marking operation can be used as the marking path information. Correspondingly, this scenario is suitable for marking tasks where the release of markers during the execution process does not need to be interrupted, such as marking a continuous warning line.

[0047] In another embodiment, the marking path information can also be the path information corresponding to discontinuous paths, that is, there are situations where the marking is interrupted from the start of the marking operation to the end of the marking operation. Correspondingly, this scenario is applicable to marking tasks where the release of markers is intermittent during the execution process, such as marking multiple (discontinuous) warning lines or marker lines.

[0048] Step 108: While moving along the marked path corresponding to the marked path information, control the marking container of the cleaning robot to open and release the markings.

[0049] Specifically, a marking container is a device used to store marking objects and release them under the action of a cleaning robot to perform the marking operation. The marking object is the object used to construct the marking; its specific type is not unique and can include lime, dye, ink, or directional tape, etc., without any limitation.

[0050] When releasing markers, the marker container can be opened, allowing the markers to fall freely. The markers can either fall directly onto the marked path corresponding to the marking path information, or they can be released onto the main brush or other components of the cleaning robot, which then marks them to the appropriate location. In another embodiment, the marker container can have a certain driving capability, directly driving the markers to the corresponding positions as the cleaning robot moves along the marked path. The specific choice depends on the actual needs.

[0051] It is understood that, in one embodiment, the marking path information is not a continuous path. During the marking operation, the cleaning robot only releases markers at the marking path information. As the cleaning robot moves from one part of the marking path to another part of the marking path, it will stop releasing markers, thus saving markers and effectively improving the accuracy of marking construction.

[0052] The above-described marker construction method involves setting up marker construction-related programs in the cleaning robot. When the cleaning robot enters the marker construction operation mode, it can determine the necessary marker path information to complete the marker task in the current construction scene based on the marker task information and the map information corresponding to the current construction scene. Finally, by simply controlling the cleaning robot to release markers while moving along the marker path, the corresponding marker task can be completed. This solution automatically constructs markers using the cleaning robot, eliminating the need for manual construction by the user and effectively improving marker construction efficiency.

[0053] Please see Figure 2 In one embodiment, step 104 includes steps 202, 204 and 206.

[0054] Step 202: Obtain the environmental parameter information of the current construction scenario.

[0055] Step 204: Based on the environmental parameter information, verify whether historical map information corresponding to the current construction scene is stored.

[0056] Step 206: If historical map information is stored, use the historical map information as the map information for the current construction scene.

[0057] Specifically, environmental parameter information refers to parameter information related to the environmental state of the current construction scene where the cleaning robot is located. The specific type of environmental parameter information is not unique; any parameter information that can characterize the environmental state of the current construction scene is acceptable. For example, in a more detailed embodiment, environmental parameter information includes ground humidity, material, flatness, and information related to ground obstacles, etc., without specific limitations. Correspondingly, in one embodiment, the cleaning robot should be equipped with temperature sensors, humidity sensors, optical sensors, depth cameras, IMU (Inertial Measurement Unit), etc., to collect the aforementioned environmental parameter information and send it to the cleaning robot's control device.

[0058] In a more detailed embodiment, the control device is trained using a pre-built deep learning theoretical model and supplemented with logical judgment functions to comprehensively analyze the data information returned by the sensors and determine the state of the cleaning robot's environment at that time. For example, if the ground is uneven, the pose angle returned by the IMU will constantly change as the robot moves. Through mathematical operations and coordinate transformation theoretical model processing, a recording curve of the ground unevenness can be formed, and finally, the ground state of the current constructed scene can be determined based on the curve.

[0059] In this embodiment, a historical map database is stored, containing all map information constructed by the cleaning robot during its operation and task execution. It can be understood that the historical map database can be stored in the cleaning robot's storage device (either a separate memory or integrated into the control device) and retrieved from the memory when the cleaning robot performs its tasks. In another embodiment, the historical map database can also be stored on a remote server or cloud device, with the cleaning robot communicating with the remote server or cloud device to obtain the historical map database during task execution.

[0060] Therefore, after the cleaning robot enters the marker-building operation mode, its control device can perform matching analysis on the environmental parameter information collected and returned by various sensors against a historical map database stored on a remote server or in the cloud to verify whether a map has already been built for the current construction scene. If a map has already been built, that is, if the historical map information corresponding to the current construction scene is stored, the marker-building operation is directly performed using that historical map information. In this way, unnecessary map building operations can be avoided, effectively improving marker-building efficiency.

[0061] Please continue reading. Figure 2 In one embodiment, after step 204, the method further includes step 208.

[0062] Step 208: In the absence of stored historical map information, obtain the map information of the current construction scene through map construction.

[0063] Specifically, when the cleaning robot's control device matches environmental parameter information, there may be situations where it cannot find the corresponding historical map information. This indicates that the current construction scenario is the cleaning robot's first operation. Therefore, to ensure that subsequent marking operations can be executed accurately and reliably, the cleaning robot will perform a map construction operation to obtain map information representing the current construction scenario.

[0064] It should be noted that there is no single way to build a map for a cleaning robot. Specifically, the map can be built by controlling the cleaning robot to move in the current scene and combining the environmental parameters collected by optical sensors, depth cameras, IMUs, etc., which will not be elaborated here.

[0065] Please see Figure 3 In one embodiment, step 106 includes steps 302 and 304.

[0066] Step 302: Verify whether it is necessary to manually create the marked path.

[0067] Step 304: Without needing to manually create a marked path, match and determine the marked path information in the map corresponding to the map information based on the preset path information corresponding to the marked task information.

[0068] Specifically, autonomous path creation refers to creating the required path based on user-sent instructions. In this embodiment, when determining path information, the cleaning robot's control device first checks if the user requires autonomous path creation. If not, the control device combines the obtained map information and the marking task information to create a path on the map corresponding to the marking task. This approach allows for direct matching of preset path information to the marking task, effectively improving marking efficiency.

[0069] In this embodiment, the final marker patterns (which can be equivalently considered as the paths corresponding to the marker path information) for different marking tasks are consistent. For example, the final marker patterns for basketball courts, volleyball courts, ping-pong tables, or badminton courts are fixed. Therefore, in the actual marking process, the path information corresponding to each marking task can be stored in advance as preset path information. When no user-defined marking is required, the corresponding preset path information can be directly determined by combining the marking task. Then, by matching the preset path information with the map corresponding to the map information, the position of each marker pattern under the marking task can be obtained on the map, thereby determining the marking path information.

[0070] In one embodiment, the marked path information is determined by matching the preset path information corresponding to the marked task information in the map corresponding to the map information, including: matching the preset path information in the preset marked database according to the task information; and performing optimal ratio matching and coverage based on the preset path information and the map information to determine the marked path information.

[0071] Specifically, the preset marker database stores the preset path information required for different marking tasks, that is, the marker patterns corresponding to different marking tasks, or the pattern of the marked path that the cleaning robot needs to walk to complete different marking tasks. During the process of the control device automatically establishing the marking path information, the control device first matches the preset path information in the preset marker database with the marking task, and then combines the actual map conditions corresponding to the map information to cover the preset path information on the actual map according to the optimal ratio (or the ratio corresponding to the actual marker). The information corresponding to the covered position is the marking path information.

[0072] Please continue reading. Figure 3 In one embodiment, after step 302, the method further includes steps 306 and 308.

[0073] Step 306: If it is necessary to create a marked path independently, determine the path information according to the independent creation instruction.

[0074] Step 308: Perform matching analysis based on path information and map information to determine the marked path information.

[0075] Specifically, users need to create their own marked paths to mark specific locations in the current construction scene, such as marking warning lines at specific locations. Therefore, in this embodiment, the cleaning robot can autonomously edit the path information according to the user's actual needs, which can be implemented on terminal devices such as mobile phones, without any specific limitations.

[0076] It should be noted that, in one embodiment, before determining the marking path information based on map information and marking task information, the marking style (which can be equivalently regarded as the path corresponding to the preset path information) can also be selected in conjunction with the actual marking task. For example, after the cleaning robot determines the map information corresponding to the current construction scene, the style presented on the map after the marking lines are planned for the outdoor playground marking task, and the style of the inner and outer court boundary lines for the basketball court in the indoor playground, etc. In this embodiment, the user can independently create a marking path by editing and modifying the preset path information corresponding to the marking task information. In another embodiment, the user can independently create a marking path by redesigning a new path, which can be set according to the actual scene.

[0077] Please see Figure 4 In one embodiment, after step 106, the method further includes step 402.

[0078] Step 402: Update the preset tag database based on the self-created tag path information.

[0079] Specifically, in this embodiment, if the user independently creates marking path information for the marking task performed by the cleaning robot, the newly created marking path information will be updated and stored in the preset marking database. This serves as a preset path information option for the currently executed marking task, and can be retrieved and used from the preset marking database when the same marking task is executed subsequently. In this way, when the same marking task is executed subsequently, the marking path information can be directly determined from the preset path information, which can effectively improve the efficiency of determining subsequent marking path information.

[0080] In one embodiment, step 302 includes: verifying whether the preset tag database stores preset path information corresponding to the tag task information; if the preset path information corresponding to the tag task information is not stored, it is determined that the tag path needs to be created manually.

[0081] And / or, in one embodiment, step 302 includes: verifying whether a self-creation instruction has been received within a preset time period; if a self-creation instruction has been received, determining that a marker path needs to be self-created.

[0082] Specifically, the method for verifying the autonomously created marker path is not unique. It can be achieved by determining whether an autonomous creation instruction has been received within a preset time period, or by determining whether a preset marker database stores preset path information corresponding to the marker task information. Specifically, in one embodiment, after the cleaning robot determines the map information of the current construction scene by combining a historical map database or by reconstruction, the cleaning robot's control device can match the marker task information with the preset marker database to verify whether the preset marker database stores the current marker task information and its corresponding preset path information. If it exists, it is determined that the current condition for autonomously creating a marker path is not met; if it does not exist, it is determined that the condition for autonomously creating a marker path is met.

[0083] In another embodiment, after the cleaning robot determines the map information of the current construction scene by combining historical map databases or by reconstruction, the cleaning robot's control device starts timing for a preset period of time to determine whether a self-creation command has been received within the preset period of time. If a self-creation command is received, it is determined that the conditions for self-creating a marked path are met; if no self-creation command is received, it is determined that the conditions for self-creating a marked path are not met.

[0084] More specifically, in one embodiment, the control device may also verify that the preset tag database does not store the preset path information corresponding to the current tag task information, and if it receives a self-creation instruction within a preset time period, it considers that the conditions for self-creation of the tag path are met, without being specifically limited.

[0085] In one embodiment, before controlling the cleaning robot's marking container to open and release the markings while moving along the marking path corresponding to the marking path information, the method further includes: controlling the cleaning robot to enter the marking movement mode.

[0086] Specifically, the marking motion mode refers to the motion mode required by the cleaning robot during the marking and building task. This can include the robot's movement speed, the working pressure of the main brush or side brushes, etc., without specific limitations. When the cleaning robot performs the marking and building task, in order to ensure that the markers are accurately and reliably marked in the required locations, the cleaning robot will enter the marking motion mode according to the actual work needs, depending on the location and the marking task. It can be understood that the marking motion mode can be the same as the cleaning mode, or it can have different movement speeds, different pressures on the ground, etc., relative to the cleaning mode.

[0087] For example, when marking out areas, the cleaning robot applies greater pressure to the ground compared to normal cleaning mode to ensure that the markers are more completely embedded in the scene. On uneven surfaces, the marking process needs to be carried out at a slower speed compared to the normal cleaning mode's movement speed (200mm / s).

[0088] In one embodiment, the marker construction method further includes: upon receiving a marker cleaning instruction, performing a cleaning operation based on the marker path corresponding to the marker path information.

[0089] Specifically, after the markers are built, the cleaning robot exits the building mode. If the user uses marker containers such as ink or lime trays to build the markers, the cleaning robot will perform the cleaning operation along the marker path corresponding to the marker path information, based on actual needs—that is, when it receives a relevant instruction to clean the markers. This allows for more efficient cleaning of the markers it has built. Compared to general cleaning operations, the cleaning robot cleans itself more easily and efficiently based on the markers it has built.

[0090] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0091] Based on the same inventive concept, this application also provides a tag-building apparatus for implementing the tag-building method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more tag-building apparatus embodiments provided below can be found in the limitations of the tag-building method described above, and will not be repeated here.

[0092] Please see Figure 5 A marker construction device includes a marker task acquisition module 502, a map determination module 504, a marker path determination module 506, and a marker control module 508.

[0093] The marking task acquisition module 502 is used to acquire marking task information when entering the marking construction operation mode; the map determination module 504 is used to determine the map information corresponding to the current construction scene; the marking path determination module 506 is used to determine the marking path information based on the map information and the marking task information; and the marking control module 508 is used to control the marking container of the cleaning robot to open and release the markings when moving along the marking path corresponding to the marking path information.

[0094] In one embodiment, the map determination module 504 is further configured to obtain environmental parameter information of the current construction scene; based on the environmental parameter information, verify whether historical map information corresponding to the current construction scene is stored; if historical map information is stored, use the historical map information as the map information of the current construction scene.

[0095] In one embodiment, the map determination module 504 is further configured to obtain map information of the current construction scene through map construction when historical map information is not stored.

[0096] In one embodiment, the marker path determination module 506 is also used to verify whether it is necessary to create a marker path independently; if it is not necessary to create a marker path independently, the marker path information is determined by matching the preset path information corresponding to the marker task information in the map corresponding to the map information.

[0097] In one embodiment, the marker path determination module 506 is further configured to determine path information according to the self-creation instruction when it is necessary to create a marker path independently; and to determine the marker path information by performing a matching analysis based on the path information and map information.

[0098] Please see Figure 6 In one embodiment, the tag building apparatus further includes an update module 602. The update module 602 is used to update the preset tag database based on the autonomously created tag path information.

[0099] In one embodiment, the marking path determination module 506 is further used to verify whether the preset marking database stores preset path information corresponding to the marking task information; if the preset path information corresponding to the marking task information is not stored, it is determined that the marking path needs to be created manually.

[0100] In one embodiment, the marker path determination module 506 is further configured to verify whether a self-creation instruction has been received within a preset time period; if a self-creation instruction has been received, it is determined that a marker path needs to be created independently.

[0101] Please see Figure 7In one embodiment, the marker building apparatus further includes a cleaning module 702. The cleaning module 702 is used to perform a cleaning operation based on the marker path corresponding to the marker path information upon receiving a marker cleaning instruction.

[0102] Each module in the aforementioned tag-building device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0103] The aforementioned marker-building device incorporates marker-building programs within the cleaning robot. When the robot enters marker-building mode, it determines the necessary marker path information based on the marker task information and the map information corresponding to the current building scene. Finally, by controlling the cleaning robot to release markers while moving along the marker path, the markers complete the marking task. This solution automatically builds markers using the cleaning robot, eliminating the need for manual construction by the user and effectively improving marker-building efficiency.

[0104] Please see Figure 8 This application provides a cleaning robot, including a marking container 801 and a control device 802. The marking container 801 is used to store markings, and the control device 802 is connected to the marking container 801 (not shown). The control device 802 is used to perform the steps of the above-described marking construction method.

[0105] Specifically, the marker construction method is as shown in the above embodiments and figures. The way the marker container 801 is set in the cleaning robot is not unique. In one embodiment, the marker container 801 can be detachably set in the water tank of the cleaning robot. That is, when there is a need for marker construction, the marker container 801 can be installed in the corresponding position after the water tank is disassembled.

[0106] Please see Figure 9 In another embodiment, the marker container 801 can also be independently installed on the outside of the cleaning robot, such as being mounted on the cleaning robot. In this case, the marker construction can also be achieved by controlling the marker path through the cleaning robot. In actual scenarios, the specific setting of the marker container 801 is not limited and can be selected according to actual needs.

[0107] The aforementioned cleaning robot is programmed with marker-building capabilities. When the robot enters marker-building mode, it determines the necessary marker path based on the marker task information and the map information corresponding to the current building scene. Finally, by controlling the robot to release markers as it moves along the marked path, the markers complete the marking task. This solution automates marker building with the cleaning robot, eliminating the need for manual user intervention and significantly improving marker-building efficiency.

[0108] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When the computer program is executed by a processor, it performs the following steps: when entering a marker construction operation mode, acquiring marker task information; determining map information corresponding to the current construction scene; determining marker path information based on the map information and the marker task information; and controlling the marker container 801 of the cleaning robot to open and release markers while moving along the marker path corresponding to the marker path information.

[0109] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining environmental parameter information of the current construction scene; verifying whether historical map information corresponding to the current construction scene is stored based on the environmental parameter information; and if historical map information is stored, using the historical map information as the map information of the current construction scene.

[0110] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: obtaining map information of the current construction scene through map construction in the absence of stored historical map information.

[0111] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: verifying whether it is necessary to create a marker path independently; if it is not necessary to create a marker path independently, matching and determining the marker path information in the map corresponding to the map information according to the preset path information corresponding to the marker task information.

[0112] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when it is necessary to autonomously create a marked path, it determines the path information according to the autonomous creation instruction; and it performs a matching analysis based on the path information and map information to determine the marked path information.

[0113] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: updating a preset tag database based on autonomously created tag path information.

[0114] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: verifying whether the preset tag database stores preset path information corresponding to the tag task information; if the preset path information corresponding to the tag task information is not stored, determining that a tag path needs to be created manually.

[0115] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: verifying whether a self-creation instruction has been received within a preset time period; if a self-creation instruction is received, determining that a marker path needs to be self-created.

[0116] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: upon receiving a marking and cleaning instruction, performing a cleaning operation based on the marking path corresponding to the marking path information.

[0117] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: when entering a marker construction operation mode, acquiring marker task information; determining map information corresponding to the current construction scene; determining marker path information based on the map information and the marker task information; and, while moving along the marker path corresponding to the marker path information, controlling the marker container 801 of the cleaning robot to open and release markers.

[0118] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining environmental parameter information of the current construction scene; verifying whether historical map information corresponding to the current construction scene is stored based on the environmental parameter information; and if historical map information is stored, using the historical map information as the map information of the current construction scene.

[0119] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: obtaining map information of the current construction scene through map construction in the absence of stored historical map information.

[0120] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: verifying whether it is necessary to create a marker path independently; if it is not necessary to create a marker path independently, matching and determining the marker path information in the map corresponding to the map information according to the preset path information corresponding to the marker task information.

[0121] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when it is necessary to autonomously create a marked path, it determines the path information according to the autonomous creation instruction; and it performs a matching analysis based on the path information and map information to determine the marked path information.

[0122] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: updating a preset tag database based on autonomously created tag path information.

[0123] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: verifying whether the preset tag database stores preset path information corresponding to the tag task information; if the preset path information corresponding to the tag task information is not stored, determining that a tag path needs to be created manually.

[0124] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: verifying whether a self-creation instruction has been received within a preset time period; if a self-creation instruction is received, determining that a marker path needs to be self-created.

[0125] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: upon receiving a marking and cleaning instruction, performing a cleaning operation based on the marking path corresponding to the marking path information.

[0126] The aforementioned storage medium and computer program products, with marking and construction related programs embedded in the cleaning robot, enable the robot to determine the necessary marking path information for the current construction scene when it enters the marking and construction operation mode, based on the marking task information and the map information corresponding to the current construction scene. Finally, by simply controlling the cleaning robot to release markers while moving along the marked path, the marking task can be completed using the markers. This solution automatically constructs markers using the cleaning robot, eliminating the need for manual construction by the user and effectively improving marking and construction efficiency.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A tag construction method, characterized in that, include: When entering the tagging construction operation mode, tagging task information is obtained; specifically, when the water tank of the cleaning robot is detected to have been replaced with a tagging container, the tagging construction operation mode is automatically entered. Determine the map information corresponding to the current construction scene; Based on the map information and the marking task information, determine the marking path information; While moving along the marker path corresponding to the marker path information, the marker container of the cleaning robot is controlled to open and release the marker. Upon receiving a marking and cleaning instruction, a cleaning operation is performed based on the marking path corresponding to the marking path information.

2. The marker construction method according to claim 1, characterized in that, Determining the map information corresponding to the current construction scene includes: Obtain the environmental parameter information of the current construction scene; Based on the environmental parameter information, verify whether historical map information corresponding to the current construction scene is stored; If the historical map information is stored, the historical map information is used as the map information for the currently constructed scene.

3. The marker construction method according to claim 2, characterized in that, After verifying whether historical map information corresponding to the currently constructed scene is stored based on the environmental parameter information, the method further includes: In the absence of stored historical map information, map information for the current construction scenario is obtained through map construction.

4. The tag construction method according to any one of claims 1-3, characterized in that, The step of determining the marking path information based on the map information and the marking task information includes: Verify whether you need to manually create the marked path; Without needing to manually create a marked path, the marked path information is matched and determined in the map corresponding to the map information based on the preset path information corresponding to the marked task information.

5. The marker construction method according to claim 4, characterized in that, The step of matching and determining the marked path information in the map corresponding to the map information based on the preset path information corresponding to the marked task information includes: Based on the task information, a preset path information is obtained by matching it in a preset tag database; The optimal ratio of the preset path information and the map information is matched and covered to determine the marked path information.

6. The tag construction method according to claim 4, characterized in that, After verifying whether a manually created marker path is required, the following is also included: When it is necessary to create a marked path manually, the path information is determined according to the manual creation instructions; The marked path information is determined by matching and analyzing the path information and the map information.

7. The marker construction method according to claim 6, characterized in that, After determining the marked path information by matching and analyzing the path information and the map information, the process further includes: Update the preset tag database based on the tag path information created independently.

8. The marker construction method according to claim 4, characterized in that, The verification of whether a manually created marker path is required includes: Verify whether the preset tagging database stores preset path information corresponding to the tagging task information; If no preset path information corresponding to the marked task information is stored, it is determined that a marked path needs to be created manually; and / or, Verify whether a self-creating instruction has been received within a preset time period; If a self-creation instruction is received, it is determined that a marker path needs to be created independently.

9. The tag construction method according to any one of claims 1-3, characterized in that, Before controlling the cleaning robot's marking container to open and release the markings while moving along the marking path corresponding to the marking path information, the method further includes: Control the cleaning robot to enter the marking motion mode.

10. A marker construction apparatus, characterized in that, include: The tagging task acquisition module is used to acquire tagging task information when entering the tagging construction and operation mode; specifically, it automatically enters the tagging construction and operation mode when it detects that the water tank of the cleaning robot has been replaced with a tagging container. The map determination module is used to determine the map information corresponding to the current construction scene; The marking path determination module is used to determine marking path information based on the map information and the marking task information; The marking control module is used to control the marking container of the cleaning robot to open and release the marking material when the robot moves along the marking path corresponding to the marking path information. The cleaning module is used to perform a cleaning operation based on the marking path corresponding to the marking path information when a marking cleaning instruction is received.

11. A cleaning robot comprising a marking container and a control device, the marking container being used to store markings, the control device being connected to the marking container, the control device being used to perform the steps of the marking construction method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the tag construction method according to any one of claims 1 to 9.

13. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the tag construction method according to any one of claims 1 to 9.

Images