Cleaning repositioning method and device, computer equipment and medium

Abstract

The invention provides a clean repositioning method and device, computer equipment and a medium, and the method comprises the steps: determining a positioning vector of a current position through transmitting laser, generating a first target score according to the positioning vector, and carrying out the repositioning based on the positioning vector of the current position when the first target score reaches a preset score. The method has the beneficial effects that the repositioning position of the sweeping robot is detected to judge whether the repositioning requirement is met or not, so that the repositioning of the sweeping robot is more accurate, and the problem that the sweeping efficiency is reduced due to the fact that the robot cleans the same area repeatedly and other areas are omitted due to the fact that repositioning errors are avoided.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and in particular to a cleaning relocation method, device, computer equipment and medium. Background Art

[0002] Sweeping robots are generally equipped with lidar, which is a sensor used to locate and map the sweeping robot. The laser results of the lidar can assist in the recovery of the robot when it loses its positioning information.

[0003] At present, during the repositioning process of the sweeping robot, due to geographical reasons, there are some positions that are not conducive to the repositioning of the sweeping robot, which makes the repositioning easy to make errors. Repositioning errors may cause the robot to repeatedly clean the same area while missing other areas, resulting in reduced cleaning efficiency. In addition, if the robot incorrectly determines its position, it may collide with walls or furniture, or even fall down stairs or steps. Summary of the invention

[0004] The main purpose of the present invention is to provide a clean relocation method, device, computer equipment and medium, aiming to solve the problem of relocation errors caused by geographical location.

[0005] The present invention provides a cleaning repositioning method, comprising:

[0006] Control the sweeping robot to emit a preset number of lasers to the surrounding area at the current position;

[0007] Determine the direction and distance of each positioning point of the reflected laser corresponding to the cleaning robot to obtain a positioning vector from each cleaning robot to each positioning point;

[0008] Calculate the modulus of the vector difference between two adjacent positioning vectors in the counterclockwise direction;

[0009] Setting a first score of a previous positioning vector based on the modulus of the vector difference between the two adjacent positioning vectors;

[0010] setting a second score for each positioning vector based on the modulus of each positioning vector;

[0011] Calculating a corresponding position score based on the first score and the second score of each positioning vector;

[0012] Calculate the sum of the position scores corresponding to all positioning vectors at the current position to obtain a first target score;

[0013] Determining whether the first target score has reached a preset score;

[0014] If the first target score reaches the preset score, repositioning is performed based on the positioning vector of the current position.

[0015] Furthermore, after the step of determining whether the first target score has reached a preset score, the step further includes:

[0016] If the preset score is not reached, the sweeping robot is controlled to move a certain distance to reach the target position;

[0017] recalculating a second target score for the target position;

[0018] Determining whether the second target score has reached a preset score;

[0019] If the preset score is reached, repositioning is performed based on the positioning vector of the target position.

[0020] Furthermore, the step of controlling the sweeping robot to move a certain distance to reach a target position includes:

[0021] Obtaining an original map pre-stored by the sweeping robot, and determining an easy-to-locate area in the original map;

[0022] Perform initial positioning based on the positioning vector of the current position;

[0023] Determine the target position according to the initial positioning and the easy-to-position area;

[0024] The cleaning robot is moved to the target position according to the direction and distance of the initial positioning toward the target position.

[0025] Furthermore, if the first target score reaches the preset score, the step of repositioning based on the positioning vector of the current position includes:

[0026] Based on the positioning vector of the current position, determine the distance and direction to the obstacle to construct a target map;

[0027] Obtaining an original map pre-stored by the sweeping robot;

[0028] The target map is matched with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0029] Furthermore, after the step of determining the distance and direction to the obstacle based on the positioning vector of the current position to construct the target map, the method further includes:

[0030] Adjusting the posture of the sweeping robot and traversing the target map to obtain a traversed target map;

[0031] Obtaining an original map pre-stored by the sweeping robot;

[0032] The traversed target map is matched with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0033] Furthermore, before the step of controlling the sweeping robot to emit a preset number of lasers to the surroundings at the current position, the method further includes:

[0034] Detecting whether the state of the cleaning robot is a restarted cleaning robot;

[0035] If the cleaning robot is restarted, the step of controlling the cleaning robot to emit a preset number of lasers to the surroundings at the current position is performed.

[0036] Furthermore, after the step of relocating based on the positioning vector of the current position if the first target score reaches the preset score, the method further includes:

[0037] Obtaining an original map pre-stored by the sweeping robot;

[0038] A cleaning strategy of the cleaning robot is set based on the current position and the original map.

[0039] The present invention also provides a cleaning repositioning device, comprising:

[0040] A control module, used to control the sweeping robot to emit a preset number of lasers to the surroundings at the current position;

[0041] A determination module, used to determine the direction and distance of each positioning point of the reflected laser corresponding to the cleaning robot, so as to obtain a positioning vector from each cleaning robot to each positioning point;

[0042] A first calculation module, used for calculating the modulus of the vector difference between two adjacent positioning vectors in a counterclockwise direction;

[0043] A first setting module, configured to set a first score of a previous positioning vector based on a modulus of a vector difference between the two adjacent positioning vectors;

[0044] A second setting module, used for setting a second score of each positioning vector based on the modulus of each positioning vector;

[0045] A second calculation module, configured to calculate a corresponding position score based on the first score and the second score of each positioning vector;

[0046] A third calculation module, used to calculate the sum of the position scores corresponding to all positioning vectors at the current position to obtain a first target score;

[0047] A judging module, used to judge whether the first target score has reached a preset score;

[0048] A repositioning module is used to reposition based on a positioning vector of a current position if the first target score reaches the preset score.

[0049] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0050] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0051] The beneficial effects of the present invention are as follows: by emitting laser light, the positioning vector of the current position is determined, and a first target score is generated according to the positioning vector. When the first target score reaches a preset score, repositioning is performed based on the positioning vector of the current position. Thus, the position of the sweeping robot repositioning is detected to determine whether it meets the repositioning requirements, making the repositioning of the sweeping robot more accurate, thereby avoiding the problem that repositioning errors may cause the robot to repeatedly clean the same area while missing other areas, resulting in reduced cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic flow chart of a cleaning repositioning method according to an embodiment of the present invention;

[0053] Figure 2 is a schematic structural block diagram of a cleaning repositioning device according to an embodiment of the present invention;

[0054] Figure 3 A schematic block diagram of the structure of a computer device according to an embodiment of the present application.

[0055] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. The connection can be a direct connection or an indirect connection.

[0058] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0059] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0060] Reference Figure 1 The present invention proposes 1. a cleaning repositioning method, comprising:

[0061] S1: Control the sweeping robot to emit a preset number of lasers to the surrounding area at the current position;

[0062] S2: Determine the direction and distance of each positioning point of the reflected laser corresponding to the cleaning robot to obtain a positioning vector from each cleaning robot to each positioning point;

[0063] S3: Calculate the modulus of the vector difference between two adjacent positioning vectors in a counterclockwise direction;

[0064] S4: setting a first score of a previous positioning vector based on the modulus of the vector difference between the two adjacent positioning vectors;

[0065] S5: setting a second score of each positioning vector based on the modulus of each positioning vector;

[0066] S6: Calculating a corresponding position score based on the first score and the second score of each positioning vector;

[0067] S7: Calculate the sum of the position scores corresponding to all positioning vectors at the current position to obtain a first target score;

[0068] S8: Determine whether the first target score has reached a preset score;

[0069] S9: If the first target score reaches the preset score, repositioning is performed based on the positioning vector of the current position.

[0070] As described in step S1 above, the sweeping robot is controlled to emit a preset number of lasers at the current position to the surroundings. The sweeping robot can be controlled to emit a preset number of lasers at the current position by programming. The programming can use the robot's control software or programming interface to write relevant instructions.

[0071] As described in step S2 above, determine the direction and distance of each positioning point of the reflected laser corresponding to the sweeping robot to obtain the positioning vector of each sweeping robot to each positioning point. A laser sensor can be used to obtain laser point data relative to the robot. Generally, these data can be converted into relative positions in a three-dimensional coordinate system. Then calculate the positioning vector (i.e., direction and distance) of the sweeping robot to each positioning point. The specific operation depends on the model of the sweeping robot and the sensor used. The current position can be set to a specified coordinate data, and then the coordinates of other positioning points are measured according to the direction and distance, and then the direction and distance of the sweeping robot to each positioning point are calculated using vector operations or trigonometric functions.

[0072] As described in the above steps S3-S4, the modulus of the vector difference between two adjacent positioning vectors is calculated, and the first score of the previous positioning vector is set based on the modulus of the vector difference between the two adjacent positioning vectors. That is, the second vector minus the first vector. Then the modulus of the vector difference is calculated, that is, the length of the vector difference is calculated using the Pythagorean theorem. In a specific embodiment, assuming that there are three positioning vectors, which are defined as the first positioning vector, the second positioning vector, and the third positioning vector in a counterclockwise direction, the vector difference between the second positioning vector and the first positioning vector is calculated, and its modulus value is calculated, which is used as the first score of the first positioning vector, and then the vector difference between the third positioning vector and the second positioning vector is calculated, and its modulus value is calculated, which is used as the first score of the second positioning vector, and finally the vector difference between the third positioning vector and the first positioning vector is calculated, and its modulus value is calculated, which is used as the first score of the third positioning vector, thereby realizing the calculation of the first score of each positioning vector. It should be noted that due to the position of the sweeping robot, the two positioning points may be close to each other. For example, in a corner, this will result in multiple reflected lights after the laser is emitted. Therefore, the position judgment of the sweeping robot will be relatively poor, making it impossible to accurately position the sweeping robot. Therefore, the distance between the positioning points needs to be large enough. In other words, the larger the modulus of the vector difference between two adjacent positioning vectors, the larger the first score, which means the better the positioning effect. Conversely, the smaller the modulus of the vector difference between two adjacent positioning vectors, the smaller the first score, which means the worse the positioning effect.

[0073] As described in the above step S5, the second score of each positioning vector is set based on the modulus of each positioning vector. Since the size and position of the room are fixed, the larger the modulus of the corresponding positioning vector is, the larger the second score is, which means the better the positioning effect is. Conversely, the smaller the modulus of the positioning vector is, the smaller the second score is, which means the worse the positioning effect is.

[0074] As described in the above step S6, the corresponding position score is calculated based on the first score and the second score of each positioning vector. The specific position score can be pre-set. It should be noted that the position score is proportional to the first score and the second score. In some embodiments, the position score can be calculated by weighted summation, for example, more weight can be given to the first score, or the first score and the second score can be multiplied. The applicant does not limit this.

[0075] As described in the above steps S7-S9, the sum of the position scores corresponding to all positioning vectors at the current position is calculated to obtain a first target score to determine whether the first target score has reached the preset score. If the first target score has reached the preset score, repositioning is performed based on the positioning vector of the current position. Finally, if the preset score has been reached, repositioning can be performed based on the positioning vector of the current position. That is, all positioning vectors are traversed, their corresponding position scores are calculated, and they are added together to obtain the first target score. Next, the first target score is compared with the preset score. If the first target score has reached the preset score, it indicates that the target requirement has been met. This realizes the detection of the repositioned position of the sweeping robot to determine whether it meets the repositioning requirements, making the repositioning of the sweeping robot more accurate, thereby avoiding the problem that repositioning errors may cause the robot to repeatedly clean the same area while missing other areas, resulting in reduced cleaning efficiency.

[0076] In one embodiment, after the step S8 of determining whether the first target score has reached a preset score, the method further includes:

[0077] S901: If the preset score is not reached, controlling the cleaning robot to move a certain distance to reach the target position;

[0078] S902: recalculating a second target score of the target position;

[0079] S903: Determine whether the second target score has reached a preset score;

[0080] S904: If the preset score is reached, repositioning is performed based on the positioning vector of the target position.

[0081] As described in the above steps S901-S904, the positioning point of the sweeping robot is re-determined to make the positioning more accurate. That is, if the preset score is not reached, the sweeping robot is controlled to move a certain distance to reach the target position, wherein the direction of movement is not limited and can move arbitrarily until the calculated target score reaches the preset score. When the second target score reaches the preset score, the robot is repositioned based on the positioning vector of the target position.

[0082] In one embodiment, the step S901 of controlling the cleaning robot to move a certain distance to reach a target position includes:

[0083] S9011: Acquire an original map pre-stored by the cleaning robot, and determine an easy-to-locate area in the original map;

[0084] S9012: Perform initial positioning based on the positioning vector of the current position;

[0085] S9013: Determine the target position according to the initial positioning and the easy-to-position area;

[0086] S9014: Move the cleaning robot to the target position according to the direction and distance toward the target position determined by the initial positioning.

[0087] As described in the above steps S9011-S9014, the sweeping robot is moved more quickly to a target position that is easy to locate, that is, the original map pre-stored by the sweeping robot is obtained in advance, and the easy-to-locate area is determined in the original map, and then initial positioning is performed based on the positioning vector of the current position, the target position is determined according to the initial positioning and the easy-to-locate area, and the sweeping robot is moved to the target position according to the direction and distance toward the target position according to the initial positioning. It should be noted that although the position of the initial positioning will deviate, the deviation will be relatively small. Therefore, as long as the moving position is set at the center of the easy-to-locate area, it can be greatly avoided that the target position is set outside the easy-to-locate area.

[0088] In one embodiment, if the first target score reaches the preset score, the step S9 of repositioning based on the positioning vector of the current position includes:

[0089] S911: Determine the distance and direction to the obstacle based on the positioning vector of the current position to construct a target map;

[0090] S912: Acquire an original map pre-stored by the cleaning robot;

[0091] S913: Match the target map with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0092] As described in the above steps S911-S913, the relocation of the current position is achieved, that is, based on the positioning vector of the current position, the distance and direction to the obstacle are determined to construct a target map, obtain the original map pre-stored in the sweeping robot, match the target map with the original map, and obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0093] In one embodiment, after the step S911 of determining the distance and direction to the obstacle based on the positioning vector of the current position to construct the target map, the method further includes:

[0094] S9121: adjusting the posture of the sweeping robot and traversing the target map to obtain a traversed target map;

[0095] S9122: Acquire an original map pre-stored by the cleaning robot;

[0096] S9123: Match the traversed target map with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0097] As described in the above steps S9121-S9123, the relocation of the current position is achieved. Specifically, the computing device can generate a target map based on the positioning vector of the current position. Afterwards, based on the map accuracy and preset posture degree of the target map, the target map can be traversed to obtain the traversed target map, and then the traversed target map is matched with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0098] In one embodiment, before step S1 of controlling the cleaning robot to emit a preset number of lasers to the surroundings at the current position, the method further includes:

[0099] S001: Detecting whether the state of the cleaning robot is a restarted cleaning robot;

[0100] S002: If the cleaning robot has been restarted, the step of controlling the cleaning robot to emit a preset number of lasers to the surroundings at the current position is executed.

[0101] As described in the above steps S001-S002, the determination of whether the sweeping robot is a restarted sweeping robot is realized. Since the sweeping robot generates a map of the room when it cleans the room for the first time, no repositioning process is involved at this time. After restarting, the current position needs to be repositioned. Therefore, if it is a restarted sweeping robot, the step of controlling the sweeping robot to emit a preset number of lasers to the surrounding area at the current position is executed.

[0102] In one embodiment, after the step S9 of repositioning based on the positioning vector of the current position if the first target score reaches the preset score, the method further includes:

[0103] S1001: Acquire an original map pre-stored by the cleaning robot;

[0104] S1002: Setting a cleaning strategy of the cleaning robot based on the current position and the original map.

[0105] As described in the above steps S1001-S1002, after the relocation is completed, the original map pre-stored by the sweeping robot is obtained, and the cleaning strategy of the sweeping robot is set based on the current position and the original map. The specific setting method of the cleaning strategy is not limited in this application, and it can be any strategy set by the system according to the original map and the current position.

[0106] The beneficial effects of the present invention are as follows: by emitting laser light, the positioning vector of the current position is determined, and a first target score is generated according to the positioning vector. When the first target score reaches a preset score, repositioning is performed based on the positioning vector of the current position. Thus, the position of the sweeping robot repositioning is detected to determine whether it meets the repositioning requirements, making the repositioning of the sweeping robot more accurate, thereby avoiding the problem that repositioning errors may cause the robot to repeatedly clean the same area while missing other areas, resulting in reduced cleaning efficiency.

[0107] Reference Figure 2 The present invention also provides a cleaning repositioning device, comprising:

[0108] The control module 10 is used to control the sweeping robot to emit a preset number of lasers to the surroundings at the current position;

[0109] The determination module 20 is used to determine the direction and distance of each positioning point of the reflected laser corresponding to the cleaning robot, so as to obtain a positioning vector from each cleaning robot to each positioning point;

[0110] A first calculation module 30, used to calculate the modulus of the vector difference between two adjacent positioning vectors in a counterclockwise direction;

[0111] A first setting module 40, configured to set a first score of a previous positioning vector based on a modulus of a vector difference between the two adjacent positioning vectors;

[0112] A second setting module 50, configured to set a second score of each positioning vector based on the modulus of each positioning vector;

[0113] A second calculation module 60, configured to calculate a corresponding position score based on the first score and the second score of each positioning vector;

[0114] A third calculation module 70, configured to calculate the sum of the position scores corresponding to all positioning vectors at the current position to obtain a first target score;

[0115] A judging module 80 is used to judge whether the first target score has reached a preset score;

[0116] The repositioning module 90 is configured to perform repositioning based on the positioning vector of the current position if the first target score reaches the preset score.

[0117] In one embodiment, the cleaning repositioning device further comprises:

[0118] A moving module, used for controlling the sweeping robot to move a certain distance to reach a target position if the preset score is not reached;

[0119] A recalculation module, used for recalculating a second target score of the target position;

[0120] A second target score determination module, used to determine whether the second target score has reached a preset score;

[0121] The positioning module is used to reposition the target position based on the positioning vector if the preset score is reached.

[0122] In one embodiment, the mobile module comprises:

[0123] The original map acquisition submodule is used to acquire the original map pre-stored in the sweeping robot and determine the easy-to-locate area in the original map;

[0124] An initial positioning submodule, used for performing initial positioning based on a positioning vector of a current position;

[0125] A target position determination submodule, used to determine the target position according to the initial positioning and the easy-to-position area;

[0126] The moving submodule is used to move the cleaning robot to the target position according to the direction and distance of the initial positioning toward the target position.

[0127] In one embodiment, the relocation module 90 includes:

[0128] A target map construction submodule, used to determine the distance and direction to the obstacle based on the positioning vector of the current position to construct a target map;

[0129] The original map acquisition submodule is used to acquire the original map pre-stored in the sweeping robot;

[0130] The matching submodule is used to match the target map with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0131] In one embodiment, the relocation module 90 further includes:

[0132] A posture adjustment submodule, used for adjusting the posture of the sweeping robot and traversing the target map to obtain a traversed target map;

[0133] The original map acquisition submodule is used to acquire the original map pre-stored in the sweeping robot;

[0134] The target map matching submodule is used to match the traversed target map with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

[0135] In one embodiment, the cleaning repositioning device further comprises:

[0136] A detection module, used to detect whether the state of the cleaning robot is a restarted cleaning robot;

[0137] The execution module is used to execute the step of controlling the cleaning robot to emit a preset number of lasers to the surroundings at the current position if the cleaning robot has been restarted.

[0138] In one embodiment, the cleaning repositioning device further comprises:

[0139] An original map acquisition module, used to acquire an original map pre-stored in the sweeping robot;

[0140] A cleaning strategy setting module is used to set the cleaning strategy of the cleaning robot based on the current position and the original map.

[0141] Reference Figure 3 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store various positioning vectors, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the cleaning relocation method described in any of the above embodiments can be implemented.

[0142] Those skilled in the art will understand that Figure 3 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0143] An embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the cleaning and repositioning method described in any of the above embodiments can be implemented.

[0144] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0145] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

[0146] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Among them, artificial intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0147] AI basic technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. AI software technologies mainly include computer vision technology, robotics technology, biometrics technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0148] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A cleaning repositioning method, characterized in that: include: Control the sweeping robot to emit a preset number of lasers to the surrounding area at the current position; Determine the direction and distance of each positioning point of the reflected laser corresponding to the cleaning robot to obtain a positioning vector from each cleaning robot to each positioning point; Calculate the modulus of the vector difference between two adjacent positioning vectors in a counterclockwise direction; Setting a first score of a previous positioning vector based on the modulus of the vector difference between the two adjacent positioning vectors; setting a second score for each positioning vector based on the modulus of each positioning vector; Calculating a corresponding position score based on the first score and the second score of each positioning vector; Calculate the sum of the position scores corresponding to all positioning vectors at the current position to obtain a first target score; Determining whether the first target score has reached a preset score; If the first target score reaches the preset score, repositioning is performed based on the positioning vector of the current position.

2. The cleaning repositioning method according to claim 1, characterized in that: After the step of determining whether the first target score has reached a preset score, the method further includes: If the preset score is not reached, the sweeping robot is controlled to move a certain distance to reach the target position; recalculating a second target score for the target position; Determining whether the second target score has reached a preset score; If the preset score is reached, repositioning is performed based on the positioning vector of the target position.

3. The cleaning repositioning method according to claim 2, characterized in that: The step of controlling the sweeping robot to move a certain distance to reach a target position comprises: Obtaining an original map pre-stored by the sweeping robot, and determining an easy-to-locate area in the original map; Perform initial positioning based on the positioning vector of the current position; Determine the target position according to the initial positioning and the easy-to-position area; The cleaning robot is moved to the target position according to the direction and distance of the initial positioning toward the target position.

4. The cleaning repositioning method according to claim 1, characterized in that: The step of repositioning based on the positioning vector of the current position if the first target score reaches the preset score comprises: Based on the positioning vector of the current position, determine the distance and direction to the obstacle to construct a target map; Obtaining an original map pre-stored by the sweeping robot; The target map is matched with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

5. The cleaning repositioning method according to claim 4, characterized in that: After the step of determining the distance and direction to the obstacle based on the positioning vector of the current position to construct the target map, the method further includes: Adjusting the posture of the sweeping robot and traversing the target map to obtain a traversed target map; Obtaining an original map pre-stored by the sweeping robot; The traversed target map is matched with the original map to obtain the position of the current position in the original map, thereby completing the relocation of the current position.

6. The cleaning repositioning method according to claim 1, characterized in that: Before the step of controlling the sweeping robot to emit a preset number of lasers to the surroundings at the current position, the method further includes: Detecting whether the state of the cleaning robot is a restarted cleaning robot; If the cleaning robot is restarted, the step of controlling the cleaning robot to emit a preset number of lasers to the surroundings at the current position is performed.

7. The cleaning repositioning method according to claim 1, characterized in that: After the step of relocating based on the positioning vector of the current position if the first target score reaches the preset score, the method further includes: Obtaining an original map pre-stored by the sweeping robot; A cleaning strategy of the cleaning robot is set based on the current position and the original map.

8. A cleaning repositioning device, characterized in that: include: A control module, used to control the sweeping robot to emit a preset number of lasers to the surroundings at the current position; A determination module, used to determine the direction and distance of each positioning point of the reflected laser corresponding to the cleaning robot, so as to obtain a positioning vector from each cleaning robot to each positioning point; A first calculation module, used for calculating the modulus of the vector difference between two adjacent positioning vectors in a counterclockwise direction; A first setting module, configured to set a first score of a previous positioning vector based on a modulus of a vector difference between the two adjacent positioning vectors; A second setting module, used for setting a second score of each positioning vector based on the modulus of each positioning vector; A second calculation module, configured to calculate a corresponding position score based on the first score and the second score of each positioning vector; A third calculation module, used to calculate the sum of the position scores corresponding to all positioning vectors at the current position to obtain a first target score; A judging module, used to judge whether the first target score has reached a preset score; A repositioning module is used to reposition based on a positioning vector of a current position if the first target score reaches the preset score.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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