Cleaning strategy setting method of robot and robot

Abstract

The invention relates to a cleaning strategy setting method for a robot and the robot, and the method comprises the steps: storing a current map as a historical map after the relocation of the robot fails; re-establishing a complete map of the area where the robot is located to obtain a new map; matching the new map with a historical map; after matching succeeds, the new map coordinate system is adjusted to be consistent with the historical map coordinate system, and if the new map does not have a new area relative to the historical map, the new map is partitioned according to historical partition information of the historical map; and correspondingly setting the cleaning strategy of each historical partition in the historical map as the cleaning strategy of each new partition in the new map. By implementing the method, the repeated operation of the user can be reduced, the user experience is improved, the intelligence of the robot can be enhanced, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a method for setting a cleaning strategy of a robot and the robot. Background Art

[0002] When the robot fails to relocate, it needs to re-establish the map to work. Currently, when the robot fails to relocate, it directly deletes the map-related information, such as the grid map, room partitions, and room cleaning properties set by the user. Then the robot re-establishes the map, re-partitions the new map, and after re-partitioning, the user needs to re-set the cleaning properties of each area according to their own preferences or the cleaning needs of each area. Each time a new map is created, the user needs to re-set repeated information, which affects the user experience. In addition, if the user takes a long time to set the information, it will also reduce the robot's work efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method for setting a cleaning strategy of a robot and a robot.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a method for setting a cleaning strategy of a robot, comprising the following steps:

[0005] S1. After the robot fails to relocalize, save the current map as a historical map;

[0006] S2, re-establishing a complete map of the area where the robot is located to obtain a new map;

[0007] S3, matching the new map with the historical map;

[0008] S4. After the match is successful, the coordinate system of the new map is adjusted to be consistent with the coordinate system of the historical map. If the new map has no new area relative to the historical map, the new map is partitioned according to the historical partition information of the historical map, and the cleaning strategy of each historical partition in the historical map is correspondingly set as the cleaning strategy of each new partition in the new map.

[0009] Preferably, step S4 further includes:

[0010] If the new map has a newly added area relative to the historical map, determining the overlapping area between the new map and the historical map;

[0011] The repeated area of ​​the new map is partitioned according to the historical partition information of the repeated area in the historical map, and the cleaning strategies of each historical partition of the repeated area in the historical map are correspondingly set as the cleaning strategies of each new partition of the repeated area in the new map.

[0012] Preferably, in step S4, after setting the cleaning strategy for each new partition of the repeated area in the new map, the method further includes:

[0013] The newly added area of ​​the new map is partitioned, and the cleaning strategy of each new partition of the newly added area is set according to the preset default cleaning strategy.

[0014] Preferably, in step S4, after setting the cleaning strategy for each new partition of the repeated area in the new map, the method further includes:

[0015] The newly added areas of the new map are not partitioned first, and the robot performs cleaning work based on the new map, wherein the robot uses a default cleaning strategy when performing cleaning work in the newly added areas; when the preset trigger conditions are met, the newly added areas are partitioned, and the cleaning strategies of the new partitions of the newly added areas are set according to the default cleaning strategy.

[0016] Preferably, after step S3, the method further comprises:

[0017] S5. After the matching fails, the new map is partitioned, and a cleaning strategy for each new partition in the new map is set according to a preset default cleaning strategy.

[0018] Preferably, step S3 comprises:

[0019] Generating a new map image and a historical map image according to the new map and the historical map respectively;

[0020] Calculating a matching rate between the new map image and the historical map image by image feature matching;

[0021] If the matching rate reaches a preset threshold, it is determined that the new map matches the historical map successfully;

[0022] If the matching rate does not reach a preset threshold, it is determined that the new map fails to match the historical map.

[0023] Preferably, after step S4, the method further includes: displaying the setting result to the user;

[0024] Confirming the setting result according to a confirmation instruction input by the user; or,

[0025] The setting result is modified according to the modification instruction input by the user.

[0026] Preferably, after step S3, the method further includes: deleting the historical map.

[0027] Preferably, after step S4, the method further includes: saving the new map, new partition information of the new map and cleaning strategies of each new partition.

[0028] A robot cleaning strategy setting method and robot implementing the present invention have the following beneficial effects: after the robot fails to reposition, the cleaning strategy of the new map is set according to the cleaning strategy of the matching historical map after the new map is created, which can reduce user repetitive operations, improve user experience, and enhance the intelligence of the robot, thereby improving the robot's work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0030] Figure 1 It is a flow chart of an embodiment of a method for setting a cleaning strategy for a robot according to the present invention;

[0031] Figure 2 is a schematic diagram of a new map according to an embodiment of the present invention;

[0032] Figure 3 2 is a schematic diagram of a historical map according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0034] The robot cleaning strategy setting method of this embodiment is applied to a robot, which may be a cleaning robot, a weeding robot or other robot, and performs positioning and path planning based on the established map, and performs corresponding cleaning tasks in each partition according to the corresponding cleaning strategy. The cleaning tasks may be ground cleaning tasks, grass cleaning tasks or other cleaning tasks.

[0035] like Figure 1 As shown, in one embodiment, a method for setting a cleaning strategy of a robot includes the following steps:

[0036] S1. After the robot fails to relocalize, save the current map as a historical map.

[0037] Specifically, repositioning refers to the robot re-determining its precise position during walking. When the positioning information is lost or the environment changes, the robot needs to reposition based on the currently used map. If its precise position cannot be determined after a certain number of attempts, the repositioning fails. After the robot fails to reposition, it needs to re-establish a map for the area in which it is located in order to continue to work normally; if the robot repositions successfully, it can continue to work normally. In this embodiment, after the robot fails to reposition, the current map is not deleted first, and the current map used for repositioning is saved as a historical map; the partition information of the current map is saved as historical partition information, and the partitions in the current map are historical partitions; the cleaning strategies of each partition in the current map are saved as cleaning strategies for each historical partition.

[0038] Taking a sweeping and mopping robot as an example, the cleaning strategy of each zone includes but is not limited to the sweeping and mopping mode, cleaning times, water level, suction level and other information related to the user's cleaning needs followed by the robot in the zone when sweeping and mopping. Taking a weeding robot as an example, the cleaning method of each zone includes but is not limited to the mowing height and weeding mode followed by the robot in the zone when weeding.

[0039] S2. Re-establish a complete map of the area where the robot is located to obtain a new map.

[0040] It should be noted that the new map is a complete map of the area where the robot is currently located, rather than a partial incomplete map. Taking a robot in a home environment as an example, if the current map used when the robot is relocated is a map of the whole house, then the complete map of the area where it is located should be a map of the whole house; if the robot establishes multiple maps for different sub-areas of the whole house, then the complete map of the area where it is located should be a map of the corresponding sub-area. Of course, according to actual needs, it can also be a map of the whole house. This embodiment does not limit the mapping method, please refer to the prior art for details.

[0041] S3. Match the new map with the historical map.

[0042] Specifically, a new map image and a historical map image are generated according to the new map and the historical map respectively, and the matching rate between the new map image and the historical map image is calculated by image feature matching. For the specific image feature matching calculation process, please refer to the prior art. If the matching rate reaches the preset threshold, it is determined that the new map and the historical map are matched successfully, and the two maps are maps of the same environment. If the matching rate does not reach the preset threshold, it is determined that the new map and the historical map fail to match. There is no specific restriction on the preset threshold, and it can be set according to actual needs. In other embodiments, other methods can also be used to match the new map with the historical map, as long as it can be identified whether the new map and the historical map are maps of the same environmental area. For example, an image similarity measurement method is used to calculate the similarity of two maps, and then whether they match is determined based on the similarity.

[0043] S4. After the match is successful, the coordinate system of the new map is adjusted to be consistent with the coordinate system of the historical map. If the new map has no new area relative to the historical map, the new map is partitioned according to the historical partition information of the historical map, and the cleaning strategy of each historical partition in the historical map is set accordingly as the cleaning strategy of each new partition in the new map.

[0044] In this embodiment, during the matching process of the two maps, the repeated areas of the new map and the historical map can be identified based on the matched feature point pairs in the two images. In addition, the difference between the two images can also be identified. The difference area in the new map is the newly added area of ​​the new map relative to the historical map. It can be understood that the repeated area is the similar or identical area of ​​the two maps, and the newly added area is relative to the repeated area. The newly added area can be an area that does not exist in the historical map, or it can be an original area of ​​the historical map. In the new map, its environment has added a lot of changes, resulting in no similarity.

[0045] After the match is successful, if the new map does not have any new areas compared to the historical map, it means that the new map is different from the historical map. Figure 1 Or the new map is part of the historical map and the environment has not changed much. In this scenario, the relocalization failure may be caused by the moving obstacle blocking the important identification features. Therefore, after the coordinate system of the new map is consistent with that of the historical map, the new map can be partitioned directly according to the historical partition information of the historical map, and the cleaning strategies of each historical partition can be continued in each new partition of the new map, so that the robot can continue to perform cleaning work according to the cleaning strategy previously set by the user.

[0046] In this embodiment, after repositioning fails, the user does not need to repartition the new map or reset the cleaning method of each partition in the area. The cleaning strategy of the area is automatically memorized. After creating a new map, the user does not need to manually re-set the cleaning strategy, thereby enhancing the intelligence of the robot, reducing user repetitive operations and improving the user experience.

[0047] Step S4 also includes: if the new map has a new area relative to the historical map, then determining the overlapping areas between the new map and the historical map; partitioning the overlapping areas of the new map according to the historical partition information of the overlapping areas in the historical map, and setting the cleaning strategies of each historical partition of the overlapping areas in the historical map as the cleaning strategies of each new partition of the overlapping areas in the new map.

[0048] by Figure 2 and Figure 3For example, map A is a new map, map B is a historical map, 21 is a repeated area, and 22 is a newly added area of ​​map A. For the repeated area, the previous cleaning strategy can continue to be used. Therefore, after the coordinate systems of map A and map B are adjusted to be consistent, the repeated area 21 in map A is partitioned in the same way as the partitioning method of the repeated area 21 in map B, and then each partition of the repeated area 21 in map A can use the cleaning strategy of each partition of the repeated area 21 in map B.

[0049] Furthermore, after setting the cleaning strategies for each new partition of the repeated area in the new map, it is also necessary to set the cleaning strategy for the newly added area. The setting method can be any of the following:

[0050] 1. Partition the newly added area of ​​the new map, and set the cleaning strategy of each new partition of the newly added area according to the preset default cleaning strategy. Specifically, the newly added area is automatically partitioned using the preset partitioning method to obtain several new partitions, and then the cleaning strategies of these new partitions are set as the default cleaning strategies.

[0051] 2. The newly added areas of the new map are not partitioned first. The robot performs cleaning work based on the new map. The robot uses the default cleaning strategy when performing cleaning work in the newly added areas. When the preset trigger conditions are met, the newly added areas are partitioned, and the cleaning strategies of the new partitions of the newly added areas are set according to the default cleaning strategy.

[0052] Specifically, the trigger condition is: the robot completes the cleaning work, or determines that the scope of the new map will not expand. After setting the cleaning strategy for the repeated area, the newly added area of ​​the new map is not partitioned first, and the newly added area is temporarily regarded as an unknown area. Use the set cleaning strategy to work in the repeated area, and use the default cleaning strategy to work in the unknown area. When the robot completes the cleaning work or determines that the scope of the new map will not expand, it can be considered that the scope of the newly added area will no longer change. Therefore, the preset partitioning method is used to automatically partition the new area with a clear scope to obtain several new partitions, and then the cleaning strategy of these new partitions is set as the default cleaning strategy.

[0053] S5. After the matching fails, the new map is partitioned, and the cleaning strategy of each new partition in the new map is set according to the preset default cleaning strategy. Specifically, the new map is automatically partitioned, and then the cleaning strategy of each new partition is set to the default cleaning strategy. The failure of the two maps to match indicates that the robot relocalization failure may be caused by the first time walking in the current area. For example, the robot used the map of family D when walking in family C for the first time.

[0054] Furthermore, the method further comprises the following steps:

[0055] The setting result is displayed to the user, and the setting result is confirmed according to the confirmation instruction input by the user; or the setting result is modified according to the modification instruction input by the user.

[0056] In this embodiment, after the cleaning strategy of the new map is set, the robot continues to perform cleaning work normally in the current area based on the new map and its cleaning strategy, saving time waiting for the user. In addition, the setting results are sent to an APP such as a smart phone or a control panel to show the user, so as to remind the user when a new map is created and the cleaning strategy of the new map is successfully set. When a confirmation instruction input by the user is received, the new map, the new partition information of the new map, and the cleaning strategy of each new partition of the new map are saved. When a modification instruction input by the user is received, the cleaning strategy of the new map is modified according to the modification instruction, and then the new map, the new partition information of the new map, and the cleaning strategy of each new partition of the modified new map are saved. If a confirmation instruction or modification instruction from the user is received during the operation of the robot, the robot continues to perform cleaning work after confirmation or modification.

[0057] In another embodiment, after the cleaning strategy of the new map is set, the robot can also pause work and send the setting results to an APP such as a smartphone or a control panel for display, thereby reminding the user, waiting for the user to input a confirmation instruction or a modification instruction, and after confirming or modifying according to the confirmation instruction or the modification instruction, the robot continues to work.

[0058] After the cleaning strategy of the new map is set according to the historical map or the preset cleaning strategy, the user can confirm or modify it, which can adapt to the changes in the user's cleaning needs. After the user's modification, it can also flexibly adapt to the environmental changes in the area.

[0059] It is understandable that the robot can also save the cleaning strategies of each new partition of the new map after setting them, and modify them when the user modifies them later. Among them, the robot saves the new map and the cleaning strategy of the new map to the memory and persistent file, and can also upload them to the server for backup.

[0060] Delete historical maps. The prior art practice is to delete the used map and the cleaning strategy set by the user and re-establish the map when relocation fails, so that the user needs to repeatedly set the cleaning strategy. This embodiment deletes the historical map, historical partition information and related cleaning strategy after the cleaning strategy setting of the new map is completed or after the map matching fails, which helps to set the cleaning strategy of the new map and reduces the occupied storage space. Of course, in other embodiments, the historical map can be saved instead of being deleted according to actual needs.

[0061] It is understandable that the above steps can all be performed by the robot, or can be performed by the robot in cooperation with other devices, such as a cloud server, a smart phone or other electronic devices. The present invention does not impose specific restrictions on this, as long as the setting of the cleaning strategy can be completed. The following is an example of a cloud server, and other devices can refer to the cooperation method of the cloud server: after the robot fails to relocate, the cloud server saves the historical map, the robot creates a new map, the cloud server obtains the new map and completes the map matching and the cleaning strategy setting process of the new map, and then sends the setting results to the user and the robot.

[0062] The present invention also provides a robot, the robot includes a processor and a memory, the processor is communicatively connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program in the memory to implement the steps of the robot cleaning strategy setting method as described in any of the above embodiments.

[0063] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0064] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A method for setting a cleaning strategy for a robot, characterized in that: The following steps are involved: S1. After the robot fails to relocalize, save the current map as a historical map; S2, re-establishing a complete map of the area where the robot is located to obtain a new map; S3, matching the new map with the historical map; S4. After the match is successful, the coordinate system of the new map is adjusted to be consistent with the coordinate system of the historical map. If the new map has no new area relative to the historical map, the new map is partitioned according to the historical partition information of the historical map, and the cleaning strategy of each historical partition in the historical map is correspondingly set as the cleaning strategy of each new partition in the new map.

2. The method for setting a cleaning strategy for a robot according to claim 1, characterized in that: Step S4 also includes: If the new map has a newly added area relative to the historical map, determining the overlapping area between the new map and the historical map; The repeated area of ​​the new map is partitioned according to the historical partition information of the repeated area in the historical map, and the cleaning strategies of each historical partition of the repeated area in the historical map are correspondingly set as the cleaning strategies of each new partition of the repeated area in the new map.

3. The method for setting a cleaning strategy for a robot according to claim 2, characterized in that: In step S4, after setting the cleaning strategies for each new partition of the repeated area in the new map, the following steps are further included: The newly added area of ​​the new map is partitioned, and the cleaning strategy of each new partition of the newly added area is set according to the preset default cleaning strategy.

4. The method for setting a cleaning strategy for a robot according to claim 2, characterized in that: In step S4, after setting the cleaning strategies for each new partition of the repeated area in the new map, the following steps are further included: The newly added areas of the new map are not partitioned first, and the robot performs cleaning work based on the new map, wherein the robot uses a default cleaning strategy when performing cleaning work in the newly added areas; when the preset trigger conditions are met, the newly added areas are partitioned, and the cleaning strategies of the new partitions of the newly added areas are set according to the default cleaning strategy.

5. The method for setting a cleaning strategy for a robot according to claim 1, characterized in that: After step S3, the method further includes: S5. After the matching fails, the new map is partitioned, and a cleaning strategy for each new partition in the new map is set according to a preset default cleaning strategy.

6. The method for setting a cleaning strategy for a robot according to claim 1, characterized in that: Step S3 includes: Generating a new map image and a historical map image according to the new map and the historical map respectively; Calculating a matching rate between the new map image and the historical map image by image feature matching; If the matching rate reaches a preset threshold, it is determined that the new map matches the historical map successfully; If the matching rate does not reach a preset threshold, it is determined that the new map fails to match the historical map.

7. The method for setting a cleaning strategy for a robot according to claim 1, characterized in that: After step S4, the method further includes: displaying the setting result to the user; Confirming the setting result according to a confirmation instruction input by the user; or, The setting result is modified according to the modification instruction input by the user.

8. The method for setting a cleaning strategy for a robot according to claim 1, characterized in that: After step S3, the method further includes: deleting the historical map.

9. The method for setting a cleaning strategy for a robot according to claim 1, characterized in that: After step S4, the method further includes: saving the new map, new partition information of the new map, and cleaning strategies of each new partition.

10. A robot, characterized in that: The robot comprises a processor and a memory, wherein the processor is communicatively connected to the memory; The memory is used to store a computer program, and the processor is used to execute the computer program in the memory to implement the cleaning strategy setting method for the robot according to any one of claims 1 to 9.

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