Visual robot mapping method, primary cleaning method, chip and visual robot

Abstract

The invention discloses a visual robot mapping method, a primary cleaning method, a chip and a visual robot, and the mapping method comprises the steps: controlling the visual robot to construct a first local map based on a charging base station, and controlling the visual robot to enter an edge walking mode based on a seat avoiding signal of the charging base station after the construction of the first local map is completed, and constructing a global map in an edge walking mode, and when the visual robot walks along the edge again to enter the area where the first local map is located, determining that the visual robot completes the construction of the global map. According to the method, the first-time mapping efficiency of the visual robot is improved, the technical effect of rapidly completing first-time mapping is achieved, and the situation that the visual robot carries out edgewise oolong on short obstacles such as table legs and chair legs on part of furniture is avoided.

Description

Technical Field

[0001] The present application relates to the field of visual mapping, and specifically to a visual robot mapping method, a visual robot initial cleaning method, a chip and a visual robot. Background Art

[0002] Currently, visual robots that use visual sensors for mapping in the market usually have the problem of difficulty in initial mapping and long initial mapping time, resulting in poor user experience. In addition, in the process of edge-to-edge mapping, the visual robot often performs edge-to-edge mapping on the legs of a dining table or a stool in the room. Edge-to-edge mapping in such an abnormal situation is useless for the construction of a global map, which seriously affects the efficiency of the visual robot in mapping. Summary of the invention

[0003] This application provides a visual robot mapping method, an initial cleaning method, a chip and a visual robot. The specific technical solutions are as follows: The visual robot mapping method specifically includes: step 1: controlling the visual robot to construct a first local map based on a charging base station, and entering step 2 after completing the construction of the first local map; step 2: controlling the visual robot to enter an edge walking mode based on a seat avoidance signal of the charging base station, and entering step 3; step 3: controlling the visual robot to construct a global map in the edge walking mode, and when the visual robot walks along the edge again and enters the area where the first local map is located, it is confirmed that the visual robot has completed the construction of the global map.

[0004] Furthermore, the controlling of the visual robot to construct a first local map based on the charging base station specifically includes: taking the location of the seat avoidance signal transmitter of the charging base station as the origin of the charging base station coordinate system, taking the direction of the charging base station perpendicular to the wall against which the charging base station is set as the Y-axis of the charging base station coordinate system, taking the direction of the wall pointing to the seat avoidance signal transmitter of the charging base station as the positive direction of the Y-axis of the charging base station coordinate system, and taking the direction of the charging base station parallel to the wall against which the charging base station is set as the X-axis of the charging base station coordinate system; controlling the visual robot to move horizontally from the charging base station to a first distance in a first direction of the X-axis of the charging base station coordinate system, and constructing and recording the coordinate point of the position of the visual robot after the horizontal movement of the first distance in the charging base station coordinate system as the first A landmark point; control the visual robot to move a first distance in the positive direction of the Y-axis of the charging base station coordinate system from the first landmark point to obtain a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the first direction of the X-axis of the charging base station coordinate system is the first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is the first distance, and record it as a second landmark point; control the visual robot to execute several groups of bow-shaped walking processes in a bow-shaped walking mode starting from the second landmark point to construct a first local map whose projection length in the X-axis direction of the charging base station coordinate system is the second distance and whose projection length in the Y-axis direction of the charging base station coordinate system is the first distance; wherein the second distance is twice the first distance.

[0005] Further, the visual robot is controlled to execute several groups of bow-shaped walking processes in a bow-shaped walking mode starting from the second landmark point to construct a first local map with a projection length of the second distance in the X-axis direction of the charging base station coordinate system and a projection length of the first distance in the Y-axis direction of the charging base station coordinate system, specifically including: controlling the visual robot to detect the current position of the visual robot in real time when executing each group of bow-shaped walking processes; When the visual robot moves to a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the second direction of the X-axis of the charging base station coordinate system is a first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is a first distance, the current coordinate point of the visual robot is constructed and recorded as the third landmark point; when the visual robot moves to a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the second direction of the X-axis of the charging base station coordinate system is a first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is 0, the current coordinate point of the visual robot is constructed and recorded as the fourth landmark point; when the visual robot completes the construction of the third landmark point and the fourth landmark point, the visual robot is controlled The robot ends executing several groups of bow-shaped walking processes in the bow-shaped walking mode; based on the connection line of the first landmark point, the second landmark point, the third landmark point and the fourth landmark point, a first local map with a projection length of the second distance in the X-axis direction of the charging base station coordinate system and a projection length of the first distance in the Y-axis direction of the charging base station coordinate system is formed; wherein each group of bow-shaped walking processes includes: controlling the visual robot to move a preset X-axis distance in the second direction of the X-axis of the charging base station coordinate system, and then controlling the visual robot to move a first distance in the negative direction of the Y-axis of the charging base station coordinate system, and then controlling the visual robot to move a preset X-axis distance in the second direction of the X-axis of the charging base station coordinate system, and then controlling the visual robot to move a first distance in the positive direction of the Y-axis of the charging base station coordinate system.

[0006] Furthermore, the controlling of the visual robot to enter the edge walking mode based on the charging base station seat avoidance signal specifically includes: controlling the visual robot to move to a position in front of the charging base station that is a third distance away from the charging base station; controlling the visual robot to detect whether a charging base station seat avoidance signal issued by the charging base station is received; when the visual robot receives a charging base station seat avoidance signal issued by the charging base station, the visual robot is controlled to execute the edge walking process based on the received charging base station seat avoidance signal, so that the visual robot enters the edge walking mode; when the visual robot does not receive a charging base station seat avoidance signal issued by the charging base station, the visual robot is controlled to rotate in place, and detects whether a charging base station seat avoidance signal issued by the charging base station is received during the rotation process; when the visual robot receives a charging base station seat avoidance signal issued by the charging base station, the visual robot is controlled to execute the edge walking process based on the received charging base station seat avoidance signal, so that the visual robot enters the edge walking mode.

[0007] Furthermore, the visual robot is controlled to execute an edge-walking process based on the received seat avoidance signal from the charging base station, so that the visual robot enters an edge-walking mode, specifically including: controlling the left moving structure and the right moving structure of the visual robot to operate differentially, so that the visual robot uses the position of the seat avoidance signal transmitter of the charging base station as the moving center, determines the moving radius based on the preset seat avoidance signal radiation distance, determines the circular moving trajectory based on the moving center and the moving radius, controls the visual robot to move from its current position to the position closest to the circular moving trajectory, so that the visual robot moves in an arc according to the circular moving trajectory, and enters the edge walking mode when the edge sensor detects an edge during the arc movement.

[0008] Furthermore, the control of the visual robot to execute the edge-walking process based on the received charging base station seat avoidance signal so that the visual robot enters the edge-walking mode also includes: during the arc movement of the visual robot along the circular moving trajectory, the visual robot is controlled to execute the charging base station seat avoidance signal reception detection process at each preset first time interval; if the charging base station seat avoidance signal reception detection result is that the charging base station seat avoidance signal is unable to be received, the robot is controlled to continue to move along the circular moving trajectory; if the charging base station seat avoidance signal reception detection result is that the charging base station seat avoidance signal can be received, the robot is controlled to re-plan the circular moving trajectory and move according to the re-planned circular moving trajectory.

[0009] Furthermore, during the arc movement, a first time duration is preset at each interval to control the visual robot to execute the charging base station seat avoidance signal receiving detection process, which specifically includes: during the arc movement of the visual robot along the circular movement trajectory, a first time duration is preset at each interval to control the visual robot to stop moving, the orientation of the visual robot when it stops moving is recorded as the marked orientation, and the visual robot is controlled to rotate by a preset angle; the charging base station seat avoidance signal receiving detection device of the visual robot is controlled to continuously search to receive the charging base station seat avoidance signal during the rotation process of the preset angle; if the charging base station seat avoidance signal receiving detection device searches for the charging base station seat avoidance signal during the rotation process of the preset angle, the charging base station seat avoidance signal receiving detection result is that the visual robot is able to receive the charging base station seat avoidance signal, and the visual robot is controlled to rotate so that the robot's orientation The visual robot is controlled to restore to the marked orientation, end the current charging base station seat avoidance signal receiving detection process, re-plan the circular moving trajectory, continue to move according to the re-planned circular moving trajectory, and control the visual robot to execute the charging base station seat avoidance signal receiving detection process at every preset first time interval during the moving process; when the visual robot rotates forward through the preset angle, and the charging base station seat avoidance signal receiving detection device continues to fail to search for the charging base station seat avoidance signal, the charging base station seat avoidance signal receiving detection result is that the visual robot fails to receive the charging base station seat avoidance signal, and the visual robot is controlled to end the current charging base station seat avoidance signal receiving detection process, and the visual robot is controlled to rotate in the opposite direction so that the orientation of the visual robot is restored to the marked orientation, and continue to move according to the circular moving trajectory.

[0010] Furthermore, the controlling the visual robot to re-plan the circular moving trajectory specifically includes: extending the moving radius of the circular moving trajectory by a preset distance to obtain a re-planned moving radius; taking the location of the seat avoidance signal transmitter of the charging base station as the moving circle center, and taking the opposite direction of the charging base station relative to the side where the visual robot is located as the arc moving direction, and based on the re-planned moving radius, obtaining the re-planned circular moving trajectory.

[0011] Furthermore, the control visual machine executes the edge process based on the received seat avoidance signal of the charging base station, so that the visual robot enters the edge walking mode, and also includes: during the arc movement of the visual robot along the circular moving trajectory, the edge sensor on the visual robot body is controlled to continuously perform edge detection; when the edge sensor detects the existence of an edge, the visual robot receives the edge detection success signal output by the edge sensor, determines that the visual robot has found the wall, controls the visual robot to stop the arc movement and controls the visual robot to enter the edge walking mode based on the edge sensor.

[0012] Furthermore, the entering the edge walking mode based on the edge sensor specifically includes: controlling the visual robot to rotate in the opposite direction of the charging base station relative to the side where the visual robot is located, so that the forward direction of the mobile structure of the visual robot is parallel to the edge detected by the edge sensor; controlling the edge sensor to perform edge detection in real time, and adjusting the forward direction of the visual robot in real time based on the edge detected by the edge sensor, so as to enable the visual robot to enter the edge walking mode.

[0013] Furthermore, the visual robot mapping method also includes: in the process of the visual robot building a global map based on the edge walking mode, controlling the visual robot to use a line laser module to identify low obstacles in the environment, and to circumvent the identified low obstacles along the edge.

[0014] Furthermore, the visual robot mapping method also includes: in the process of the visual robot constructing a global map based on the edge walking mode, controlling the visual robot to use a visual sensor to collect visual images, and identifying whether the vicinity of the visual robot meets the conditions for the possible existence of a door area based on the visual images; if the vicinity of the visual robot meets the conditions for the possible existence of a door area, controlling the visual robot to execute a door area detection process to determine whether the door area exists.

[0015] Furthermore, the visual robot is controlled to execute a door area detection process to determine whether a door area exists, specifically including: when it is identified that the vicinity of the visual robot meets the conditions for the possible existence of a door area, the visual robot is controlled to stop moving, and the current coordinates of the visual robot are recorded as the re-edge coordinates, and the current orientation of the visual robot is recorded as the re-edge orientation; based on the re-edge coordinates and the re-edge orientation, a first door area where a door may exist is divided; the visual robot is controlled to switch from an edge walking mode to a bow-shaped walking mode; the visual robot is controlled to move in a bow shape within the first door area based on the bow-shaped walking mode, and a visual sensor is used to collect visual images, and the existence of the door in the first door area is detected in real time based on the visual images.

[0016] Furthermore, the control of the visual robot to execute the door area detection process to determine whether the door area exists also includes: when the visual robot detects the existence of the door in the first door area in real time based on the visual image to determine that there is a door in the first door area, the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode.

[0017] Furthermore, the control of the visual robot to execute the door area detection process to determine whether the door area exists also includes: when the visual robot moves in a bow shape in the first door area for a preset second time period without detecting the existence of a door, determining that there is a door, or when the number of frames of visual images collected by the visual robot in the door area detection process reaches a preset number of image frames without detecting the existence of a door, determining that there is a door, or when the visual robot has moved in a bow shape to traverse the first door area without detecting the existence of a door, determining that there is a door, then controlling the visual robot to switch from the bow-shaped walking mode to the edge walking mode, navigating back to the re-edge coordinates, terminating the door area detection process, and continuing to execute the construction of the global map based on the edge walking mode.

[0018] Furthermore, the visual robot mapping method also includes: if it is determined that there is a door in the first door area, controlling the visual robot to record the first door area information of the existing door; when the visual robot completes the construction of the global map, updating the global map based on the first door area information of all existing doors recorded by the visual robot to obtain a global map with door information.

[0019] The present application also discloses an initial cleaning method of a visual robot, which is implemented based on a global map constructed by the visual robot mapping method as described above, and the initial cleaning method of the visual robot specifically includes: controlling the visual robot to receive a room cleaning instruction transmitted by a user terminal, and determining whether the received room cleaning instruction is a whole-house cleaning instruction or a designated room cleaning instruction; when the received room cleaning instruction is a whole-house cleaning instruction, controlling the visual robot to start from a charging base station, and traverse and clean each room according to the global map; when the received room cleaning instruction is a designated room cleaning instruction, controlling the visual robot to plan a target navigation path for the visual robot from the charging base station to the designated room based on the historical edge trajectory in the process of building the global map; controlling the visual robot to move from the charging base station to the designated room according to the target navigation path, and traverse and clean the designated room.

[0020] The present application also discloses a chip having a computer program stored therein. When the computer program stored therein is executed by a processor, the computer program executes the visual robot mapping method as described above, or executes the initial cleaning method of the visual robot as described above.

[0021] The present application also discloses a visual robot, including: a visual sensor for collecting visual images so that the visual robot can detect the existence of a door based on the visual image; a charging base station seat avoidance signal receiving and detecting device; used to receive the charging base station seat avoidance signal; an edge sensor for performing edge detection; a line laser sensor for detecting low obstacles; a cleaning device for performing cleaning work; a moving device, including a left moving structure and a right moving structure, the left moving structure is arranged on the left side of the bottom of the visual robot body, and the right moving structure is arranged on the right side of the bottom of the visual robot body, for realizing the moving function of the visual robot, wherein when the left moving robot and the right moving structure run at differential speeds, the visual robot realizes arc movement; a chip, which stores a computer program, and when the computer program stored in the chip is executed by the processor, it executes the visual robot mapping method as described above, or runs the initial cleaning method of the visual robot as described above; a processor, which is used to run the computer program stored in the chip.

[0022] The visual robot mapping method, initial cleaning method, chip and visual robot described in the present application, before constructing a global map, first preliminarily establish a first local map with a smaller area based on the charging base station, so that the visual robot can have accurate positioning capabilities near the charging base station, and then on the basis of the first local map, use the installation characteristics of the charging base station set against the wall combined with the charging base station avoidance signal to guide the visual robot to quickly and correctly find the wall, thereby improving the efficiency of the visual robot's initial mapping along the edge and achieving the technical effect of quickly completing the initial mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the flow of a visual robot mapping method according to an embodiment of the present application.

[0024] Figure 2 A schematic flow chart of an initial cleaning method of a visual robot according to an embodiment of the present application. Implementation

[0025] The following will describe the embodiments of the present application in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described below are only used to explain the present application and are not used to limit the present application.

[0026] Currently, visual robots that use visual sensors for mapping in the market usually have the problem of difficulty in initial mapping and long initial mapping time, resulting in poor user experience. In addition, in the process of edge-to-edge mapping, the visual robot often performs edge-to-edge mapping on the legs of a dining table or a stool in the room. Edge-to-edge mapping in such an abnormal situation is useless for the construction of a global map, which seriously affects the efficiency of the visual robot in mapping.

[0027] In order to solve the above difficulties, the present application provides a visual robot mapping method, which aims to improve the efficiency of the visual robot's initial mapping, achieve the technical effect of quickly completing the initial mapping, and guide the visual robot to map along the wall based on the charging base station, thereby avoiding the situation where the visual robot has to work uselessly along the edges of obstacles such as furniture. It should be noted that the concept of "wall" described in this application not only includes walls in the usual sense, but also includes obstacles such as the edges of cabinets and sofas with a certain length that can cause the visual robot to move along the edge in a straight line for a certain distance. Specifically, Figure 1 As shown, the visual robot mapping method specifically includes: Step 1: Control the visual robot to build a first local map based on the charging base station, and enter step 2 after completing the construction of the first local map; in this step, the visual robot controls the visual robot to build a first local map based on the charging base station. Since the charging base station is usually set at a fixed location in the home, the visual robot uses the charging base station as a reference point to build a small-scale local map. In the subsequent process of the visual robot building a global map, the first local map can be used as a reference to realize the basic positioning function of the visual robot, thereby improving the accuracy of the visual robot's global map construction.

[0028] Step 2: Control the visual robot to enter the edge walking mode based on the seat avoidance signal of the charging base station, and enter step 3; Specifically, in order to make the visual robot's recharging range wide enough, the charging base station is usually set against the wall. Therefore, this step can efficiently guide the visual robot to walk along the wall based on the seat avoidance signal of the charging base station sent by the charging base station, effectively solving the problem of the visual robot's ineffective edge walking for furniture. It should be noted that the visual robot mapping method provided in this application is implemented for a home environment where the charging base station is set against the wall.

[0029] Step 3: Control the visual robot to build a global map in the edge walking mode. When the visual robot walks along the edge again and enters the area where the first local map is located, it is confirmed that the visual robot has completed the construction of the global map. The visual robot mapping method provided in this embodiment first preliminarily establishes a first local map with a smaller area based on the charging base station before constructing the global map, so that the visual robot can have accurate positioning capabilities near the charging base station. Then, based on the first local map, the installation characteristics of the charging base station set against the wall are used to guide the visual robot to quickly and correctly find the wall, avoiding the misunderstanding of the visual robot in mapping along the edge of short-distance obstacles such as furniture legs, improving the efficiency of the visual robot's first edge mapping, and achieving the technical effect of quickly completing the first mapping.

[0030] As one of the implementation modes, the control visual robot constructs a first local map based on the charging base station, specifically including: taking the location of the seat avoidance signal transmitter of the charging base station as the origin of the charging base station coordinate system, taking the direction of the charging base station perpendicular to the wall against which the charging base station is set as the Y-axis of the charging base station coordinate system, taking the direction of the wall against which the charging base station is set to point to the location of the seat avoidance signal transmitter of the charging base station as the positive direction of the Y-axis of the charging base station coordinate system, and taking the direction of the charging base station parallel to the wall against which the charging base station is set as the X-axis of the charging base station coordinate system; controlling the visual robot to move horizontally from the charging base station to a first distance in a first direction of the X-axis of the charging base station coordinate system, and constructing and recording the coordinate point of the position of the visual robot after the horizontal movement of the first distance in the charging base station coordinate system as a first landmark point; controlling the visual robot to move from the first landmark point toward the charging base station After moving a first distance in the positive direction of the Y-axis of the coordinate system, a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the first direction of the X-axis of the charging base station coordinate system is the first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is the first distance is obtained, and is recorded as a second landmark point; the visual robot is controlled to execute several groups of bow-shaped walking processes in a bow-shaped walking mode starting from the second landmark point to construct a first local map whose projection length in the X-axis direction of the charging base station coordinate system is the second distance and whose projection length in the Y-axis direction of the charging base station coordinate system is the first distance; wherein the second distance is twice the first distance; the first distance is a pre-set distance value for limiting the width of the first local map, and the second distance is used to limit the length of the first local map, and the first distance can be but is not limited to 1 meter, 2 meters, etc. It should be noted that the positive direction and negative direction of the X-axis are not limited in this embodiment. The first direction of the X-axis and the second direction of the X-axis are a set of opposite directions. When the first direction of the X-axis is the positive direction of the X-axis, the second direction of the X-axis is the negative direction of the X-axis. When the first direction of the X-axis is the negative direction of the X-axis, the second direction of the X-axis is the positive direction of the X-axis. In this embodiment, the second distance is configured to be twice the first distance, so that the first local map constructed takes the location of the charging base station as the first local map. Figure 1 The midpoint of the side edge, by constructing the first local map, ensures the success rate of the visual robot returning to the charging base station when constructing the global map for the first time.

[0031] As one of the implementation modes, the visual robot is controlled to execute several groups of bow-shaped walking processes in a bow-shaped walking mode starting from a second landmark point to construct a first local map with a projection length of a second distance in the X-axis direction of the charging base station coordinate system and a projection length of a first distance in the Y-axis direction of the charging base station coordinate system, specifically including: controlling the visual robot to detect the current position of the visual robot in real time when executing each group of bow-shaped walking processes; when the visual robot moves to a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the second direction of the X-axis of the charging base station coordinate system is the first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is the first distance, constructing and recording the current coordinate point of the visual robot as The third landmark point; when the visual robot moves to a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the second direction of the X-axis of the charging base station coordinate system is the first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is 0, the current coordinate point of the visual robot is constructed and recorded as the fourth landmark point; when the visual robot completes the construction of the third landmark point and the fourth landmark point, the visual robot is controlled to end the execution of several groups of bow-shaped walking processes in the bow-shaped walking mode; a first local map is constructed based on the connection line of the first landmark point, the second landmark point, the third landmark point and the fourth landmark point, with a projection length of the second distance in the X-axis direction of the charging base station coordinate system and a projection length of the first distance in the Y-axis direction of the charging base station coordinate system. This embodiment predefines the positions of the four landmark points of the first local map compared to the charging base station coordinate system, so that the visual robot constructs landmark points when walking in a bow shape, so that the visual robot can obtain information about the area near the charging base station based on the first local map to achieve positioning navigation.

[0032] Among them, each group of bow-shaped walking processes includes: controlling the visual robot to move a preset X-axis distance in the second direction of the X-axis of the charging base station coordinate system, and then controlling the visual robot to move a first distance in the negative direction of the Y-axis of the charging base station coordinate system, and then controlling the visual robot to move a preset X-axis distance in the second direction of the X-axis of the charging base station coordinate system, and then controlling the visual robot to move a first distance in the positive direction of the Y-axis of the charging base station coordinate system. Specifically, the preset X-axis distance is used to limit the moving distance of the visual robot in the X-axis direction each time when the bow-shaped walking is performed, which is set based on the second distance. When setting the specific conditions, it is necessary to control the second distance to be an integer multiple of the preset X-axis distance, so that the visual robot can smoothly reach the third landmark point when walking in the bow shape, and start from the third landmark point and move in the negative direction of the Y axis so that the visual robot can reach the fourth landmark point.

[0033] As one implementation mode, the control visual robot enters the edge walking mode based on the seat avoidance signal of the charging base station, specifically including: Control the visual robot to move to a position in front of the charging base station that is a third distance away from the charging base station; specifically, the third distance position refers to a position that is a third distance away from the center point of the charging base station; it should be noted that the third distance is comprehensively set based on the radiation range of the charging base station seat avoidance signal, the charging base seat avoidance signal detection range of the visual robot, etc., so that the visual robot can usually receive the charging base station seat avoidance signal issued by the charging docking station when it moves to the third distance position in front of the charging base station.

[0034] The visual robot is controlled to detect whether a charging base station avoidance signal sent by the charging base station is received; when the visual robot receives the charging base station avoidance signal sent by the charging base station, the visual robot is controlled to execute the edge process based on the received charging base station avoidance signal, so that the visual robot enters the edge walking mode. When the visual robot does not receive the charging base station avoidance signal sent by the charging base station, the visual robot is controlled to rotate in situ, and detects whether the charging base station avoidance signal sent by the charging base station is received during the rotation process. When the visual robot receives the charging base station avoidance signal sent by the charging base station, the visual robot is controlled to execute the edge process based on the received charging base station avoidance signal, so that the visual robot enters the edge walking mode. Specifically, the visual robot executes the edge process refers to the process of the visual robot searching for the wall, so that the visual robot searches for the wall and enters the process of the edge walking mode. Since the visual robot can usually receive the charging base station avoidance signal sent by the charging station when it moves to the third distance position before the charging base station, when the visual robot fails to receive the charging base station avoidance signal, the charging base station avoidance signal is received by controlling the visual robot to rotate in situ to assist the charging base station avoidance signal. Since the charging base station is usually set up near a wall, and the charging base station avoidance signal emitted by the charging base station is intended to prevent the charging base station from acting as an obstacle to block the movement of the visual robot during its movement, and is used to guide the visual robot to bypass the charging base station, the charging base station avoidance signal usually has a radiation range of a semicircular area with the center point of the charging base station as the center and the preset avoidance signal radiation distance of the charging base station avoidance signal as the radius, and the semicircular area will be connected to the wall against which the charging base station is leaning; wherein the preset avoidance signal radiation distance is the longest distance that the charging base station avoidance signal used by the charging base station can radiate. Therefore, this embodiment controls the visual robot to detect the charging base station avoidance signal, and the semicircular area radiated by the charging base station avoidance signal assists the visual robot in quickly finding the wall, thereby efficiently entering the edge walking mode, and will not make mistakes along the edge due to the furniture in the environment, effectively improving the efficiency of entering along the edge.

[0035] As one of the implementation modes, the visual robot is controlled to execute the edge-walking process based on the received seat avoidance signal of the charging base station, so that the visual robot enters the edge-walking mode, specifically including: controlling the left moving structure and the right moving structure of the visual robot to run at differential speeds, so that the visual robot uses the position of the seat avoidance signal transmitter of the charging base station as the moving center, determines the moving radius based on the preset seat avoidance signal radiation distance, determines the circular moving trajectory based on the moving center and the moving radius, controls the visual robot to move from the current position to the position closest to the circular moving trajectory, so that the visual robot moves in an arc according to the circular moving trajectory, and enters the edge-walking mode when the edge sensor detects the edge during the arc movement. Determining a circle based on the center and radius is a common mathematical method, so how to determine the circular moving trajectory based on the moving center and the moving radius will not be explained here.

[0036] Specifically, the left side moving structure of the visual robot refers to at least one group of moving structures arranged on the left side of the bottom of the visual robot body, and the right side moving structure of the visual robot refers to at least one group of moving structures arranged on the right side of the bottom of the visual robot body. The moving structure can be but is not limited to a wheeled moving structure, or a tracked moving structure and other structures that have the function of assisting the movement of the visual robot.

[0037] Specifically, the moving radius is determined based on the preset avoidance seat signal radiation distance, and the principle of determination is: based on the moving radius, the distance between the visual robot and the avoidance seat signal transmitter of the charging base station is adjusted. Since the visual robot is at risk of colliding with the charging base station when it can receive the avoidance seat signal of the charging base station, in order to ensure that the visual robot does not collide with the charging base station, and can enable the visual robot to quickly find the wall edge based on the guidance of the avoidance seat signal of the charging base station, it can be but not limited to setting the moving radius to a value greater than or equal to the preset avoidance seat signal radiation distance. When the moving radius is set to be equal to the preset avoidance seat signal radiation distance, the current position of the visual robot is the starting point of the circular moving trajectory. On the contrary, when the moving radius is set to be greater than the preset avoidance seat signal radiation distance, the planned circular moving trajectory does not overlap with the current position of the visual robot, and it is necessary to control the visual robot to move to the circular moving trajectory. In order to ensure the edge detection of the visual robot on the circular moving trajectory, the visual robot is controlled to move from the current position to the position closest to the circular moving trajectory.

[0038] Preferably, the moving direction of the visual robot when performing arc movement on the circular moving trajectory can be, but is not limited to, the opposite direction of the charging base station relative to the side where the visual robot is located as the arc moving direction. The setting purpose is to make the distance from the visual robot to the wall in the circular moving trajectory the shortest. When the charging base station is located on the right side relative to the visual robot, combined with the setting position of the seat avoidance signal transmitter of the charging base station, it can be known that the visual robot can find the wall through a shorter path by performing an arc movement to the left. This embodiment selects a circular moving trajectory with a shorter path while ensuring that the visual robot maintains a safe distance from the charging base station, and combines the setting characteristics of the charging base station to quickly guide the visual robot along the edge, thereby increasing the edge detection speed and improving the efficiency of edge detection.

[0039] As one of the implementation modes, the control visual robot performs the edge process based on the received charging base station avoidance signal, so that the visual robot enters the edge walking mode, and also includes: during the arc movement of the visual robot according to the circular moving trajectory, the visual robot is controlled to perform the charging base station avoidance signal reception detection process at each preset first time interval; if the charging base station avoidance signal reception detection result is that the charging base station avoidance signal cannot be received, the control robot continues to move according to the circular moving trajectory; if the charging base station avoidance signal reception detection result is that the charging base station avoidance signal can be received, the control robot re-plans the circular moving trajectory and moves according to the re-planned circular moving trajectory. Specifically, the preset first time length is a pre-designed time length for timing calibration of the accuracy of the visual robot along the edge process, which can be but not limited to 3s, 5s, 10s, 30s, etc., and is adjusted considering multiple factors such as the moving speed of the visual robot and the area of ​​the radiation area of ​​the charging base station avoidance signal. This implementation mode controls the visual robot to detect whether the charging base station avoidance signal can be received, thereby determining whether to continue to execute the edge process, so that the visual robot can make timely corrections when errors occur in the circular moving trajectory, avoid collisions between the visual robot and the charging base station, and optimize the accuracy of the edge process.

[0040] As one of the implementation modes, during the arc movement, a first time duration is preset at each interval to control the visual robot to execute the charging base station seat avoidance signal receiving detection process, which specifically includes: during the arc movement of the visual robot along the circular movement trajectory, a first time duration is preset at each interval to control the visual robot to stop moving, the orientation of the visual robot when it stops moving is recorded as the marked orientation, and the visual robot is controlled to rotate by a preset angle; the charging base station seat avoidance signal receiving detection device of the visual robot is controlled to continuously search to receive the charging base station seat avoidance signal during the rotation process of the preset angle; if the charging base station seat avoidance signal receiving detection device searches for the charging base station seat avoidance signal during the rotation process of the preset angle, then the charging base station seat avoidance signal receiving detection result is that the visual robot is able to receive the charging base station seat avoidance signal, and the visual robot is controlled to rotate to make The robot's orientation is restored to the marked orientation, the visual robot is controlled to end the current charging base station seat avoidance signal reception detection process, the visual robot is controlled to re-plan the circular movement trajectory, the visual robot is controlled to continue to move according to the re-planned circular movement trajectory, and the visual robot is controlled to execute the charging base station seat avoidance signal reception detection process at each preset first time interval during the movement process; when the visual robot rotates through the preset angle, the charging base station seat avoidance signal reception detection device continues to fail to search for the charging base station seat avoidance signal, then the charging base station seat avoidance signal reception detection result is that the visual robot fails to receive the charging base station seat avoidance signal, the visual robot is controlled to end the current charging base station seat avoidance signal reception detection process, the visual robot is controlled to rotate until the visual robot's orientation is restored to the marked orientation, and it continues to move according to the circular movement trajectory. Wherein, the preset angle is used to limit the maximum angle that the charging base station seat avoidance signal reception detection device needs to rotate to search for the charging base station seat avoidance signal if the visual robot is within the radiation range of the charging base station seat avoidance signal; the setting of the preset angle is determined based on the setting position and setting quantity of the charging base station seat avoidance signal reception detection device on the visual robot body. The preset first duration is a pre-designed time length for timing calibration of the accuracy of the visual robot's wall-finding process, which can be, but not limited to, 3s, 5s, 10s, 30s, etc., and is adjusted in consideration of various factors such as the moving speed of the visual robot and the area of ​​the radiation area of ​​the seat avoidance signal of the charging base station. This embodiment detects whether the visual robot can receive the seat avoidance signal of the charging base station to determine whether the current circular movement trajectory can enable the robot to maintain a safe distance from the charging base station, thereby avoiding an accidental collision between the robot and the charging base station during the arc movement, and can adjust the circular movement trajectory based on the radiation range of the seat avoidance signal of the charging base station, so that the robot can successfully find the wall using the area radiated by the seat avoidance signal of the charging base station.

[0041] As one of the implementation modes, the control robot replans the circular moving trajectory, specifically including: extending the moving radius of the circular moving trajectory by a preset distance to obtain a replanned moving radius; taking the location of the charging base station avoidance signal transmitter as the moving circle center, and obtaining the replanned circular moving trajectory based on the replanned moving radius and the moving circle center. Among them, the preset distance is a pre-set distance for gradually expanding the arc moving radius, which is used to enable the robot to avoid the radiation range of the charging base station avoidance signal by gradually increasing the preset distance to expand the arc moving radius when it needs to replan the arc moving radius when it can receive the charging base station avoidance signal. However, the robot and the radiation range of the charging base station avoidance signal are still kept within a certain distance, so that the robot can find the wall close to the radiation range of the charging base station avoidance signal.

[0042] As one of the implementation modes, the control robot replans the circular moving trajectory, further comprising: after the visual robot obtains the replanned circular moving trajectory, the replanned circular moving trajectory performs a charging base station seat avoidance signal reception detection process to determine whether the circular moving trajectory needs to be replanned again. This implementation mode controls the visual robot to perform a charging base station seat avoidance signal reception detection process on the replanned circular moving trajectory to ensure that the replanned circular moving trajectory can keep the robot away from the charging base station seat avoidance signal radiation range before the robot officially moves along the replanned circular moving trajectory.

[0043] As one of the implementation modes, the charging base station seat avoidance signal reception detection process is performed on the re-planned circular moving trajectory to determine whether the circular moving trajectory needs to be re-planned again, specifically including: controlling the visual robot to move to the re-planned circular moving trajectory; adjusting the orientation of the visual robot on the circular moving trajectory to the marked orientation when the charging base station seat avoidance signal reception detection process was last executed; controlling the visual robot to rotate a preset angle, and controlling the charging base station seat avoidance signal reception detection device carried on the visual robot body to continuously search for the charging base station seat avoidance signal during the rotation process of the preset angle; if the charging base station seat avoidance signal reception detection device searches for the charging base station seat avoidance signal during the rotation process of the preset angle, then the charging base station seat avoidance signal reception detection result is that the robot is able to receive the charging base station seat avoidance signal. If the charging base station seat avoidance signal is received, the visual robot is controlled to rotate until the robot's orientation returns to the marked orientation, the visual robot is controlled to end the current charging base station seat avoidance signal receiving and detection process, and it is determined that the visual robot needs to re-plan the circular movement trajectory, and the visual robot is controlled to re-plan the circular movement trajectory; if the charging base station seat avoidance signal receiving and detection device continues to fail to search for the charging base station seat avoidance signal during the rotation of the preset angle, then the charging base station seat avoidance signal receiving and detection result is that the visual robot failed to receive the charging base station seat avoidance signal, and the visual robot is controlled to end the current charging base station seat avoidance signal receiving and detection process, and the visual robot is controlled to rotate until the visual robot's orientation returns to the marked orientation, and it is determined that the visual robot does not need to re-plan the circular movement trajectory, and the visual robot is controlled to move along the circular movement trajectory.

[0044] As one of the implementation modes, the control visual machine performs the edge process based on the received charging base station avoidance signal, so that the visual robot enters the edge walking mode, and also includes: during the arc movement, the edge sensor on the body of the visual robot is controlled to continuously perform edge detection; when the edge sensor detects the existence of an edge, the visual robot receives the edge detection success signal output by the edge sensor, determines that the visual robot has found the wall, controls the visual robot to stop the arc movement and controls the visual robot to enter the edge walking mode based on the edge sensor. Specifically, the edge sensor performs edge detection, which can be but not limited to contact detection or non-contact detection. Contact detection refers to the edge sensor detecting the existence of an edge when the visual robot collides by setting an elastic probe, and non-contact detection can be but not limited to scanning by photoelectric or ultrasonic transmitters and receivers, and detecting whether there is an edge based on the information received by reflection. Since the setting feature of the charging base station is usually set against the wall and to ensure the normal recharging of the visual robot, there are usually no obstacles near the charging base station. Therefore, in this application, when the visual robot moves on a circular moving trajectory, when the edge sensor detects the existence of an edge, it is assumed that the visual robot has found the wall. This embodiment controls the visual robot to continuously perform edge detection using edge sensors during the arc movement process to determine in real time whether the visual robot has successfully found the wall. When the wall is successfully found, the visual robot stops the edge process, that is, stops the arc movement, and directly enters the edge walking mode, thereby improving the efficiency of the visual robot in edge mapping.

[0045] As one of the implementation modes, the edge sensor-based edge walking mode specifically includes: controlling the visual robot to rotate in the direction away from the center of the circular moving track, so that the moving direction of the visual robot's mobile structure is parallel to the edge detected by the edge sensor; controlling the edge sensor to perform edge detection in real time, and adjusting the moving direction of the visual robot in real time based on the edge detected by the edge sensor, so as to enable the visual robot to enter the edge walking mode. This implementation mode determines the edge direction of the visual robot based on the direction of the center of the circular moving track, avoids collision between the visual robot and the charging base station when walking along the edge, and improves edge safety.

[0046] As one of the embodiments, the visual robot mapping method also includes: in the process of constructing a global map based on the edge walking mode, the visual robot is controlled to use a line laser module to identify low obstacles in the environment, and the identified low obstacles are bypassed along the edge. At present, the existing technology usually relies on infrared sensors to realize the robot walking along the edge and along the wall, but the infrared sensor has the defect that it cannot assist the robot to avoid low obstacles, which causes the robot to be easily stuck by low obstacles when walking along the edge, resulting in stuck and slipping, thereby affecting the map. The line laser module emits a straight laser at a fixed angle. When the laser is irradiated on the object, the camera of the visual robot can capture it. By using the structural relationship between the line laser module and the camera combined with the principle of structured light ranging, the information of low obstacles in front of the visual robot can be accurately identified. Compared with the existing technology, this embodiment uses a line laser module to identify low obstacles in the environment, which can improve the recognition success rate of low obstacles in the environment, and effectively solve the problem of low obstacles affecting the mapping process of the visual robot.

[0047] As one of the embodiments, the visual robot mapping method further includes: in the process of the visual robot constructing a global map based on the edge walking mode, the visual robot is controlled to use a visual sensor to collect visual images, and based on the visual images, it is identified whether the vicinity of the visual robot meets the conditions of the possible existence of a door area. If the vicinity of the visual robot meets the conditions of the possible existence of a door area, the visual robot is controlled to execute a door area detection process to determine whether the door area exists. Among them, the judgment method based on the visual image recognition of whether the vicinity of the visual robot meets the conditions of the possible existence of a door area can be, but is not limited to, matching the line features and point features identified in the collected visual image with the line features and point features in the preset door area standard image through a preset door area standard image, and determining whether the visual robot attachment meets the preset conditions of the possible existence of a door area according to the matching degree. At present, in the prior art, when the robot constructs a global map by following the edge, since there is no wall to follow in the door area, the door area is usually left vacant. However, since the door has a switch characteristic, the prior art cannot accurately determine whether the area without walls to follow is the door area. The present embodiment accurately identifies the door area through visual images, so that the door area can be accurately fed back in the constructed global map, thereby improving the map construction accuracy. In addition, by collecting visual images during the following the edge process to determine whether the vicinity of the visual robot meets the conditions for the possible existence of the door area, the visual robot can perform a door area detection process when following the edge at both ends of the door. For example, the visual robot implements a door area detection process when entering the room by following the edge. If the door area detection process fails to detect the existence of the door, the door area detection process can be performed again when the visual robot leaves the room along the edge, thereby realizing double door area detection and improving the door area detection accuracy.

[0048] As one of the implementation modes, the control of the visual robot to execute the door area detection process to determine whether the door area exists, specifically includes: when it is identified that the conditions for the possible existence of the door area are met near the visual robot, the visual robot is controlled to stop moving, the current coordinates of the visual robot are recorded as the re-edge coordinates, and the current moving direction of the visual robot is recorded as the re-edge direction; based on the re-edge coordinates and the re-edge direction, a first door area where a door may exist is divided; the visual robot is controlled to switch from the edge walking mode to the bow-shaped walking mode; the visual robot is controlled to move in a bow shape in the first door area based on the bow-shaped walking mode, and a visual sensor is used to collect visual images, and the existence of the door in the first door area is detected in real time based on the visual images. Specifically, by recording the coordinates when the visual robot switches from the edge walking mode to the bow-shaped walking mode, the visual robot can restart along the edge at the same position when it switches from the bow-shaped walking mode to the edge walking mode and re-enters the edge, thereby ensuring that the edge mapping is not affected by the door area detection process. This embodiment executes the door area detection process when the conditions for the possible existence of a door area are met near the visual robot. By controlling the visual robot to move back and forth in the first divided door area based on a bow-shaped walking mode, the visual robot can collect visual images from multiple angles, and more accurately identify the existence of the door area based on the multi-angle visual images, thereby improving the detection accuracy of the door.

[0049] Specifically, the method of dividing the first door area where the door may exist based on the re-edge coordinates and the re-edge direction specifically includes: taking the re-edge coordinates as the origin of the marking coordinate system and taking the re-edge direction as the positive direction of the Y axis of the marking coordinate system; taking the re-edge coordinates as the midpoint of the first area edge of the first door area, the first area edge is parallel to the X axis of the marking coordinate system, and the length of the first area edge is equal to twice the preset door length; based on the first area edge, extending the distance of twice the preset door length in the positive direction of the Y axis of the marking coordinate system, obtaining a second area edge with the first door area, the second area edge is parallel to the first area edge, and the vertical distance between the second area edge and the first area edge is equal to twice the preset door length; connecting the two ends of the first area edge with the two ends of the second area edge respectively to form a third area edge and a fourth area edge; wherein the first area edge, the second area edge, the third area edge and the fourth area edge constitute the first door area, and the lengths of the four area edges are equal; the preset door length is a value pre-set according to the door length in the environment.

[0050] As one of the implementation modes, the control of the visual robot to execute the door area detection process to determine whether the door area exists also includes: when the visual robot detects the existence of the door in the first door area in real time based on the visual image to determine that the door exists in the first door area, the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the re-edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode. Specifically, when the visual robot moves back and forth in a bow shape in the first door area to achieve multi-angle acquisition of visual images, there is a visual image that matches the line features and point features in the preset door area standard image to a preset matching degree, then the existence of the door in the first door area is to determine that the door exists in the first door area, and at this time, the visual robot does not need to continue to perform multi-angle visual image acquisition work on the area where the door may exist, and the visual robot can be controlled to switch from the bow-shaped walking mode to the edge walking mode. By navigating the visual robot to the re-edge coordinates, the visual robot does not need to search for walls to enter the edge, which not only makes the visual robot's edge mapping coherent, but also improves the visual robot's edge efficiency.

[0051] As one of the implementation modes, the control of the visual robot to execute the door area detection process to determine whether the door area exists also includes: when the visual robot moves in a bow shape in the first door area for a preset second time period without detecting the existence of the door, it is determined that the door exists, then the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode. Specifically, this implementation mode limits the duration of the visual robot's bow-shaped movement in the door area where the door may exist. When the visual robot fails to detect the existence of the door in the first door area for a preset second time period, the visual robot is controlled to end the door area detection process, thereby avoiding the situation where the visual robot performs the door area detection process for a long time, affecting the efficiency of building the global map, and ensuring that the visual robot performs the door area detection process within a reasonable time range.

[0052] As one of the implementation methods, when the number of visual image frames collected by the visual robot in the door area detection process reaches a preset number of image frames and the existence of the door is not detected, the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode. This implementation method limits the number of visual image frames collected by the visual sensor of the visual robot in the door area detection process, and ends the door area detection process when the number of visual image frames collected reaches the preset number of image frames, thereby avoiding the situation where the visual robot continues to collect visual images for door detection when it cannot detect the door, occupying computing resources.

[0053] As one of the implementation methods, if the visual robot has traversed the first door area in a bow shape and has not detected the existence of a door, in order to determine the existence of a door, the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode. This implementation method limits the traversal of the first door area as a condition for ending the door area detection process, so that the visual robot only performs one traversal in the first door area. If the existence of a door is not determined after one traversal, the visual robot is controlled to end the door area detection process for the area where a door may exist.

[0054] As one of the implementation modes, the visual robot mapping method further includes: if it is determined that there is a door in the first door area, then controlling the visual robot to record the first door area information of the existing door; when the visual robot completes the construction of the global map, updating the global map based on the first door area information of all the existing doors recorded by the visual robot, so as to obtain a global map with door information. Specifically, the first door area information may include but is not limited to the area range information of the first door area relative to the charging base station coordinate system, the frame of visual image corresponding to the first door area with the highest matching degree with the preset door area standard image, etc. This implementation mode realizes updating the door area to the global map by recording the door area information, so that the global map can include the door information, thereby improving the navigation accuracy and path planning logic of the visual robot based on the global map.

[0055] In one embodiment of the present application, a method for initial cleaning of a visual robot is further provided. The cleaning control method of the visual robot is implemented based on the global map constructed by the visual robot mapping method as described above. Specifically, Figure 2 The initial cleaning method of the visual robot specifically includes: Control the visual robot to receive the room cleaning instructions transmitted by the user terminal, and determine whether the received room cleaning instructions are whole-house cleaning instructions or designated room cleaning instructions; in this step, the visual robot is controlled to determine whether the room cleaning instructions are whole-house cleaning instructions or designated room cleaning instructions. Since the global map constructed by the visual robot is constructed along the edge, the global map does not have information about all areas of the whole house. If a designated room is to be cleaned, it is necessary to combine the historical along-edge path for accurate navigation path planning. By distinguishing the types of cleaning instructions, the visual robot can perform more accurate and efficient path planning based on the attributes of the global map.

[0056] When the room cleaning instruction received is a whole-house cleaning instruction, the visual robot is controlled to start from the charging base station and traverse and clean each room according to the global map; since the global map does not contain information on all areas of the house, but has a first local map, the visual robot is controlled to start from the charging base station and clean each room one by one according to the room partitions contained in the global map.

[0057] When the room cleaning instruction received is a designated room cleaning instruction, the visual robot is controlled to plan the target navigation path of the visual robot from the charging base station to the designated room based on the historical edge trajectory during the global map construction process; the visual robot is controlled to move from the charging base station to the designated room according to the target navigation path, and traverses and cleans the designated room. Since the global map does not contain information about all areas of the house, if the visual robot is directly navigated from the charging base station to the designated door, it cannot be determined whether there are obstacles on the path. Therefore, this step controls the target navigation path of the visual robot from the charging base station to the designated door based on the historical edge trajectory during the global map construction process. The target navigation path may not be the shortest or optimal path, but it is a path that can ensure that the visual robot moves smoothly to the designated room when the global map lacks information about each area after the visual robot is first mapped.

[0058] In one embodiment of the present application, a chip is further provided, in which a computer program is stored. When the computer program stored in the chip is executed by a processor, the visual robot mapping method as described above is executed, or the initial cleaning method of the visual robot as described above is executed.

[0059] In one embodiment of the present application, a visual robot is further provided, including: a visual sensor for collecting visual images so that the visual robot can detect the existence of a door based on the visual image; a charging base station seat avoidance signal receiving and detecting device; used to receive the charging base station seat avoidance signal; an edge sensor for performing edge detection; a line laser sensor for detecting low obstacles; a cleaning device for performing cleaning work; a moving device, including a left moving structure and a right moving structure, the left moving structure is arranged on the left side of the bottom of the visual robot body, and the right moving structure is arranged on the right side of the bottom of the visual robot body, for realizing the moving function of the visual robot, wherein when the left moving robot and the right moving structure run at differential speeds, the visual robot realizes arc movement; a chip, which stores a computer program, and when the computer program stored in the chip is executed by the processor, it executes the visual robot mapping method as described above, or runs the initial cleaning method of the visual robot as described above; a processor, which is used to run the computer program stored in the chip. This implementation utilizes the installation feature of the charging base station set against the wall and combines the seat avoidance signal of the charging base station to guide the visual robot to quickly and correctly find the wall, avoiding the erroneous situation where the visual robot builds maps along the edge of obstacles such as furniture, improving the efficiency of the visual robot's first edge mapping, and achieving the technical effect of quickly completing the first mapping.

[0060] Obviously, the above embodiments are only some embodiments of the present invention, not all embodiments, and the technical solutions between the various embodiments can be combined with each other. If the terms "first", "second", "third" and the like appear in the embodiments, they are for the convenience of distinguishing the relevant features and cannot be understood as indicating or implying their relative importance, order or number of technical features.

[0061] Those skilled in the art will understand that all or part of the steps in the above-mentioned implementation methods can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) execute all or part of the steps of the method described in each implementation of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0062] It should be noted that any process or method description in the flowchart or otherwise described herein may be understood to represent a module, fragment or portion of a code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and that the scope of the preferred embodiments of the present invention includes alternative implementations in which the functions may not be performed in the order described or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual robot mapping method, characterized in that: The visual robot mapping method specifically includes: Step 1: Control the visual robot to build a first local map based on the charging base station, and enter step 2 after completing the construction of the first local map; Step 2: Control the visual robot to enter the edge walking mode based on the seat avoidance signal of the charging base station, and then proceed to step 3; Step 3: Control the visual robot to build a global map in the edge walking mode. When the visual robot walks along the edge again and enters the area where the first local map is located, it is confirmed that the visual robot has completed the construction of the global map.

2. The visual robot mapping method according to claim 1, characterized in that: The controlling the visual robot to construct a first local map based on the charging base station specifically includes: The location of the seat avoidance signal transmitter of the charging base station is taken as the origin of the charging base station coordinate system, the direction of the charging base station perpendicular to the wall against which the charging base station is set is taken as the Y axis of the charging base station coordinate system, and the direction of the charging base station parallel to the wall against which the charging base station is set is taken as the X axis of the charging base station coordinate system; Control the visual robot to move horizontally from the charging base station to a first distance in a first direction of an X-axis of a coordinate system of the charging base station, and construct and record a coordinate point of the position of the visual robot after the visual robot moves horizontally by the first distance in the coordinate system of the charging base station as a first landmark point; Control the visual robot to move a first distance from the first landmark point in the positive direction of the Y axis of the charging base station coordinate system, and then obtain a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the first direction of the X axis of the charging base station coordinate system is the first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y axis of the charging base station coordinate system is the first distance, and record it as a second landmark point; The visual robot is controlled to execute several groups of bow-shaped walking processes in a bow-shaped walking mode starting from the second landmark point to construct a first local map with a projection length of the second distance in the X-axis direction of the charging base station coordinate system and a projection length of the first distance in the Y-axis direction of the charging base station coordinate system; wherein the second distance is twice the first distance.

3. The visual robot mapping method according to claim 2, characterized in that: Controlling the visual robot to execute several groups of bow-shaped walking processes in a bow-shaped walking mode starting from the second landmark point to construct a first local map with a projection length of the second distance in the X-axis direction of the charging base station coordinate system and a projection length of the first distance in the Y-axis direction of the charging base station coordinate system, specifically including: When the visual robot is controlled to execute each set of bow-shaped walking processes, the current position of the visual robot is detected in real time; when the visual robot moves to a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the second direction of the X-axis of the charging base station coordinate system is a first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is a first distance, the current coordinate point of the visual robot is constructed and recorded as a third landmark point; When the visual robot moves to a coordinate point whose X-axis projection distance from the origin of the charging base station coordinate system in the second direction of the X-axis of the charging base station coordinate system is a first distance and whose Y-axis projection distance from the origin of the charging base station coordinate system in the positive direction of the Y-axis of the charging base station coordinate system is 0, the current coordinate point of the visual robot is constructed and recorded as a fourth landmark point; When the visual robot completes the construction of the third and fourth road signs, the visual robot is controlled to end the execution of several groups of bow-shaped walking processes in the bow-shaped walking mode; A first local map is formed based on a line connecting the first landmark point, the second landmark point, the third landmark point and the fourth landmark point, with a projection length of the second distance in the X-axis direction of the charging base station coordinate system and a projection length of the first distance in the Y-axis direction of the charging base station coordinate system; Among them, each group of bow-shaped walking processes includes: controlling the visual robot to move a preset X-axis distance in the second direction of the X-axis of the charging base station coordinate system, and then controlling the visual robot to move a first distance in the negative direction of the Y-axis of the charging base station coordinate system, and then controlling the visual robot to move a preset X-axis distance in the second direction of the X-axis of the charging base station coordinate system, and then controlling the visual robot to move a first distance in the positive direction of the Y-axis of the charging base station coordinate system.

4. The visual robot mapping method according to claim 3, characterized in that: The control of the visual robot to enter the edge walking mode based on the seat avoidance signal of the charging base station specifically includes: Control the visual robot to move to a position in front of the charging base station and at a third distance from the charging base station; Control the visual robot to detect whether it has received the charging base station avoidance signal sent by the charging base station; When the visual robot receives a charging base station avoidance signal sent by the charging base station, the visual robot is controlled to execute the edge walking process based on the received charging base station avoidance signal, so that the visual robot enters the edge walking mode; When the visual robot does not receive the charging base station avoidance signal sent by the charging base station, the visual robot is controlled to rotate in place, and detects whether the charging base station avoidance signal sent by the charging base station is received during the rotation process. When the visual robot receives the charging base station avoidance signal sent by the charging base station, the visual robot is controlled to execute the edge walking process based on the received charging base station avoidance signal, so that the visual robot enters the edge walking mode.

5. The visual robot mapping method according to claim 4, characterized in that: The control of the visual robot to execute the edge-walking process based on the received seat avoidance signal of the charging base station so that the visual robot enters the edge-walking mode specifically includes: controlling the left moving structure and the right moving structure of the visual robot to operate differentially so that the visual robot uses the position of the seat avoidance signal transmitter of the charging base station as the moving center, determines the moving radius based on the preset seat avoidance signal radiation distance, determines the circular moving trajectory based on the moving center and the moving radius, controls the visual robot to move from its current position to the position closest to the circular moving trajectory, so that the visual robot moves in an arc according to the circular moving trajectory, and enters the edge-walking mode when the edge sensor detects an edge during the arc movement.

6. The visual robot mapping method according to claim 5, characterized in that: The controlling the visual robot to execute the edge walking process based on the received seat avoidance signal of the charging base station so that the visual robot enters the edge walking mode also includes: When the visual robot moves in an arc according to the circular moving trajectory, the visual robot is controlled to execute the charging base station avoidance signal receiving and detecting process at each preset first time interval; If the charging base station avoidance signal reception detection result is that the charging base station avoidance signal cannot be received, the robot is controlled to continue to move along the circular movement trajectory; If the charging base station seat avoidance signal reception detection result is that the charging base station seat avoidance signal can be received, the robot is controlled to re-plan the circular movement trajectory and move according to the re-planned circular movement trajectory.

7. The visual robot mapping method according to claim 6, characterized in that: During the arc movement, the visual robot is controlled to execute the charging base station avoidance signal receiving and detecting process at each preset first time interval, specifically including: When the visual robot moves in an arc along the circular moving trajectory, the visual robot is controlled to stop moving at each preset first time interval, the orientation of the visual robot when it stops moving is recorded as the marked orientation, and the visual robot is controlled to rotate by a preset angle; The charging base station avoidance signal receiving and detecting device of the control vision robot continuously searches to receive the charging base station avoidance signal during the process of rotating the preset angle; If the charging base station seat avoidance signal receiving detection device searches for the charging base station seat avoidance signal during the process of rotating the preset angle, the charging base station seat avoidance signal receiving detection result is that the visual robot is able to receive the charging base station seat avoidance signal, the visual robot is controlled to rotate so that the robot's orientation is restored to the marked orientation, the visual robot is controlled to end the current charging base station seat avoidance signal receiving detection process, the visual robot is controlled to re-plan the circular movement trajectory, the visual robot is controlled to continue moving according to the re-planned circular movement trajectory, and the visual robot is controlled to execute the charging base station seat avoidance signal receiving detection process at each preset first time interval during the movement process; When the visual robot rotates through the preset angle, and the charging base station seat avoidance signal receiving detection device continues to fail to search for the charging base station seat avoidance signal, then the charging base station seat avoidance signal receiving detection result is that the visual robot failed to receive the charging base station seat avoidance signal, and the visual robot is controlled to end the current charging base station seat avoidance signal receiving detection process, and the visual robot is controlled to rotate so that the visual robot's orientation is restored to the marked orientation, and continues to move along the circular moving trajectory.

8. The visual robot mapping method according to claim 7, characterized in that: The controlling the visual robot to re-plan the circular moving trajectory specifically includes: extending the moving radius of the circular moving trajectory by a preset distance to obtain a re-planned moving radius; taking the location of the seat avoidance signal transmitter of the charging base station as the moving center, and taking the opposite direction of the charging base station relative to the side where the visual robot is located as the arc moving direction, and obtaining the re-planned circular moving trajectory based on the re-planned moving radius.

9. The visual robot mapping method according to claim 8, characterized in that: The control visual machine executes the edge walking process based on the received seat avoidance signal of the charging base station, so that the visual robot enters the edge walking mode, and also includes: When the visual robot moves in an arc along a circular moving trajectory, the edge sensor on the body of the visual robot is controlled to continuously perform edge detection; When the edge sensor detects the existence of an edge, the visual robot receives the edge detection success signal output by the edge sensor, determines that the visual robot has found the wall, controls the visual robot to stop arc movement, and controls the visual robot to enter the edge walking mode based on the edge sensor.

10. The visual robot mapping method according to claim 9, characterized in that: The step of entering the edge walking mode based on the edge sensor specifically includes: Control the visual robot to rotate in a direction away from the center of the circular moving track so that the moving direction of the visual robot's moving structure is parallel to the edge detected by the edge sensor; The edge sensor is controlled to perform edge detection in real time, and the moving direction of the visual robot is adjusted in real time based on the edge detected by the edge sensor, so that the visual robot enters the edge walking mode.

11. The visual robot mapping method according to claim 1, characterized in that: The visual robot mapping method also includes: in the process of the visual robot building a global map based on the edge walking mode, controlling the visual robot to use a line laser module to identify low obstacles in the environment, and bypassing the identified low obstacles along the edge.

12. The visual robot mapping method according to claim 1, characterized in that: The visual robot mapping method also includes: in the process of the visual robot building a global map based on the edge walking mode, controlling the visual robot to use a visual sensor to collect visual images, and identifying whether the vicinity of the visual robot meets the conditions for the possible existence of a door area based on the visual images; if the vicinity of the visual robot meets the conditions for the possible existence of a door area, controlling the visual robot to execute a door area detection process to determine whether the door area exists.

13. The visual robot mapping method according to claim 12, characterized in that: The control visual robot executes the door area detection process to determine whether the door area exists, specifically including: When it is identified that the area near the visual robot meets the conditions that a door may exist, the visual robot is controlled to stop moving, the current coordinates of the visual robot are recorded as the re-edge coordinates, and the current orientation of the visual robot is recorded as the re-edge orientation; Based on the re-edge coordinates and the re-edge orientation, a first door area where a door may be located is divided; Control the visual robot to switch from the edge-walking mode to the bow-shaped walking mode; The visual robot is controlled to move in a bow shape in the first door area based on the bow-shaped walking mode, and a visual sensor is used to collect visual images, and the existence of doors in the first door area is detected in real time based on the visual images.

14. The visual robot mapping method according to claim 13, characterized in that: The controlling the visual robot to execute the door area detection process to determine whether the door area exists also includes: When the visual robot detects the existence of doors in the first door area in real time based on the visual image to determine that there is a door in the first door area, the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode.

15. The visual robot mapping method according to claim 13, characterized in that: The controlling the visual robot to execute the door area detection process to determine whether the door area exists also includes: When the visual robot moves in a bow shape within the first door area for a preset second period of time without detecting the existence of a door, it is determined that there is a door; or, when the number of visual image frames collected by the visual robot in the door area detection process reaches a preset number of image frames without detecting the existence of a door, it is determined that there is a door; or, the visual robot has moved in a bow shape to traverse the first door area without detecting the existence of a door, it is determined that there is a door, then the visual robot is controlled to switch from the bow-shaped walking mode to the edge walking mode, navigate back to the edge coordinates, end the door area detection process, and continue to execute the construction of the global map based on the edge walking mode.

16. The visual robot mapping method according to claim 13, characterized in that: The visual robot mapping method also includes: if it is determined that there is a door in the first door area, controlling the visual robot to record the first door area information of the existing door; when the visual robot completes the construction of the global map, updating the global map based on the first door area information of all existing doors recorded by the visual robot to obtain a global map with door information.

17. The initial cleaning method of the visual robot is characterized by: The cleaning control method of the visual robot is implemented based on the global map constructed by the visual robot mapping method according to any one of claims 1 to 16, and the initial cleaning method of the visual robot specifically includes: Control the visual robot to receive the room cleaning instruction transmitted by the user terminal, and determine whether the received room cleaning instruction is a whole-house cleaning instruction or a designated room cleaning instruction; When the room cleaning instruction received is a whole-house cleaning instruction, the visual robot is controlled to start from the charging base station and traverse and clean each room one by one according to the global map; When the received room cleaning instruction is a designated room cleaning instruction, the visual robot is controlled to plan the target navigation path of the visual robot from the charging base station to the designated room based on the historical edge trajectory in the process of building the global map; the visual robot is controlled to move from the charging base station to the designated room along the target navigation path, and traverse and clean the designated room.

18. A chip having a computer program stored therein, characterized in that: When the computer program stored in the chip is executed by the processor, the visual robot mapping method as described in any one of claims 1 to 16 is executed, or the initial cleaning method of the visual robot as described in claim 17 is executed.

19. A visual robot, characterized in that: The visual robot comprises: A visual sensor is used to collect visual images so that the visual robot can detect the existence of the door based on the visual images; A charging base station seat avoidance signal receiving and detecting device; used for receiving a charging base station seat avoidance signal; An edge sensor for performing edge detection; Line laser sensors for detecting low obstacles; A cleaning device, used to perform cleaning work; The mobile device includes a left mobile structure and a right mobile structure, wherein the left mobile structure is arranged on the left side of the bottom of the visual robot body, and the right mobile structure is arranged on the right side of the bottom of the visual robot body, and is used to realize the mobile function of the visual robot, wherein when the left mobile robot and the right mobile structure run at a differential speed, the visual robot realizes arc movement; A chip having a computer program stored therein, wherein the computer program stored therein executes the visual robot mapping method according to any one of claims 1 to 16 when the processor runs the computer program, or executes the initial cleaning method of the visual robot according to claim 17; A processor is used to run computer programs stored inside the chip.

Images