Cleaning robot rapid mapping method and system and medium

Abstract

The invention discloses a cleaning robot quick mapping method and system and a medium, relates to the technical field of three-dimensional mapping, is applied to a cleaning robot quick mapping system comprising a laser device and an image acquisition device, and comprises the following steps: acquiring mapping environment information of a cleaning robot, the mapping environment information comprises laser feedback environment information acquired by the laser device and image feedback environment information acquired by the image acquisition device; mapping mode information is determined according to the image feedback environment information, and the mapping mode information comprises a first mapping mode of single-feedback information mapping and a second mapping mode of multi-feedback information mapping; when the mapping mode information is a first mapping mode, performing rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information; and when the mapping mode information is a second mapping mode, performing rapid three-dimensional mapping according to the laser feedback environment information and the image feedback environment information. And the mapping accuracy of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional mapping technology, and in particular to a method, system and medium for rapid mapping of a cleaning robot. Background Art

[0002] At present, in the process of realizing the mapping of cleaning robots, by using specific detection algorithms, such as the K-MEANS algorithm, smaller objects will be mistakenly filtered out, resulting in inaccurate map construction (such as missing objects). For example, there are fewer laser points hitting the table legs, and the laser points on the table legs are far away from other laser points in the environment, so the laser points hitting the table legs can only be classified into a separate category. Since the number of such laser points is relatively small, they are often filtered out, resulting in the absence of the table legs in the constructed map. This way of mapping cleaning robots will cause the lack of map elements, resulting in low accuracy of the cleaning robot's mapping.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide a method, system and medium for rapid mapping of a cleaning robot, aiming to solve the technical problem of low accuracy of mapping of a cleaning robot.

[0005] To achieve the above-mentioned purpose, the present application proposes a cleaning robot rapid mapping method, the cleaning robot rapid mapping method is applied to a cleaning robot rapid mapping system, the cleaning robot rapid mapping system includes a laser device and an image acquisition device, and the cleaning robot rapid mapping method includes:

[0006] Acquiring mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information collected by the laser device and image feedback environment information collected by the image acquisition device;

[0007] Determine mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode of single feedback information mapping and a second mapping mode of multiple feedback information mapping;

[0008] When the mapping mode information is the first mapping mode, performing rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information;

[0009] When the mapping mode information is the second mapping mode, rapid three-dimensional mapping is performed according to the laser feedback environment information and the image feedback environment information.

[0010] In one embodiment, the step of determining mapping mode information according to the image feedback environment information includes:

[0011] Determine an image imaging area in the image feedback environment information and an image imaging feature corresponding to the image imaging area;

[0012] When the image imaging feature matches the preset plane imaging feature, determining the mapping mode information of the first image imaging area in the image feedback environment information as the first mapping mode, wherein the first image imaging area includes the image imaging area where the image imaging feature matches the preset plane imaging feature;

[0013] When the image imaging feature matches the preset oblique imaging feature, determining that the mapping mode information of the second image imaging area in the image feedback environment information is the second mapping mode, wherein the second image imaging area includes the image imaging area where the image imaging feature matches the preset oblique imaging feature;

[0014] When the image imaging feature matches the preset obstacle imaging feature, determining that the mapping mode information of the third image imaging area in the image feedback environment information is the second mapping mode, wherein the second image imaging area includes the image imaging area where the image imaging feature matches the preset obstacle imaging feature;

[0015] When the image imaging feature matches the preset cleaning object imaging feature, the mapping mode information of the fourth image imaging area in the image feedback environment information is determined to be the first mapping mode, wherein the fourth image imaging area includes the image imaging area where the image imaging feature matches the preset cleaning object imaging feature.

[0016] In one embodiment, the step of determining the image imaging area in the image feedback environment information and the image imaging features corresponding to the image imaging area includes:

[0017] Based on preset segmented image imaging features, the image in the image feedback environment information is divided into a plurality of initial regions, wherein the segmented image imaging features include preset plane imaging features, preset inclined plane imaging features, preset obstacle imaging features, and preset cleaning object imaging features;

[0018] A first image connection relationship between each of the initial regions is determined, and each of the initial regions is expanded or reduced based on the first image connection relationship to obtain a plurality of image imaging regions, wherein each of the image imaging regions uniquely corresponds to one divided image imaging feature as the image imaging feature.

[0019] In one embodiment, the mapping mode information includes a target image imaging area and a target mapping mode corresponding to the target image imaging area, and after the step of determining the mapping mode information according to the image feedback environment information, the following steps are included:

[0020] When the target mapping mode is the first mapping mode and the image imaging feature of the target image imaging area matches the preset plane imaging feature, writing the azimuth angle and range information of the target image imaging area into the mapping mode information;

[0021] When the target mapping mode is the first mapping mode and the image imaging feature of the target image imaging area matches the preset cleaning object imaging feature, the azimuth angle of the target image imaging area is written into the mapping mode information.

[0022] In one embodiment, the step of quickly constructing a three-dimensional map according to the laser feedback environment information or the image feedback environment information includes:

[0023] When the first mapping mode is to map the first image imaging area in the image feedback environment information, the image distance corresponding to the azimuth angle in the image feedback environment information is determined, and the first actual distance corresponding to the image distance is determined based on a preset image imaging ratio; the image range corresponding to the range information in the image feedback environment information is determined, and the actual range corresponding to the image range is determined based on a preset image imaging ratio, and the first image imaging area is quickly three-dimensionally mapped based on the first actual distance and the actual range;

[0024] When the first mapping mode is to map the fourth image imaging area in the image feedback environment information, the second actual distance corresponding to the azimuth angle in the laser feedback environment information is determined, and the fourth image imaging area is quickly three-dimensionally mapped based on the second actual distance.

[0025] In one embodiment, the step of quickly constructing a three-dimensional map based on the laser feedback environment information and the image feedback environment information includes:

[0026] When the second mapping mode is to map the second image imaging area in the image feedback environment information, determining the third actual distance of all the second image imaging areas in the laser feedback environment information, and determining the first theoretical change distance of the second image imaging area in the image feedback environment information;

[0027] When the third actual distance matches the first theoretical change distance, a rapid three-dimensional map is constructed for the imaging area of ​​the second image based on the third actual distance.

[0028] In one embodiment, the step of quickly constructing a three-dimensional map based on the laser feedback environment information and the image feedback environment information further includes:

[0029] When the second mapping mode is to map the third image imaging area in the image feedback environment information, determining a fourth actual distance of all the third image imaging areas in the laser feedback environment information, and determining a second theoretical change distance of the third image imaging area in the image feedback environment information;

[0030] When the third actual distance matches the second theoretical change distance, a rapid three-dimensional map is constructed for the imaging area of ​​the third image based on the fourth actual distance.

[0031] In one embodiment, the cleaning robot rapid mapping method further includes:

[0032] Determine the target map corresponding to each image imaging area in the image feedback environment information, and determine the second image connection relationship corresponding to each image imaging area;

[0033] When the second image connection relationship is a preset distance matching connection relationship, the image imaging areas corresponding to the second image connection relationship are linked to obtain a cleaning robot map;

[0034] When the second image connection relationship is not a preset distance matching connection relationship, the image imaging area corresponding to the second image connection relationship is layered and then linked to obtain a cleaning robot map, wherein the layering processing includes layering based on the actual distance of the image imaging area corresponding to the second image connection relationship.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a cleaning robot rapid mapping system, the cleaning robot rapid mapping system includes a laser device, an image acquisition device and a controller, the controller is connected to the laser device and the image acquisition device respectively, the controller includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program is configured to implement the steps of the cleaning robot rapid mapping method as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the cleaning robot rapid mapping method described above are implemented.

[0037] An embodiment of the present application provides a cleaning robot rapid mapping method, which is applied to a cleaning robot rapid mapping system, wherein the cleaning robot rapid mapping system includes a laser device and an image acquisition device, and obtains mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information acquired by the laser device and image feedback environment information acquired by the image acquisition device; determines mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode for single feedback information mapping and a second mapping mode for multiple feedback information mapping; when the mapping mode information is the first mapping mode, performs rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information; in the mapping When the map mode information is the second mapping mode, rapid three-dimensional mapping is performed according to the laser feedback environment information and the image feedback environment information. This cleaning robot rapid mapping method obtains the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device, so as to determine the mapping mode information based on the image feedback environment information, and then starts mapping according to at least one of the laser feedback environment information and the image feedback environment information under the control of different mapping mode information, thereby avoiding the phenomenon of inaccurate map construction (for example, missing) caused by erroneously filtering out objects with smaller volumes, and thus improving the accuracy of the cleaning robot's mapping based on the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the process of the first embodiment of the method for rapid mapping of a cleaning robot of the present application;

[0039] Figure 2 A schematic diagram of an implementation process of the method for rapid mapping of a cleaning robot in this application;

[0040] Figure 3 This is a schematic diagram of the flow of the second embodiment of the method for rapid mapping of a cleaning robot of the present application;

[0041] Figure 4 This is a schematic diagram of the module of the rapid mapping device for the cleaning robot of this application;

[0042] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in this application.

[0043] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0046] With the development of cleaning robots, the mapping methods of cleaning robots are also constantly updated. The commonly used mapping method of cleaning robots is to use algorithms for mapping, such as the K-MEANS algorithm. However, this algorithm often mistakenly filters out smaller objects, resulting in inaccurate map construction (such as missing objects). For example, there are table legs in the environment. Since there are fewer laser points hitting the table legs, and the laser points on the table legs are far away from other laser points in the environment, the laser points hitting the table legs can only be classified into a separate category. Since the number of such laser points is relatively small, they are often filtered out, resulting in the absence of the table legs in the constructed map, and the lack of some elements causes the cleaning robot to have a low accuracy rate in mapping.

[0047] Therefore, based on the shortcomings of the above cleaning robot mapping solutions, a cleaning robot rapid mapping method of the present application is proposed. The solution of the embodiment of the present application is: by obtaining the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device, the mapping mode information is determined based on the image feedback environment information, and then under the control of different mapping mode information, the mapping is started according to at least one of the laser feedback environment information and the image feedback environment information, so as to avoid the phenomenon of inaccurate map construction (such as missing) by mistakenly filtering out smaller objects, and then the accuracy of the cleaning robot mapping can be improved based on the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device.

[0048] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a device capable of realizing the above functions, a controller, etc. The following takes the controller as an example to illustrate this embodiment and the following embodiments.

[0049] Based on this, the embodiment of the present application provides a method for quickly building a map for a cleaning robot, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for rapid mapping of a cleaning robot of the present application.

[0050] Reference Figure 1The present application provides a cleaning robot rapid mapping method. In a first embodiment of the cleaning robot rapid mapping method, the cleaning robot rapid mapping method is applied to a cleaning robot rapid mapping system. The cleaning robot rapid mapping system includes a laser device and an image acquisition device. The cleaning robot rapid mapping method includes:

[0051] Step S10, obtaining mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information collected by the laser device and image feedback environment information collected by the image acquisition device;

[0052] Step S20, determining mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode of mapping with single feedback information and a second mapping mode of mapping with multiple feedback information;

[0053] In this embodiment, the cleaning robot rapid mapping method is applied to the cleaning robot rapid mapping system, and the cleaning robot rapid mapping system includes a laser device and an image acquisition device, such as a laser device is a commonly used laser ranging instrument, and an image acquisition device such as a camera, a camera, etc., and the map can be constructed based on the laser device and the image acquisition device to avoid the defects of using only the laser device for mapping. When mapping, the mapping environment information of the cleaning robot is obtained, and the mapping environment information is the relevant information of the environment in which the cleaning robot is located, such as objects, cleaning objects and walls, etc. At this time, the mapping environment information includes the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device, so as to build the map based on at least one of the laser feedback environment information and the image feedback environment information, thereby avoiding the phenomenon of filtering out a relatively small number of laser points. At this time, the image feedback environment information is comprehensively considered to improve the accuracy of the cleaning robot mapping. Among them, the image feedback environment information refers to the image collected around the cleaning robot, and the image at least defines the characteristics of the objects in the image and the area included, and the laser feedback environment information refers to the distance and size of the objects collected around the cleaning robot. After obtaining the mapping environment information, the mapping mode information will be determined based on the image feedback environment information, that is, whether the area is suitable for the first mapping mode using image feedback environment information or laser feedback environment information (single feedback information mapping) or the first mapping mode using image feedback environment information and laser feedback environment information (multiple feedback information mapping). If a single wall is to be mapped, the image feedback environment information can be directly used for mapping, which greatly improves the efficiency of mapping. If the laser feedback environment information is used, not only the distance must be determined, but also whether it is a wall and how large the range is; if a cleaning object is to be mapped, only the position and basic size relationship of the cleaning object need to be determined, which can be simply determined by the laser feedback environment information; if a spatial object is to be mapped, it can be considered to use the image feedback environment information and the laser feedback environment information to jointly map, and then distinguish the mapping methods based on different situations to improve the accuracy and efficiency of the cleaning robot's mapping.

[0054] Step S30, when the mapping mode information is the first mapping mode, performing rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information;

[0055] Step S40: when the mapping mode information is the second mapping mode, fast three-dimensional mapping is performed according to the laser feedback environment information and the image feedback environment information.

[0056] In this embodiment, after the mapping mode is determined, at least one of the laser feedback environment information and the image feedback environment information will be used to build the map based on different mapping modes. The purpose of distinguishing based on the mapping mode at this time is to process different mapping targets through the control of different modes to improve the accuracy of mapping. It is worth noting that because there is a situation where a single image feedback environment information is used for mapping, in extreme cases (such as placing the cleaning robot in an empty house for the first time for mapping), the image feedback environment information can be directly used for mode judgment, and after the mode judgment, it is selected whether the laser feedback environment information needs to be collected to ensure the effective use of internal resources.

[0057] In one embodiment, referring to Figure 2 , Figure 2 This is a schematic diagram of an implementation process of the method for rapid mapping of a cleaning robot in the present application. After the mapping begins, information is collected through image collectors such as laser devices and cameras, and then the subsequent processing can be determined based on the information collected by the camera, that is, the mapping mode is determined based on the image feedback environmental information collected by the camera. Finally, rapid three-dimensional mapping can be performed based on the information collected by the laser device, that is, the laser feedback environmental information and the information collected by the camera, that is, the image feedback environmental information, and the processing method (mapping mode). On the one hand, different information can be used for mapping to avoid the solution of using only laser mapping, that is, mapping of different areas can be performed at the same time to achieve rapid mapping of the cleaning robot. On the other hand, different modes are selected for mapping based on different situations to avoid errors caused by mapping, thereby improving the accuracy of mapping by the cleaning robot.

[0058] In the present embodiment, a cleaning robot rapid mapping method is provided, which is applied to a cleaning robot rapid mapping system, wherein the cleaning robot rapid mapping system includes a laser device and an image acquisition device, and obtains mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information acquired by the laser device and image feedback environment information acquired by the image acquisition device; determines mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode for single feedback information mapping and a second mapping mode for multiple feedback information mapping; when the mapping mode information is the first mapping mode, performs rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information; in the mapping When the map mode information is the second mapping mode, rapid three-dimensional mapping is performed according to the laser feedback environment information and the image feedback environment information. This cleaning robot rapid mapping method obtains the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device, so as to determine the mapping mode information based on the image feedback environment information, and then starts mapping according to at least one of the laser feedback environment information and the image feedback environment information under the control of different mapping mode information, thereby avoiding the phenomenon of inaccurate map construction (for example, missing) caused by erroneously filtering out objects with smaller volumes, and thus improving the accuracy of the cleaning robot's mapping based on the laser feedback environment information collected by the laser device and the image feedback environment information collected by the image acquisition device.

[0059] Further, based on the first embodiment of the present application, a second embodiment of the method for rapid mapping of a cleaning robot of the present application is proposed. In this embodiment, the step S20, the step of determining the mapping mode information according to the image feedback environment information, includes:

[0060] Step S21, determining an image imaging area in the image feedback environment information and an image imaging feature corresponding to the image imaging area;

[0061] Step S22, when the image imaging feature matches the preset plane imaging feature, determining that the mapping mode information of the first image imaging area in the image feedback environment information is the first mapping mode, wherein the first image imaging area includes the image imaging area where the image imaging feature matches the preset plane imaging feature;

[0062] Step S23, when the image imaging feature matches the preset oblique imaging feature, determining that the mapping mode information of the second image imaging area in the image feedback environment information is the second mapping mode, wherein the second image imaging area includes the image imaging area whose image imaging feature matches the preset oblique imaging feature;

[0063] Step S24, when the image imaging feature matches the preset obstacle imaging feature, determining that the mapping mode information of the third image imaging area in the image feedback environment information is the second mapping mode, wherein the second image imaging area includes the image imaging area where the image imaging feature matches the preset obstacle imaging feature;

[0064] Step S25, when the image imaging feature matches the preset cleaning object imaging feature, determining that the mapping mode information of the fourth image imaging area in the image feedback environment information is the first mapping mode, wherein the fourth image imaging area includes the image imaging area where the image imaging feature matches the preset cleaning object imaging feature.

[0065] In this embodiment, when determining the mapping mode, the image imaging area in the image feedback environment information and the image imaging features corresponding to the image imaging area are determined, and then the mapping mode to be used for each image imaging area is determined based on the image imaging features. The image imaging area refers to dividing an entire image into multiple small area images based on rules. The rules can be divided based on size or mapping features in the image. The image imaging features refer to the features of each object or boundary image in the image, such as a plane, concave surface, space object, and inclined surface. The image imaging features in each image imaging area are judged to determine which mapping mode needs to be used. When the image imaging feature matches the preset plane imaging feature, the mapping mode information of the first image imaging area in the image feedback environment information is determined to be the first mapping mode, wherein the first image imaging area includes an image imaging area whose image imaging feature matches the preset plane imaging feature, and the preset plane imaging feature refers to the feature of the plane image set by the user, such as consistent pixel values, etc., and matching refers to the same or extremely similar features; when the image imaging feature matches the preset oblique imaging feature, the mapping mode information of the second image imaging area in the image feedback environment information is determined to be the second mapping mode, wherein the second image imaging area includes an image imaging area whose image imaging feature matches the preset oblique imaging feature, and the preset oblique imaging feature refers to the feature of the oblique image set by the user, such as uniform change in pixel values, etc.; when the image imaging feature matches the preset obstacle imaging feature, the third image imaging area in the image feedback environment information is determined to be the second mapping mode. The mapping mode information of the image imaging area is the second mapping mode, wherein the third image imaging area includes an image imaging area whose image imaging features match the preset obstacle imaging features, and the preset obstacle imaging features refer to the features of the obstacle image set by the user, such as drastic changes in pixel values, and three-dimensional objects in the image, etc.; when the image imaging features match the preset cleaning object imaging features, the mapping mode information of the fourth image imaging area in the image feedback environment information is determined to be the first mapping mode, wherein the fourth image imaging area includes an image imaging area whose image imaging features match the preset cleaning object imaging features, and the preset cleaning object imaging features refer to the features of the cleaning object image set by the user, such as drastic changes in pixel values, and cleaning objects on the ground in the image, etc., and different modes of mapping can be performed on the image imaging area based on different image imaging features, so as to improve the accuracy and efficiency of mapping of the cleaning robot through targeted mapping.

[0066] Furthermore, the step of determining the image imaging area in the image feedback environment information and the image imaging features corresponding to the image imaging area includes:

[0067] Step S211, based on preset segmented image imaging features, the image in the image feedback environment information is divided into a plurality of initial regions, wherein the segmented image imaging features include preset plane imaging features, preset inclined plane imaging features, preset obstacle imaging features, and preset cleaning object imaging features;

[0068] Step S212, determining a first image connection relationship between each of the initial regions, and performing scaling processing on each of the initial regions based on the first image connection relationship to obtain a plurality of image imaging regions, wherein each of the image imaging regions uniquely corresponds to one divided image imaging feature as the image imaging feature.

[0069] In this embodiment, after the image feedback environment information is determined, the image feedback environment information is processed to obtain at least one image imaging area and an image imaging feature uniquely corresponding to the image imaging area. The image in the image feedback environment information is divided into multiple initial areas based on the preset divided image imaging features, wherein the divided image imaging features include preset plane imaging features, preset oblique imaging features, preset obstacle imaging features, and preset cleaning object imaging features, that is, based on the above features, the overall large image is divided into multiple small images. If the image is a plane, the plane part is divided into an initial area, and the division priority of the initial area is the preset cleaning object imaging feature, the preset obstacle imaging feature, and the preset plane imaging feature and the preset oblique imaging feature, so as to avoid the phenomenon of directly dividing the initial area into the preset plane imaging feature and the preset oblique imaging feature, and avoid the problem of mapping errors caused by the presence of the preset cleaning object imaging feature and the preset obstacle imaging feature (only one of them) in the preset plane imaging feature or the preset oblique imaging feature. The initial area refers to a small area that contains only one divided image imaging feature. At this time, there may be some areas that have not been divided. Because there may be some areas that do not have the above four features, it is necessary to determine the first image connection relationship between the initial areas, and then expand and shrink each of the initial areas based on the first image connection relationship to obtain multiple image imaging areas. The first image connection relationship refers to the connection between the initial areas, that is, the connection in the overall large image, so that the undivided or repeatedly divided parts are processed based on this connection relationship, that is, the initial area is expanded to extend to the undivided part, or the initial area is reduced to remove the repeatedly divided part. The principle of expansion and reduction is to affect the area of ​​the divided image imaging feature in the initial area as little as possible. At this time, each image imaging area will uniquely correspond to a divided image imaging feature as an image imaging feature, so as to facilitate the subsequent determination of the mapping mode based on the image imaging area and its uniquely corresponding image imaging feature.

[0070] Further, based on the first embodiment and / or the second embodiment of the present application, a third embodiment of the method for rapid mapping of a cleaning robot of the present application is proposed. In this embodiment, in the above step S20, the mapping mode information includes a target image imaging area and a target mapping mode corresponding to the target image imaging area. After the step of determining the mapping mode information according to the image feedback environment information, the following steps are included:

[0071] Step S201, when the target mapping mode is the first mapping mode and the image imaging feature of the target image imaging area matches the preset plane imaging feature, writing the azimuth angle and range information of the target image imaging area into mapping mode information;

[0072] Step S202, when the target mapping mode is the first mapping mode and the image imaging feature of the target image imaging area matches the preset cleaning object imaging feature, the azimuth angle of the target image imaging area is written into the mapping mode information.

[0073] In this embodiment, after the mapping mode is determined, the image determined as the first mapping mode will be processed, because at this time the mapping mode information also includes the target image imaging area and the target mapping mode corresponding to the target image imaging area. The target image imaging area can be any one of the first image imaging area, the second image imaging area, the third image imaging area and the fourth image imaging area mentioned above, but at this time only the image of the first mapping mode needs to be processed, because the first mapping mode can directly use the laser feedback environment information or the image feedback environment information for mapping, so it needs to be processed in advance. When the image imaging feature of the target image imaging area matches the preset plane imaging feature, that is, at this time it is the first image imaging area, the azimuth angle and range information of the target image imaging area will be written into the mapping mode information, so as to facilitate subsequent mapping based on the written azimuth angle and range information, wherein the azimuth angle refers to the angle of the image (cleaning robot) where the plane is located, and the range information refers to the range occupied by the plane, which can be obtained based on the relationship between the image and the real object in the first image imaging area; when the image imaging feature of the target image imaging area matches the preset cleaning object imaging feature, that is, at this time it is the fourth image imaging area, the azimuth angle of the target image imaging area will be written into the mapping mode information, so as to facilitate subsequent mapping based on the written azimuth angle, wherein at this time a single azimuth angle can be used for mapping, because the cleaning object is an object to be cleaned, so there is no need to perform refined mapping (because its maximum range can be roughly known when it is determined to be a cleaning object), so it can be processed based on different image imaging areas in the first mapping mode, and then it can be used as the mapping mode information mechanical energy for subsequent processing, so as to facilitate the specificity of subsequent processing, thereby ensuring the specificity of mapping.

[0074] Furthermore, the step of quickly constructing a three-dimensional map based on the laser feedback environment information or the image feedback environment information includes:

[0075] Step S31, when the first mapping mode is to map the first image imaging area in the image feedback environment information, then determine the image distance corresponding to the azimuth angle in the image feedback environment information, and determine the first actual distance corresponding to the image distance based on a preset image imaging ratio; determine the image range corresponding to the range information in the image feedback environment information, and determine the actual range corresponding to the image range based on a preset image imaging ratio, and perform rapid three-dimensional mapping of the first image imaging area based on the first actual distance and the actual range;

[0076] Step S32, when the first mapping mode is to map the fourth image imaging area in the image feedback environment information, determine the second actual distance corresponding to the azimuth angle in the laser feedback environment information, and perform rapid three-dimensional mapping of the fourth image imaging area based on the second actual distance.

[0077] In this embodiment, when the mapping mode is the first mapping mode, it will be divided into different information written based on the image feedback environment information for targeted processing, because the different information written in the image feedback environment information means that the processing requirements and processing methods for mapping are also different. When the image feedback environment information writes the azimuth angle and range information (that is, mapping the first image imaging area), the corresponding image distance will be determined based on the azimuth angle, and then the first actual distance will be determined based on the image distance and the preset image imaging ratio. At the same time, the corresponding actual range will be determined in combination with the image range corresponding to the range information, and finally the first image imaging area can be quickly three-dimensionally mapped in combination with the actual range and the first actual distance. Among them, the image distance refers to the distance of the plane of the azimuth angle from the cleaning robot on the image, the preset image imaging ratio refers to the scaling ratio when the image is imaged, which can be a known fixed value, the first actual distance refers to the distance from the actual plane to the cleaning robot, the image range refers to the range of the plane on the image, and the actual range refers to the range of the actual plane. Because it is necessary to combine the actual distance in the laser feedback environment information for mapping later, it is necessary to determine the actual range and distance of the plane here, so that the subsequent whole image can be combined for processing. When only the azimuth angle is written into the image feedback environment information (i.e., mapping is performed for the fourth image imaging area), the second actual distance corresponding to the azimuth angle will be directly determined in the laser feedback environment information, and then the fourth image imaging area will be quickly three-dimensionally mapped based on the second actual distance, wherein the second actual distance refers to the distance between the cleaning object and the cleaning robot. At this time, only the approximate distance needs to be determined, because there is no need to determine the specific size of the objects that need to be cleaned later, and then the mapping of the plane and the cleaning object can be completed in a targeted manner based on the first mapping mode to ensure the accuracy of the mapping of the plane and the cleaning object.

[0078] Further, based on the first embodiment, the second embodiment and / or the third embodiment of the present application, a fourth embodiment of the method for rapid mapping of a cleaning robot of the present application is proposed. In this embodiment, the step of rapid three-dimensional mapping according to the laser feedback environment information and the image feedback environment information includes:

[0079] Step S401, when the second mapping mode is to map the second image imaging area in the image feedback environment information, determining the third actual distance of all the second image imaging areas in the laser feedback environment information, and determining the first theoretical change distance of the second image imaging area in the image feedback environment information;

[0080] Step S402: when the third actual distance matches the first theoretical change distance, quickly construct a three-dimensional map of the imaging area of ​​the second image based on the third actual distance.

[0081] In this embodiment, in the second mapping mode, it is divided into a scheme for mapping the inclined surface in the second image imaging area. At this time, on the one hand, the third actual distance of the entire second image imaging area in the laser feedback environment information, the third actual distance refers to the actual distance between the cleaning robot and the inclined surface, and at the same time, the first theoretical change distance of the second image imaging area is determined in the image feedback environment information, the first theoretical change distance refers to the theoretical change distance of the inclined surface, that is, the actual distance of the inclined surface is determined, and at the same time, it is judged whether the actual distance is the same as the theoretical change in the image, that is, when it is determined that the third actual distance matches the first theoretical change distance, the second image imaging area can be quickly three-dimensionally mapped based on the third actual distance. For example, if the first theoretical change distance changes by 3°, it can be determined that the actual distance should change by a meters, but if the third actual distance changes by about a meters in a certain area, it is determined that the inclined surface can be mapped, but if the change is 0 meters in a certain area (this is the end area of ​​the inclined surface), it is determined that the area at this time is not an inclined surface, thereby avoiding the error of mapping the second image imaging area to ensure the accuracy of mapping the entire area where the cleaning robot is located.

[0082] In one embodiment, the step of quickly constructing a three-dimensional map based on the laser feedback environment information and the image feedback environment information further includes:

[0083] Step S411, when the second mapping mode is to map the third image imaging area in the image feedback environment information, determining a fourth actual distance of all the third image imaging areas in the laser feedback environment information, and determining a second theoretical change distance of the third image imaging area in the image feedback environment information;

[0084] Step S412: when the third actual distance matches the second theoretical change distance, quickly construct a three-dimensional map of the imaging area of ​​the third image based on the fourth actual distance.

[0085] In this embodiment, in the second mapping mode, it is divided into a scheme for mapping obstacles in the third image imaging area. At this time, the object of mapping is an obstacle, such as a chair, table, etc. in the space where the cleaning robot is located. At this time, the fourth actual distance of the entire third image imaging area in the laser feedback environment information will be determined. The fourth actual distance refers to the actual distance from the cleaning robot to the obstacle. At the same time, the second theoretical change distance of the third image imaging area in the image feedback environment information is determined. The second theoretical change distance refers to the distance from the obstacle to the cleaning robot. When the third actual distance matches the second theoretical change distance (the change situation is the same, such as determining that the change situation of the third actual distance is 5 meters to 10 meters, it will be determined that this position is the boundary of the obstacle), the third image imaging area can be quickly three-dimensionally mapped based on the fourth actual distance. For example, for each laser point, by setting the number of laser point data selected by the preset window to be less than or equal to the number of laser point data detected by the laser ranging sensor for an object of a preset size, at least one of the laser point data detected by the laser ranging sensor from the object of the preset size can be calculated with a correlation coefficient, and then it can be determined based on the correlation coefficient whether the laser point data is needed, and when the laser point data is not filtered out, the object represented by the laser point data is displayed on the map, thereby improving the integrity of the map.

[0086] Further, based on the first embodiment, the second embodiment, the third embodiment and / or the fourth embodiment of the present application, a fifth embodiment of the method for rapid mapping of a cleaning robot of the present application is proposed. In this embodiment, referring to Figure 3 , Figure 3 This is a flow chart of a second embodiment of the method for rapid mapping of a cleaning robot of the present application, wherein the method for rapid mapping of a cleaning robot further includes:

[0087] Step S50, determining the target map corresponding to each image imaging area in the image feedback environment information, and determining the second image connection relationship corresponding to each image imaging area;

[0088] Step S60, when the second image connection relationship is a preset distance matching connection relationship, the image imaging areas corresponding to the second image connection relationship are linked to obtain a cleaning robot map;

[0089] Step S70, when the second image connection relationship is not a preset distance matching connection relationship, the image imaging area corresponding to the second image connection relationship is layered and then linked to obtain a cleaning robot map, wherein the layering processing includes layering based on the actual distance of the image imaging area corresponding to the second image connection relationship.

[0090] In this embodiment, after obtaining the target mapping corresponding to each image imaging area, that is, the mapping determined based on the first or second mapping mode, the second image connection relationship corresponding to each image imaging area will be determined, that is, the connection relationship between the image imaging areas. When it is different from the first image connection relationship, the second image connection relationship refers to the connection relationship between the image imaging areas. At this time, it will be divided into a normal image connection relationship and an abnormal image connection relationship for separate processing. When it is a normal image connection relationship, that is, the second image connection relationship is a preset distance matching connection relationship, that is, it is determined that the connection position distance of the image imaging area is the same, that is, the distance matching connection relationship refers to the user-defined relationship of the same distance, and the image imaging area corresponding to the second image connection relationship will be directly linked to obtain a cleaning robot map, that is, a mapping image of the entire area will be obtained; when it is an abnormal image connection relationship, that is, the second image connection relationship is not a preset distance matching connection relationship, the image imaging area corresponding to the second image connection relationship will be layered and then linked to obtain a cleaning robot map, wherein the layering process includes layering based on the actual distance of the image imaging area corresponding to the second image connection relationship, that is, if the connection position is a corner, etc., the mapping image of the entire area will be determined based on the layering process to ensure the accuracy of the image connection.

[0091] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the rapid mapping method of the cleaning robot of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0092] This application also provides a cleaning robot rapid mapping device, please refer to Figure 4 , the cleaning robot rapid mapping device comprises:

[0093] An information acquisition module 10, used to acquire mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information collected by the laser device and image feedback environment information collected by the image acquisition device;

[0094] A mode determination module 20, configured to determine mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode for mapping with single feedback information and a second mapping mode for mapping with multiple feedback information;

[0095] A first mapping module 30, configured to perform rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information when the mapping mode information is the first mapping mode;

[0096] The second mapping module 40 is used to perform rapid three-dimensional mapping according to the laser feedback environment information and the image feedback environment information when the mapping mode information is the second mapping mode.

[0097] The cleaning robot rapid mapping device provided by the present application adopts the cleaning robot rapid mapping method in the above embodiment, which can solve the technical problem of low accuracy of cleaning robot mapping. Compared with the prior art, the beneficial effects of the cleaning robot rapid mapping device provided by the present application are the same as the beneficial effects of the cleaning robot rapid mapping method provided by the above embodiment, and the other technical features of the cleaning robot rapid mapping device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0098] The present application provides a cleaning robot rapid mapping system, the cleaning robot rapid mapping system includes a laser device, an image acquisition device and a controller, the controller is connected to the laser device and the image acquisition device respectively, and the controller includes: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that at least one processor can execute the cleaning robot rapid mapping method in the above-mentioned embodiment 1. It is worth noting that there may be other devices shared with the cleaning robot in the cleaning robot rapid mapping system, such as a power supply, etc., which are not described one by one here.

[0099] Reference below Figure 5 , which shows a schematic diagram of the structure of a controller suitable for implementing the embodiment of the present application. The controller in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The controller shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0100] like Figure 5As shown, the controller may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the controller are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following devices may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the controller to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a controller with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices can be implemented or have alternatively.

[0101] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0102] The controller provided by the present application adopts the cleaning robot rapid mapping method in the above embodiment, which can solve the technical problem of low accuracy of cleaning robot mapping. Compared with the prior art, the beneficial effects of the controller provided by the present application are the same as the beneficial effects of the cleaning robot rapid mapping method provided by the above embodiment, and the other technical features in the controller are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0103] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0104] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0105] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the cleaning robot rapid mapping method in the above-mentioned embodiment.

[0106] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, apparatuses or components, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution device, apparatus or component. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0107] The computer-readable storage medium may be included in the controller; or may exist independently without being assembled into the controller.

[0108] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the controller, the controller:

[0109] Acquiring mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information collected by the laser device and image feedback environment information collected by the image acquisition device;

[0110] Determine mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode of single feedback information mapping and a second mapping mode of multiple feedback information mapping;

[0111] When the mapping mode information is the first mapping mode, performing rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information;

[0112] When the mapping mode information is the second mapping mode, rapid three-dimensional mapping is performed according to the laser feedback environment information and the image feedback environment information.

[0113] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0114] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0115] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0116] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned cleaning robot rapid mapping method, which can solve the technical problem of low accuracy of cleaning robot mapping. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the cleaning robot rapid mapping method provided in the above-mentioned embodiment, and will not be repeated here.

[0117] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned cleaning robot rapid mapping method.

[0118] The computer program product provided in this application can solve the technical problem of low accuracy of cleaning robot mapping. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the cleaning robot rapid mapping method provided in the above embodiment, which will not be repeated here.

[0119] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for rapid mapping of a cleaning robot, characterized in that: The cleaning robot rapid mapping method is applied to a cleaning robot rapid mapping system, the cleaning robot rapid mapping system includes a laser device and an image acquisition device, and the cleaning robot rapid mapping method includes: Acquiring mapping environment information of the cleaning robot, wherein the mapping environment information includes laser feedback environment information collected by the laser device and image feedback environment information collected by the image acquisition device; Determine mapping mode information according to the image feedback environment information, wherein the mapping mode information includes a first mapping mode of single feedback information mapping and a second mapping mode of multiple feedback information mapping; When the mapping mode information is the first mapping mode, performing rapid three-dimensional mapping according to the laser feedback environment information or the image feedback environment information; When the mapping mode information is the second mapping mode, rapid three-dimensional mapping is performed according to the laser feedback environment information and the image feedback environment information.

2. The cleaning robot rapid mapping method according to claim 1, characterized in that: The step of determining mapping mode information according to the image feedback environment information comprises: Determine an image imaging area in the image feedback environment information and an image imaging feature corresponding to the image imaging area; When the image imaging feature matches the preset plane imaging feature, determining that the mapping mode information of the first image imaging area in the image feedback environment information is the first mapping mode, wherein the first image imaging area includes the image imaging area where the image imaging feature matches the preset plane imaging feature; When the image imaging feature matches the preset oblique imaging feature, determining that the mapping mode information of the second image imaging area in the image feedback environment information is the second mapping mode, wherein the second image imaging area includes the image imaging area where the image imaging feature matches the preset oblique imaging feature; When the image imaging feature matches the preset obstacle imaging feature, determining that the mapping mode information of the third image imaging area in the image feedback environment information is the second mapping mode, wherein the second image imaging area includes the image imaging area where the image imaging feature matches the preset obstacle imaging feature; When the image imaging feature matches the preset cleaning object imaging feature, the mapping mode information of the fourth image imaging area in the image feedback environment information is determined to be the first mapping mode, wherein the fourth image imaging area includes the image imaging area where the image imaging feature matches the preset cleaning object imaging feature.

3. The cleaning robot rapid mapping method according to claim 2, characterized in that: The step of determining the image imaging area in the image feedback environment information and the image imaging features corresponding to the image imaging area comprises: Based on preset segmented image imaging features, the image in the image feedback environment information is divided into a plurality of initial regions, wherein the segmented image imaging features include preset plane imaging features, preset inclined plane imaging features, preset obstacle imaging features, and preset cleaning object imaging features; A first image connection relationship between each of the initial regions is determined, and each of the initial regions is expanded or reduced based on the first image connection relationship to obtain a plurality of image imaging regions, wherein each of the image imaging regions uniquely corresponds to one divided image imaging feature as the image imaging feature.

4. The cleaning robot rapid mapping method according to claim 1, characterized in that: The mapping mode information includes a target image imaging area and a target mapping mode corresponding to the target image imaging area. After the step of determining the mapping mode information according to the image feedback environment information, the method further includes: When the target mapping mode is the first mapping mode and the image imaging feature of the target image imaging area matches the preset plane imaging feature, writing the azimuth angle and range information of the target image imaging area into the mapping mode information; When the target mapping mode is the first mapping mode and the image imaging feature of the target image imaging area matches the preset cleaning object imaging feature, the azimuth angle of the target image imaging area is written into the mapping mode information.

5. The cleaning robot rapid mapping method according to claim 4, characterized in that: The step of quickly constructing a three-dimensional map according to the laser feedback environment information or the image feedback environment information includes: When the first mapping mode is to map the first image imaging area in the image feedback environment information, the image distance corresponding to the azimuth angle in the image feedback environment information is determined, and the first actual distance corresponding to the image distance is determined based on a preset image imaging ratio; the image range corresponding to the range information in the image feedback environment information is determined, and the actual range corresponding to the image range is determined based on a preset image imaging ratio, and the first image imaging area is quickly three-dimensionally mapped based on the first actual distance and the actual range; When the first mapping mode is to map the fourth image imaging area in the image feedback environment information, the second actual distance corresponding to the azimuth angle in the laser feedback environment information is determined, and the fourth image imaging area is quickly three-dimensionally mapped based on the second actual distance.

6. The cleaning robot rapid mapping method according to claim 1, characterized in that: The step of quickly constructing a three-dimensional map based on the laser feedback environment information and the image feedback environment information includes: When the second mapping mode is to map the second image imaging area in the image feedback environment information, determining the third actual distance of all the second image imaging areas in the laser feedback environment information, and determining the first theoretical change distance of the second image imaging area in the image feedback environment information; When the third actual distance matches the first theoretical change distance, a rapid three-dimensional map is constructed for the imaging area of ​​the second image based on the third actual distance.

7. The cleaning robot rapid mapping method according to claim 6, characterized in that: The step of quickly constructing a three-dimensional map based on the laser feedback environment information and the image feedback environment information also includes: When the second mapping mode is to map the third image imaging area in the image feedback environment information, determining a fourth actual distance of all the third image imaging areas in the laser feedback environment information, and determining a second theoretical change distance of the third image imaging area in the image feedback environment information; When the third actual distance matches the second theoretical change distance, a rapid three-dimensional map is constructed for the imaging area of ​​the third image based on the fourth actual distance.

8. The cleaning robot rapid mapping method according to any one of claims 1 to 7, characterized in that: The cleaning robot rapid mapping method also includes: Determine the target map corresponding to each image imaging area in the image feedback environment information, and determine the second image connection relationship corresponding to each image imaging area; When the second image connection relationship is a preset distance matching connection relationship, the image imaging areas corresponding to the second image connection relationship are linked to obtain a cleaning robot map; When the second image connection relationship is not a preset distance matching connection relationship, the image imaging area corresponding to the second image connection relationship is layered and then linked to obtain a cleaning robot map, wherein the layering processing includes layering based on the actual distance of the image imaging area corresponding to the second image connection relationship.

9. A cleaning robot rapid mapping system, characterized in that: The cleaning robot rapid mapping system includes a laser device, an image acquisition device and a controller, the controller is connected to the laser device and the image acquisition device respectively, the controller includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program is configured to implement the steps of the cleaning robot rapid mapping method as described in any one of claims 1 to 8.

10. A medium, characterized in that The medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the cleaning robot rapid mapping method according to any one of claims 1 to 8 are implemented.

Images