Robot supplementary scanning method and device and robot

Abstract

The invention relates to a robot supplementary scanning method and device and a robot. The method comprises the following steps: S1, acquiring a target to-be-swept area based on a working area of a robot; s2, when no communication path exists between the current position of the robot and the target to-be-swept area, a target intermediate point is set based on a preset intermediate point, the communication path exists between the target intermediate point and the target to-be-swept area, and the communication path is a working path for the robot to execute the sweeping task; s3, setting the robot to be in a recharging mode, and planning a recharging path by taking the target intermediate point as a terminal point, so that the robot returns to the target intermediate point according to the recharging path; and S4, the robot is set to be in a cleaning mode, so that the robot performs supplementary sweeping on the target to-be-supplementary-swept area according to a communication path between the target intermediate point and the target to-be-supplementary-swept area. Through the method, the scanning missing rate in the working process of the robot can be reduced, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a robot re-scanning method, device and robot. Background Art

[0002] Due to its convenience, sweeping robots have been chosen by more and more families. In home applications, sweeping robots may be trapped in a certain area during the cleaning task and cannot continue to perform the cleaning task. For example, after the sweeping robot drills under the obstacles of tables and chairs or under the sofa cabinet, the subsequent cleaning target point navigation is unreachable and abandoned. At the same time, the robot will end the entire cleaning process after abandoning part of the task. Usually, the robot is set to return to the workstation through recharging after completing the cleaning. However, because some unreachable areas have been abandoned before recharging, they are missed, and the entire cleaning process will bring a bad user experience. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a robot re-scanning method, device and robot in view of the above-mentioned technical defects of the prior art.

[0004] The technical solution adopted by the present invention to solve the technical problem is: constructing a robot re-scanning method, the method comprising the following steps:

[0005] S1. Acquire a target area to be scanned based on the working area of ​​the robot;

[0006] S2, when there is no connecting path between the current position of the robot and the target area to be re-scanned, setting a target intermediate point based on a preset intermediate point, wherein the target intermediate point and the target area to be re-scanned have a connecting path, and the connecting path is a working path for the robot to perform the cleaning task;

[0007] S3, setting the robot to a recharging mode, and planning a recharging path with the target midpoint as the end point, so that the robot returns to the target midpoint along the recharging path;

[0008] S4. Setting the robot to a cleaning mode so that the robot performs a re-scan on the target area to be re-scanned according to a connection path between the target middle point and the target area to be re-scanned.

[0009] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, the following steps are also included:

[0010] S31, obtaining the real-time position of the robot in the process of the robot returning to the target middle point according to the recharging path;

[0011] S32. When the real-time position of the robot has a connecting path with the target area to be re-scanned, the robot is set to a cleaning mode so that the robot re-scans the target area to be re-scanned according to the connecting path between the real-time position of the robot and the target area to be re-scanned.

[0012] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, the following steps are also included:

[0013] S11, setting a plurality of preset intermediate points in the working area of ​​the robot, determining the connection paths between the preset intermediate points and the target area to be re-scanned respectively, and obtaining the preset intermediate point having the shortest connection path with the target area to be re-scanned as the target intermediate point.

[0014] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, the following steps are also included:

[0015] S5, at the end of the supplementary scan, confirm whether the target area to be supplemented scanned still exists, if so, execute step S2 and subsequent steps to supplement the target area to be supplemented scanned again; otherwise, execute step S6;

[0016] S6. End the re-scanning of the target area to be re-scanned.

[0017] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, it also includes:

[0018] S51, recording the number of supplementary scans corresponding to the target area to be supplemented, and when the number of supplementary scans reaches a preset value, executing step S6.

[0019] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, it also includes:

[0020] S61, confirm whether there is any area to be scanned in the working area of ​​the robot, if yes, execute step S1, otherwise execute step S7;

[0021] S7, ending the re-scanning of the working area.

[0022] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, it also includes:

[0023] When the robot moves toward the target midpoint according to the recharging path, the moving state of the robot is monitored, and when the robot encounters a preset number of collision anomalies, the re-scanning of the target area to be re-scanned is terminated.

[0024] Preferably, in a specific embodiment of the robot re-scanning method of the present invention, it also includes:

[0025] In the working area, the preset middle point is set in an area farthest from obstacles in the working area; and / or

[0026] When the current position of the robot has a connecting path with the target area to be re-scanned, the robot is set to a cleaning mode so that the robot re-scans the target area to be re-scanned according to the connecting path between the current position of the robot and the target area to be re-scanned.

[0027] The present invention also constructs a robot re-sweeping device, which includes: a module for executing the method described above.

[0028] The present invention also constructs a robot, comprising a memory and a processor;

[0029] The memory is used to store computer programs;

[0030] The processor is configured to execute the computer program to implement the method described above.

[0031] The robot re-scanning method, device and robot implemented in the present invention have the following beneficial effects: reducing the missed scanning rate during the robot's working process and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0033] Figure 1 is a program flow chart of an embodiment of the robot re-scanning method of the present invention;

[0034] Figure 2 is a program flow chart of another embodiment of the robot re-scanning method of the present invention;

[0035] Figure 3 is a program flow chart of another embodiment of the robot re-scanning method of the present invention;

[0036] Figure 4 is a program flow chart of another embodiment of the robot re-scanning method of the present invention;

[0037] Figure 5 is a program flow chart of another embodiment of the robot re-scanning method of the present invention;

[0038] Figure 6 is a program flow chart of another embodiment of the robot re-scanning method of the present invention;

[0039] Figure 7 It is a program flow chart of another embodiment of the robot re-scanning method of the present invention. DETAILED DESCRIPTION

[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0041] like Figure 1 As shown, an embodiment of the robot re-sweeping method of the present invention is shown. The robot re-sweeping method process of the present invention is used to realize the re-sweeping of the robot during the cleaning process to reduce the missed sweeping when the robot performs the cleaning task. Among them, the robot includes but is not limited to a commonly used sweeping robot or mopping robot, and robots that can achieve the same function and are named by other names are also within the scope. Missed sweeping by cleaning robots is a common problem in the industry. When the robot is trapped in obstacles such as table and chair legs, sofas and cabinets, and the cleaning area is inaccessible, it causes missed sweeping. The common practice is to get out of the current area first by getting out of the trap, and then try to clean. However, if the current area fails to get out of the trap, it will still cause missed sweeping. Or abandon the current unreachable block and directly try to clean the next area block. The recharge mode in the robot's work is generally different from the general work navigation. In order to ensure that the robot can return to the workstation normally, its priority is higher. Therefore, there is a scenario where the robot is trapped in a scene, and the robot cannot reach the area to be cleaned in the working mode, but can return to the workstation by recharging.

[0042] exist Figure 1 In one embodiment of the robot re-scanning method of the present invention shown, the following steps are included: S1. Acquire a target area to be re-scanned based on the robot's working area; S2. When there is no connecting path between the current position of the robot and the target area to be re-scanned, set a target middle point based on a preset middle point, wherein the target middle point and the target area to be re-scanned have a connecting path, and the connecting path is a working path for the robot to perform a cleaning task; S3. Set the robot to a recharging mode, and plan a recharging path with the target middle point as the end point, so that the robot returns to the target middle point according to the recharging path; S4. Set the robot to a cleaning mode, so that the robot re-scans the target area to be re-scanned according to the connecting path between the target middle point and the target area to be re-scanned.

[0043] Based on step S1, the robot performs a cleaning process in the working area according to a predetermined working mode, such as a cleaning mode. Before the robot completes the entire cleaning task and returns to the workstation, the robot confirms the working result of the robot to confirm whether there is a missed area in the working area of ​​the robot, and obtains the area to be re-scanned based on the missed area and then obtains the target area to be re-scanned. The working area of ​​the robot is the area planned by the robot to perform the cleaning task, and the acquisition of the working area includes but is not limited to obtaining it by means defined in advance. For example, the working area of ​​the robot is set by setting the working map of the robot. In this embodiment, the specific process of the robot performing re-scanning is described on the premise of determining that there is a missed area in the working area of ​​the robot.

[0044] Based on step S2, the positional relationship between the current position of the robot and the target area to be re-scanned is judged to confirm whether the robot can directly perform the cleaning task on the target area to be re-scanned based on the current position. The specific judgment process includes, but is not limited to, judging whether the robot has a connected path to reach the target area to be re-scanned. If the robot does not have a connected path to reach the target area to be re-scanned, it means that the robot cannot currently directly re-scan the target area to be re-scanned. At this time, the target midpoint can be set based on the preset midpoint. Among them, the target midpoint is a connected path that reaches the target area to be re-scanned. The preset midpoint can be understood as a position point pre-set based on the working area of ​​the robot.

[0045] In one embodiment, a preset middle point is set in the working area, including but not limited to the area farthest from the obstacles in the working area. That is, the setting of the preset middle point can be set in a way to avoid obstacles. For example, select an open area in the working area or select an area far away from obstacles. For example, mark the points that are more than a certain distance away from the map obstacles, such as 2m, to obtain the corresponding point set, and then cluster the point set, and the center of each cluster is a preset middle point. If there is a map with room information, the point farthest from the obstacle in each room can be directly selected as the preset middle point of the room. In one embodiment, the point that the robot often passes by, the center point of the room door, or the point in the map where the robot appears more frequently in normal motion can be selected as the preset middle point.

[0046] Based on step S3, after obtaining the target midpoint, the robot is set to recharging mode. It can be understood that the recharging mode of the robot is set to a false recharging mode, which only sets the movement mode of the robot during the movement. Among them, the recharging path of the robot is set by the target midpoint. The specific process is to use the target midpoint as the workstation of the recharging process, so that the robot returns to the target midpoint through the recharging movement mode and according to the recharging path. It can be understood that in the recharging mode, the robot's ability to handle anomalies such as obstacles during movement is better than the robot's ability to handle anomalies in the cleaning mode. For example, in some scenarios, after the robot is trapped in the cleaning mode, it can escape through the recharging mode and return to the preset workstation. Therefore, the robot escapes by entering the recharging mode to return to the target midpoint.

[0047] Based on step S4, after the robot returns to the target midpoint, because the target midpoint has a connecting path to the target area to be re-scanned, the robot can be set to a cleaning mode so that the robot can directly re-scan the target area to be re-scanned according to the connecting path.

[0048] like Figure 2As shown, in the embodiment of the robot re-scanning method of the present invention, the following steps are also included: S31, in the process of the robot returning to the target midpoint according to the recharging path, the real-time position of the robot is obtained; S32, when the real-time position of the robot has a connecting path with the target area to be re-scanned, the robot is set to the cleaning mode, so that the robot re-scans the target area to be re-scanned according to the connecting path between the real-time position of the robot and the target area to be re-scanned. Specifically, based on steps S31 and S32, during the movement of the robot to the target midpoint, the position of the robot can be monitored in real time to confirm whether the robot is out of trouble. When the real-time position of the robot has a connecting path with the target area to be re-scanned, it can be determined that the robot has been out of trouble. In the case of the robot being out of trouble, the robot is able to directly re-scan the target area to be re-scanned. At this time, the robot can no longer be driven to continue to move in the recharging mode, and it is not necessary to return to the target midpoint, that is, the robot can be directly set to the cleaning mode when it is confirmed that the robot is out of trouble, so that the robot directly re-scans the target area to be re-scanned from the current position as the starting point.

[0049] like Figure 3 As shown, in the embodiment of the robot re-scanning method of the present invention, the following steps are also included: S11, multiple preset intermediate points are set in the working area of ​​the robot, and the connection paths between the preset intermediate points and the target area to be re-scanned are respectively determined, and the preset intermediate point with the shortest connection path with the target area to be re-scanned is obtained as the target intermediate point. Specifically, the number of preset intermediate points can be multiple. In different scenarios, for example, the working area of ​​the robot is different, and the number of preset intermediate points corresponding to the working area may also be different. When the number of preset intermediate points is multiple. After determining the target area to be re-scanned, the connection paths between the preset intermediate points and the target area to be re-scanned are respectively obtained, and the preset intermediate point with the shortest connection path is selected as the target intermediate point. It can be understood that it is first necessary to exclude the preset intermediate points that have no connection path with the target area to be re-scanned.

[0050] like Figure 4As shown, in the embodiment of the robot re-scanning method of the present invention, the following steps are also included: S5, at the end of the re-scanning, confirm whether the target area to be re-scanned still exists, if so, execute step S2 and the steps thereafter to re-scan the target area to be re-scanned; otherwise, execute step S6; S6, end the re-scanning of the target area to be re-scanned. Specifically, when it is determined that the robot has finished re-scanning the target area to be re-scanned, under normal circumstances, the target area to be re-scanned will be re-marked, including but not limited to updating to a cleaned state. However, it is not excluded that in some scenarios, the robot is trapped again when re-scanning the target area to be re-scanned, so that the re-scanning process of the target area to be re-scanned cannot be carried out normally. The robot abandons the cleaning based on the cleaning process setting, that is, the re-scanning process is ended. Therefore, it is necessary to confirm the target area to be re-scanned after the re-scanning process is completed to confirm whether the target area to be re-scanned still exists. If the target area to be re-scanned still exists, step S2 and the steps thereafter are executed again, for example, through steps S2 to S4, the target area to be re-scanned is re-scanned. If the target area to be supplemented scanned no longer exists, the supplemented scan process for the target area to be supplemented scanned can be normally ended, and in the subsequent supplemented scan process, the supplemented scan process for the target area to be supplemented scanned will no longer be triggered.

[0051] Further, such as Figure 5 As shown, in the embodiment of the robot re-scanning method of the present invention, it also includes: S51, recording the number of re-scanning corresponding to the target area to be re-scanned, and executing step S6 when the number of re-scanning reaches a preset value. That is, when performing re-scanning on the same target area to be re-scanned, the number of re-scanning is recorded. When the number of re-scanning is too many, for example, reaching a preset value, and the re-scanning of the target area to be re-scanned still cannot be completed, it is necessary to completely abandon the re-scanning of the target area to be re-scanned. The preset value is set as needed, for example, it can be set to 3 times, 4 times or more times. Among them, the number of re-scanning actions performed after each acquisition of the target midpoint can be counted in sequence. For example, if the target midpoint is acquired for the fifth time and the re-scanning is performed, the target area to be re-scanned still does not disappear, then the re-scanning of the target area to be re-scanned is abandoned. The judgment of whether the target area to be re-scanned disappears includes but is not limited to judging whether the area of ​​the target area to be re-scanned changes. If the area of ​​the target area to be re-scanned changes, it is determined that the target area to be re-scanned disappears, and the remaining uncleaned part can be used as a new target area to be re-scanned.

[0052] like Figure 6As shown, in the embodiment of the robot re-scanning method of the present invention, it also includes: S61, confirming whether there are still areas to be re-scanned in the working area of ​​the robot, if so, executing step S1, otherwise executing step S7; S7, ending the re-scanning of the working area. Specifically, in some scenarios, there may be multiple independent missed scanning areas in the working area of ​​the robot, that is, it is understood that there are currently multiple areas to be re-scanned. Therefore, after the re-scanning process of an area to be re-scanned is completed, it is necessary to confirm whether the re-scanning of all areas to be re-scanned is completed. When there are still areas to be re-scanned, the target area to be re-scanned can be selected again and the corresponding re-scanning process can be performed. Among them, the area to be re-scanned in the working area can be a pre-existing missed scanning area, or it can be a missed scanning area newly triggered by the re-scanning result after the re-scanning. For example, after the area of ​​the original target area to be re-scanned is reduced after the re-scanning, it can be understood that the original target area to be re-scanned disappears and a new area to be re-scanned appears. The re-scanning of the missed scanning areas is performed one by one through the above process, and finally the re-scanning of the entire working area is achieved.

[0053] Optionally, in the embodiment of the robot re-scanning method of the present invention, it also includes: in the process of the robot moving to the target middle point according to the recharging path, monitoring the movement state of the robot, and ending the re-scanning of the target area to be re-scanned when the robot has a preset number of collision anomalies. That is, the process of the robot returning to the target middle point in the recharging mode is monitored. If the robot still cannot successfully reach the target middle point in the recharging mode, that is, the robot cannot escape from the current situation, it is necessary to end the re-scanning of the target area to be re-scanned. It can be understood that once it can be determined that the robot cannot escape from the situation at all, it can be determined to generate an alarm message to terminate the entire re-scanning process. Among them, during the recharging process, when the robot is tracking the path, it will rotate at a smaller angle and then move forward after encountering an obstacle, so as to ensure that the robot moves in a more suitable way to the obstacle and improve the robot's passing performance in complex areas. Therefore, even if the robot collides in the middle when escaping from the situation, it should try to squeeze through the middle more. In the process of judging whether the robot can escape from the situation, the number of collisions of the robot can be set. For example, the recharging can try to collide 9 times before returning to the movement failure, so as to ensure more attempts to track the path. Instead of considering the recharging failure once a collision occurs.

[0054] like Figure 7As shown, in the embodiment of the robot re-scanning method of the present invention, it also includes: S21, when the current position of the robot has a connecting path with the target area to be re-scanned, the robot is set to a cleaning mode, so that the robot re-scans the target area to be re-scanned according to the connecting path between the current position of the robot and the target area to be re-scanned. Specifically, in one embodiment, if the robot has a connecting path to reach the target area to be re-scanned, it means that the robot can directly re-scan the target area to be re-scanned. At this time, it is not necessary to obtain the target midpoint. The robot directly re-scans the target area to be re-scanned with the current position as the starting point. For example, after the robot completes the re-scanning of a certain target area to be re-scanned, the current position of the robot will change. After obtaining a new target area to be re-scanned, the current position of the robot may have a connecting path with the new target area to be re-scanned, so it is no longer necessary to obtain the target midpoint, and the re-scanning of the new target area to be re-scanned is directly performed.

[0055] In addition, a robot re-scanning device of the present invention has the function of implementing the corresponding steps executed in the above method. Each function can be implemented by hardware, or by hardware executing corresponding software. The corresponding hardware or software includes one or more modules corresponding to the above functions. That is, the steps in the above method are respectively executed by one or more modules. The specific coordination operations between the modules can refer to the specific process of the above method, which will not be repeated here.

[0056] In addition, a robot of the present invention may also include a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement the above method. Specifically, according to an embodiment of the present invention, the process described with reference to the flowchart above can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by an electronic device and when executed, it performs the above functions defined in the method of the embodiment of the present invention.

[0057] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A robot supplementary scanning method, characterized in that: The method comprises the following steps: S1. Acquire a target area to be scanned based on the working area of ​​the robot; S2, when there is no connecting path between the current position of the robot and the target area to be re-scanned, setting a target intermediate point based on a preset intermediate point, wherein the target intermediate point and the target area to be re-scanned have a connecting path, and the connecting path is a working path for the robot to perform the cleaning task; S3, setting the robot to a recharging mode, and planning a recharging path with the target midpoint as the end point, so that the robot returns to the target midpoint along the recharging path; S4. Setting the robot to a cleaning mode so that the robot performs a re-scan on the target area to be re-scanned according to a connection path between the target middle point and the target area to be re-scanned.

2. The robot re-scanning method according to claim 1, characterized in that: The method further comprises the following steps: S31, obtaining the real-time position of the robot in the process of the robot returning to the target middle point according to the recharging path; S32. When the real-time position of the robot has a connecting path with the target area to be re-scanned, the robot is set to a cleaning mode so that the robot re-scans the target area to be re-scanned according to the connecting path between the real-time position of the robot and the target area to be re-scanned.

3. The robot re-scanning method according to claim 1, characterized in that: The method further comprises the following steps: S11, setting a plurality of preset intermediate points in the working area of ​​the robot, determining the connection paths between the preset intermediate points and the target area to be re-scanned respectively, and obtaining the preset intermediate point having the shortest connection path with the target area to be re-scanned as the target intermediate point.

4. The robot re-scanning method according to claim 1, characterized in that: The method further comprises the following steps: S5, at the end of the supplementary scan, confirm whether the target area to be supplemented scanned still exists, if so, execute step S2 and subsequent steps to supplement the target area to be supplemented scanned again; otherwise, execute step S6; S6. End the re-scanning of the target area to be re-scanned.

5. The robot re-scanning method according to claim 4, characterized in that: The method further comprises: S51, recording the number of supplementary scans corresponding to the target area to be supplemented, and when the number of supplementary scans reaches a preset value, executing step S6.

6. The robot re-scanning method according to claim 1, characterized in that: The method further comprises: S61, confirm whether there is any area to be scanned in the working area of ​​the robot, if yes, execute step S1, otherwise execute step S7; S7, ending the re-scanning of the working area.

7. The robot re-scanning method according to claim 1, characterized in that: The method further comprises: When the robot moves toward the target midpoint according to the recharging path, the moving state of the robot is monitored, and when the robot encounters a preset number of collision anomalies, the re-scanning of the target area to be re-scanned is terminated.

8. The robot re-scanning method according to claim 1, characterized in that: The method further comprises: In the working area, the preset middle point is set in an area farthest from obstacles in the working area; and / or When the current position of the robot has a connecting path with the target area to be re-scanned, the robot is set to a cleaning mode so that the robot re-scans the target area to be re-scanned according to the connecting path between the current position of the robot and the target area to be re-scanned.

9. A robot re-scanning device, characterized in that: The robot re-scanning device comprises: a module for executing the method according to any one of claims 1 to 8.

10. A robot, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program to implement the method according to any one of claims 1 to 8.

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