Robot re-scanning method, device and robot

Abstract

The present invention relates to a robot re-sweeping method, device, and robot. The method comprises: S1, obtaining a target re-sweeping area based on the robot's working area; S2, when there is no connecting path between the robot's current position and the target re-sweeping area, setting a target midpoint based on a preset midpoint, wherein the target midpoint and the target re-sweeping area have a connecting path, and the connecting path is the working path for the robot to perform a 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 according to the recharging path; S4, setting the robot to a cleaning mode, so that the robot re-sweeps the target re-sweeping area according to the connecting path between the target midpoint and the target re-sweeping area. The present invention can reduce the missed scanning rate during the robot's operation and improve the user experience.

Description

Technical Field

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

[0002] Due to their convenience, robot vacuums are increasingly being adopted by families. However, in home use, a robot vacuum can become stuck in a certain area during a cleaning task and be unable to continue. For example, a robot vacuum can get stuck under a table, chair, sofa, or cabinet, making subsequent cleaning targets unreachable and abandoning the task. Furthermore, the robot abandons a portion of the task and ends the entire cleaning process. Typically, robots are configured to return to their workstations after completing a cleaning task. However, because some unreachable areas have been abandoned before recharging, they may miss cleaning, resulting in a poor user experience throughout the cleaning process. 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 response to some 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 to construct a robot re-scanning method, which includes 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 robot's current position and the target area to be re-scanned, setting a target intermediate point based on a preset intermediate point, wherein the target intermediate point has a connecting path with the target area to be re-scanned, 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 midpoint 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 further included:

[0010] S31. Acquiring the real-time position of the robot while the robot is returning to the target midpoint along 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, 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 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 further included:

[0013] S11. Set a plurality of preset intermediate points in the working area of ​​the robot, determine the connection paths between the preset intermediate points and the target area to be re-scanned, and obtain the preset intermediate point with 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 further included:

[0015] 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 subsequent steps to re-scan the target area to be re-scanned; 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, the method further includes:

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

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

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

[0021] S7: End the re-scanning of the working area.

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

[0023] During the movement of the robot toward the target midpoint according to the recharging path, the movement 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, the method further 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 a communication path exists between the current position of the robot and 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 communication 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 operation 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 This is a flowchart of an embodiment of the robot re-scanning method of the present invention;

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

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

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

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

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

[0039] Figure 7 This 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 Figure 1 illustrates an embodiment of the robot re-sweeping method of the present invention. The robot re-sweeping method of the present invention is used to perform re-sweeping during a robot's cleaning process, thereby reducing missed sweeps during the robot's cleaning tasks. The robot includes, but is not limited to, commonly used sweeping or mopping robots. Robots with other names that perform the same function are also included. Missed sweeps by cleaning robots are a common problem in the industry. This can occur when a robot becomes trapped in an obstruction such as a table or chair leg, or under a low obstacle such as a sofa or cabinet, resulting in an inaccessible cleaning area. A common approach is to escape the current area and then attempt to clean. However, if the current area fails to escape, missed sweeps can still occur. Alternatively, the robot can abandon the currently unreachable area and directly attempt to clean the next area. The recharging mode in a robot's operation is generally different from normal work navigation. To ensure the robot can return to its workstation, it has a higher priority. Therefore, in some scenarios, a robot may become trapped and unable to reach the area to be cleaned in working mode, but can return to the workstation through 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 the working path for the robot to perform the 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 work results of the robot to confirm whether there are any missed areas in the robot's working area, and obtains the area to be re-scanned based on the missed areas, 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 through pre-defined means. For example, the working area of ​​the robot is set by setting a work map of the robot. In this embodiment, the specific process of the robot performing re-scanning is described based on the premise of determining that there are missed areas in the robot's working area.

[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 connection path to the target area to be re-scanned. If the robot does not have a connection path to 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 connection path to 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, an open area in the working area or an area far away from obstacles is selected. For example, points that are more than a certain distance away from map obstacles, such as 2m, are marked to obtain a corresponding point set, and then the point set is clustered, 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, points that the robot often passes by, the center point of the room door, or points in the map that appear frequently when the robot is in normal motion can be selected as preset middle points.

[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 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 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 an embodiment of the robot re-scanning method of the present invention, the following steps are further included: S31, obtaining the robot's real-time position while the robot is returning to the target midpoint along the recharging path; S32, setting the robot to a cleaning mode when a path exists between the robot's real-time position and the target re-scanning area, so that the robot re-scans the target re-scanning area based on the path between the robot's real-time position and the target re-scanning area. Specifically, based on steps S31 and S32, the robot's position can be monitored in real time as the robot moves toward the target midpoint to confirm whether the robot is free. When a path exists between the robot's real-time position and the target re-scanning area, it can be determined that the robot has been freed. If the robot is freed, the robot can directly re-scan the target re-scanning area. At this point, the robot can no longer be driven to continue moving in the re-charging mode, nor does it need to return to the target midpoint. That is, upon confirming that the robot is free, the robot can be directly set to a cleaning mode, so that the robot directly re-scans the target re-scanning area from its current position.

[0049] like Figure 3 As shown, in an embodiment of the robot re-scanning method of the present invention, the following steps are also included: 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 with the shortest connection path to the target area to be re-scanned 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, obtain the connection paths between the preset intermediate points and the target area to be re-scanned respectively, and select the preset intermediate point with the shortest connection path as the target intermediate point. It can be understood that it is necessary to first exclude the preset intermediate points that have no connection path with the target area to be re-scanned.

[0050] like Figure 4As shown, in an embodiment of the robot re-scanning method of the present invention, the following steps are further included: S5. At the end of the re-scanning process, confirm whether the target area to be re-scanned still exists. If so, execute step S2 and subsequent steps to re-scan the target area to be re-scanned; otherwise, execute step S6. S6. End the re-scanning process of the target area to be re-scanned. Specifically, after the robot determines that the re-scanning process of the target area to be re-scanned has ended, under normal circumstances, the target area to be re-scanned will be re-marked, including but not limited to being updated to a cleaned state. However, it is not ruled out that in some scenarios, the robot may become trapped again during the re-scanning process of the target area to be re-scanned, preventing the re-scanning process from proceeding normally. The robot abandons the cleaning process based on the cleaning process settings, thus ending the re-scanning process. Therefore, after the re-scanning process ends, it is necessary to confirm whether the target area to be re-scanned still exists. If the target area to be re-scanned still exists, execute step S2 and subsequent steps again, for example, through steps S2 to S4, to re-scan the target area to be re-scanned. If the target area to be re-scanned no longer exists, the re-scanning process for the target area to be re-scanned can be normally ended, and the re-scanning process for the target area to be re-scanned will not be triggered in the subsequent re-scanning process.

[0051] Further, such as Figure 5 As shown, in an embodiment of the robot re-scanning method of the present invention, the following further comprises: S51, recording the number of re-scans corresponding to the target area to be re-scanned, and executing step S6 when the number of re-scans reaches a preset value. Specifically, when re-scanning the same target area to be re-scanned, the number of re-scans is recorded. If the number of re-scans is too high, for example, reaching the preset value, and the target area to be re-scanned still cannot be re-scanned, re-scanning the target area to be re-scanned is completely abandoned. The preset value can be set as needed, for example, 3, 4, or more times. The number of re-scans performed after each acquisition of the target midpoint can be counted. For example, if the target area to be re-scanned still does not disappear after the fifth acquisition of the target midpoint and re-scan, re-scanning of the target area to be re-scanned is abandoned. Determining whether the target area to be re-scanned has disappeared includes, but is not limited to, determining whether the area of ​​the target area to be re-scanned has changed. If the area of ​​the target area to be re-scanned has changed, the target area to be re-scanned is determined to have disappeared, and the remaining un-scanned portion can be used as a new target area to be re-scanned.

[0052] like Figure 6As shown, in an embodiment of the robot re-scanning method of the present invention, the following further comprises: S61, confirming whether there are any areas in the robot's working area that need to be re-scanned. If so, executing step S1; otherwise, executing step S7; and S7, terminating the re-scanning of the working area. Specifically, in some scenarios, the robot's working area may contain multiple independent missed-scan areas, meaning that there are currently multiple areas to be re-scanned. Therefore, after completing the re-scanning process for one area to be re-scanned, it is necessary to confirm whether the re-scanning of all areas to be re-scanned has been completed. If there are still areas to be re-scanned, a target area to be re-scanned can be selected again and the corresponding re-scanning process can be performed. The areas to be re-scanned in the working area can be pre-existing missed-scan areas or newly obtained missed-scan areas triggered by the re-scanning results after the re-scanning process. For example, if the original target area to be re-scanned is reduced in area after re-scanning, it can be understood that the original target area to be re-scanned has disappeared and a new area to be re-scanned has appeared. The re-scanning of each missed-scan area is performed through the above process, ultimately completing the re-scanning of the entire working area.

[0053] Optionally, in an embodiment of the robot re-scanning method of the present invention, the robot further includes monitoring the robot's movement status while moving toward the target midpoint along the recharging path, and terminating the re-scanning of the target area to be re-scanned if the robot experiences a preset number of collision anomalies. Specifically, the robot's progress toward the target midpoint in recharging mode is monitored. If the robot still cannot successfully reach the target midpoint in recharging mode, i.e., the robot is currently unable to escape, the re-scanning of the target area to be re-scanned is terminated. It is understood that once it is determined that the robot is completely unable to escape, an alarm message can be generated to terminate the entire re-scanning process. During the recharging process, when the robot encounters an obstacle while tracing the path, it will rotate at a smaller angle before moving forward. This ensures that the robot moves in a manner that better conforms to the obstacle and improves its ability to navigate complex areas. Therefore, even if the robot encounters a collision while tracing an obstacle, it will attempt to squeeze through the middle. The number of collisions required to determine whether the robot is able to escape can be set. For example, during recharging, the robot may attempt nine collisions before returning to the target area if the collision fails, ensuring more attempts to track the path. Instead of considering the recharging failure once a collision occurs.

[0054] like Figure 7As shown, in an embodiment of the robot re-scanning method of the present invention, the following is further included: S21, when the current position of the robot has a connecting path with the target area to be re-scanned, setting 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 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 the target area to be re-scanned, it means that the robot is currently able to directly re-scan the target area to be re-scanned. In this case, 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 a re-scan of a 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. Therefore, it is not necessary to obtain the target midpoint and the robot directly re-scans the new target area to be re-scanned.

[0055] Furthermore, a robotic re-scanning device according to the present invention has the function of implementing the corresponding steps executed in the above-mentioned method. Each of these functions can be implemented via hardware, or by hardware executing corresponding software. The corresponding hardware or software includes one or more modules corresponding to the aforementioned functions. That is, the steps of the above-mentioned method are respectively executed by one or more modules. The specific coordination between these modules can be referred to in the specific process of the above-mentioned method and will not be further described here.

[0056] In addition, a robot of the present invention may further 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 above with reference to the flowchart 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, performs the above-mentioned functions defined in the method of the embodiment of the present invention.

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

Claims

1. A robot re-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 robot's current position and the target area to be re-scanned, setting a target intermediate point based on a preset intermediate point, wherein the target intermediate point has a connecting path with the target area to be re-scanned, 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 midpoint 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. Acquiring the real-time position of the robot while the robot is returning to the target midpoint along the recharging path; S32. When the real-time position of the robot has a connecting path with the target area to be re-scanned, 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 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. Set a plurality of preset intermediate points in the working area of ​​the robot, determine the connection paths between the preset intermediate points and the target area to be re-scanned, and obtain the preset intermediate point with 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 re-scanning, confirm whether the target area to be re-scanned still exists. If so, execute step S2 and subsequent steps 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.

5. The robot re-scanning method according to claim 4, characterized in that: The method further comprises: S51. Record the number of supplementary scans corresponding to the target area to be supplemented, and when the number of supplementary scans reaches a preset value, execute 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 cleaned in the working area of ​​the robot, if yes, execute step S1, otherwise execute step S7; S7: End the re-scanning of the working area.

7. The robot re-scanning method according to claim 1, characterized in that: The method further comprises: During the movement of the robot toward the target midpoint according to the recharging path, the movement 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 a communication path exists between the current position of the robot and 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 communication path between the current position of the robot and the target area to be re-scanned.

9. A robot re-sweeping device, characterized in that: The robot re-scanning device includes: 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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