Method for identifying missing scanning area of robot

Abstract

The invention discloses a method for identifying a missing scanning area of a robot. The method comprises the following steps: acquiring a wall-following track of the robot; in response to an obstacle detected in the process of executing the cleaning task in the working area, controlling the robot to avoid the obstacle along the edge of the obstacle; in the obstacle avoidance process, when the position of the robot and the track along the wall are closed, or the position of the robot and the historical track of current obstacle avoidance are closed, and the current driving direction of the robot is consistent with the orientation of the robot at the position corresponding to the historical track, obstacle avoidance is stopped; acquiring a current obstacle avoiding track of the robot; determining an obstacle contour reference trajectory according to the current obstacle avoidance trajectory; and identifying a scanning missing area in the working area based on the obstacle contour reference trajectory. According to the method, the actual to-be-swept missing area can be quickly and accurately identified, and the sweeping efficiency of the robot is improved.

Description

Technical Field

[0001] This application belongs to the technical field of robot control, and particularly relates to a method for identifying missed cleaning areas of a robot. Background Art

[0002] Currently, the cleaning logic of a robot when performing a cleaning task is to go around the wall for one week first, and then perform a bow-shaped cleaning inside the wall-following trajectory. However, there are usually some obstacles that are invisible to the laser inside the wall-following trajectory. When the robot performs bow-shaped cleaning, it will collide with these obstacles. After the collision, the robot will first try to go around the obstacle for one week, and then determine the area surrounded by the obstacle avoidance trajectory as an area that the robot cannot reach, that is, the obstacle area.

[0003] However, because these obstacles are invisible to the laser, the robot cannot determine whether the inside of the obstacle avoidance trajectory is really unreachable. This may cause the above-mentioned scheme to misidentify some actually reachable areas inside as unreachable obstacle areas, resulting in missed cleaning by the robot.

[0004] At the same time, in a complex environment, it is very difficult for the robot to return to the starting point smoothly when avoiding obstacles. The existing scheme usually directly fits the unclosed obstacle avoidance trajectory into a closed area by connecting the head and the tail, such as Figure 1 As shown, the outermost black rectangular frame represents the area where the robot performs the cleaning task, the inner gray rectangular frame represents the obstacle area, and the curve outside the gray rectangular frame represents the obstacle avoidance trajectory of the robot. The obstacle avoidance trajectory is connected by a dotted line at the head and the tail to form a closed area, that is, the area that the robot considers unreachable, that is, the obstacle area. This method may also cause some actually reachable areas to be wrongly filtered out, that is, Figure 2 the missed cleaning area shown by the diagonal shaded area, resulting in missed cleaning by the robot.

[0005] To avoid missed cleaning by the robot, the existing scheme usually makes the robot perform a probing collision at the closed area formed by the obstacle avoidance trajectory to check whether there is a missed cleaning area. However, this method not only cannot quickly identify the missed cleaning area, but also seriously reduces the cleaning efficiency of the robot. Summary of the Invention

[0006] This application provides a method for identifying missed cleaning areas of a robot to solve at least one of the above technical problems.

[0007] The technical solution adopted in this application is as follows:

[0008] A method for identifying missed cleaning areas of a robot, the method comprising: obtaining the wall-following trajectory of the robot; in response to detecting an obstacle during the process of performing a cleaning task in a working area, controlling the robot to perform edge following around the obstacle; during the obstacle following process, when the position of the robot closes with the wall-following trajectory, or when the position of the robot closes with a historical trajectory in the current obstacle following trajectory and the current traveling direction of the robot is consistent with the robot orientation at the corresponding position of the historical trajectory, stop obstacle following; obtaining the current obstacle following trajectory of the robot; determining an obstacle contour reference trajectory according to the current obstacle following trajectory; and identifying a missed cleaning area in the working area based on the obstacle contour reference trajectory.

[0009] In a possible implementation manner of the present application, the determining an obstacle contour reference trajectory according to the current obstacle following trajectory includes: taking a trajectory at a first preset distance from a preset side of the current obstacle following trajectory as the obstacle contour reference trajectory; wherein, the preset side is determined according to the edge following direction of the robot, and the first preset distance is the body radius of the robot.

[0010] In a possible implementation manner of the present application, the identifying a missed cleaning area in the working area based on the obstacle contour reference trajectory includes: determining the connectivity between an uncleaned area in the working area and the wall-following trajectory based on the obstacle contour reference trajectory; and identifying whether the uncleaned area is a missed cleaning area according to the connectivity.

[0011] In a possible implementation manner of the present application, the identifying whether the uncleaned area is a missed cleaning area according to the connectivity includes: if the uncleaned area is not connected to the wall-following trajectory, identifying the uncleaned area as an actually unreachable area; if the uncleaned area is connected to the wall-following trajectory, identifying the uncleaned area as a missed cleaning area.

[0012] In a possible implementation manner of the present application, the determining the connectivity between an uncleaned area in the working area and the wall-following trajectory based on the obstacle contour reference trajectory includes: dividing the working area through the obstacle contour reference trajectory; and determining whether the uncleaned area in the working area is connected to the wall-following trajectory based on the divided working area.

[0013] In a possible implementation of the present application, it further includes: detecting the distance between the current position of the robot and the wall-following trajectory or the historical trajectory of the current obstacle avoidance; when it is detected that the distance between the current position of the robot and the wall-following trajectory is less than or equal to a second preset distance, determining that the position of the robot and the wall-following trajectory are closed; when it is detected that the distance between the current position of the robot and the historical trajectory is less than or equal to the second preset distance, determining that the position of the robot and the historical trajectory are closed.

[0014] In a possible implementation of the present application, after identifying the missed-scanning area, the method further includes: controlling the robot to perform supplementary scanning on the missed-scanning area; when the robot is moving towards the missed-scanning area, if the robot collides, marking an obstacle point at the collision location; based on the obstacle point and the obstacle contour reference trajectory, re-identifying the missed-scanning area within the working area.

[0015] In a possible implementation of the present application, the re-identifying the missed-scanning area within the working area based on the obstacle point and the obstacle contour reference trajectory includes: re-determining the connectivity between the uncleaned area within the working area and the wall-following trajectory based on the obstacle contour reference trajectory and the obstacle point; if it is determined that there is no connectivity between the uncleaned area and the wall-following trajectory, determining that the uncleaned area is a mis-identified area; controlling the robot to discard the mis-identified area from the missed-scanning area.

[0016] In a possible implementation of the present application, it further includes: marking an obstacle point at the position where the obstacle contour reference trajectory is located; when the path planning of the robot fails, deleting the obstacle point and re-planning the path.

[0017] In a possible implementation of the present application, it further includes: if the robot collides, marking a new obstacle point at the collision location; when the path planning of the robot fails again, retaining the new obstacle points within a distance less than or equal to a third preset distance from the obstacle contour reference trajectory without being deleted.

[0018] Due to the adoption of the above technical solutions, the beneficial effects obtained by the present application are as follows:

[0019] 1. When the robot is avoiding obstacles, there are two conditions for stopping obstacle avoidance. One is to stop obstacle avoidance when the robot is relatively close to the wall-following trajectory, and the other is to stop obstacle avoidance when the robot is relatively close to the historical trajectory and the current orientation of the robot is the same as the orientation of the robot at the corresponding position in the historical trajectory. Through these two obstacle avoidance stopping conditions, the obstacle avoidance trajectory of the robot can be quickly determined to identify the obstacle contour, avoiding the robot from endlessly avoiding obstacles, improving the obstacle avoidance efficiency of the robot, and also providing guarantee for subsequent quick and accurate identification of the missed-scanning area.

[0020] 2. By determining the obstacle contour reference trajectory based on the obstacle avoidance trajectory saved by the robot during the cleaning task, and then judging the missed cleaning area in the working area through this obstacle contour reference trajectory, a solution for quickly and accurately identifying the missed cleaning area of the robot is realized, improving the cleaning efficiency of the robot. Moreover, during the identification process, it can effectively avoid misidentifying the actually reachable area as an unreachable area, thus preventing the occurrence of missed cleaning due to misidentification.

[0021] 3. When the robot identifies the missed cleaning area and performs supplementary cleaning on it, if a collision occurs during the process of moving to the missed cleaning area, the obstacle points will be marked. The working area is segmented again using the marked obstacle points and the aforementioned obstacle contour reference trajectory, and the connectivity between the segmented areas is utilized to realize the misidentification judgment of the missed cleaning area. If it is determined that the missed cleaning area is a misidentified unreachable area, this misidentified area will be deleted from the missed cleaning area of the robot, thereby preventing the robot from repeatedly moving to it and improving the cleaning efficiency of the robot. Description of the Drawings

[0022] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0023] Figure 1 It is a schematic diagram of a way to close the obstacle avoidance trajectory provided by an embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of a missed cleaning area provided by an embodiment of the present application;

[0025] Figure 3 It is a flowchart of a method for identifying the missed cleaning area of a robot provided by an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of a wall-following trajectory provided by an embodiment of the present application;

[0027] Figure 5 It is a schematic diagram of the obstacle avoidance trajectory of the robot provided by an embodiment of the present application;

[0028] Figure 6 It is a schematic diagram of an obstacle contour reference trajectory provided by an embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of a situation of misidentifying the missed cleaning area provided by an embodiment of the present application. Detailed Embodiments

[0030] To more clearly illustrate the overall concept of the present application, the following is a detailed description by way of example in combination with the drawings of the specification.

[0031] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application may be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0032] In addition, in the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0033] In the present application, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "connected to", "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. In the description of this specification, the description with reference to terms such as "embodiment", "example", "an embodiment", "example" or "specific example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0035] The solutions in the embodiments of the present application will be described in detail below with reference to the drawings.

[0036] Figure 3 A flowchart of a method for identifying missed scanning areas of a robot provided for an embodiment of the present application is shown as Figure 3 As shown, the method for identifying missed scanning areas in the embodiments of the present application at least includes the following execution steps:

[0037] Step 301, obtain the wall-following trajectory of the robot.

[0038] Step 302: In response to detecting an obstacle during the cleaning task in the working area, control the robot to perform edge following obstacle avoidance around the obstacle.

[0039] When a robot, such as a floor cleaning robot, cleans a working area, it first generates a wall-following trajectory 401 by driving along the edge of the working area for one week along the wall, as shown by the gray curve in Figure 4 . Then, it cleans within the wall-following trajectory. In an example of the present application, the way the robot cleans within the wall-following trajectory can be bow-shaped cleaning.

[0040] Further, when the robot encounters an obstacle and collides during the cleaning of the working area, it switches to the edge following driving mode to drive around the obstacle to generate an obstacle avoidance trajectory.

[0041] Step 303: During the obstacle avoidance process, when the position of the robot closes with the wall-following trajectory, or when the position of the robot closes with the historical trajectory of the current obstacle avoidance and the current driving direction of the robot is consistent with the robot orientation at the corresponding position of the historical trajectory, stop the obstacle avoidance.

[0042] In a possible implementation manner of the embodiment of the present application, when the robot performs obstacle avoidance, there are two conditions for stopping the obstacle avoidance. When one of these two conditions is met, the robot will stop / end the obstacle avoidance and save the obstacle avoidance trajectory. Specifically, one condition is that the robot touches the wall-following trajectory during obstacle avoidance, that is, the position of the robot closes with the wall-following trajectory, and at this time, the obstacle avoidance is stopped. The other condition is that the robot touches the saved historical trajectory during obstacle avoidance, that is, the position of the robot closes with the historical trajectory and the orientation of the robot when it touches the historical trajectory is consistent with the robot orientation at the corresponding position in the historical trajectory, that is, the robot orientation corresponding to the touch point of the robot. At this time, the obstacle avoidance is stopped. After stopping the obstacle avoidance, the robot saves the obstacle avoidance trajectory.

[0043] In an example of the present application, the aforementioned robot touching the wall-following trajectory or the historical trajectory can be determined by the distance between the current position of the robot and the wall-following trajectory or the historical trajectory. If the distance between the current position of the robot and the wall-following trajectory or the historical trajectory is less than a preset distance, and the preset distance here can be 5 cm, it is considered that the robot has closed with the wall-following trajectory or the historical trajectory.

[0044] Step 304: Obtain the current obstacle avoidance trajectory of the robot.

[0045] Figure 5 For the schematic diagram of the robot obstacle avoidance trajectory provided by the embodiment of the present application, three obstacle avoidance trajectories are shown in Figure 5 . Another is that the robot touches the wall-following trajectory 401 during obstacle avoidance. At this time, the obstacle avoidance trajectory saved by the robot is as shown in Figure 5as shown by the trajectory 502 in; another is the historical trajectory of the robot touching the obstacle when bypassing the obstacle, for example Figure 5 as shown by the trajectory 501 in. When the robot bypasses the obstacle, it can normally return to the starting point. At this time, the robot saves the obstacle bypass trajectory of a normal closed circle. Another example is Figure 5 as shown by the trajectory 503 in. When the robot bypasses the obstacle, it touches the middle part of the saved historical trajectory, and when the current orientation of the robot is the same as the orientation of the robot corresponding to the touch point of the historical trajectory touched by the robot, at this time, the robot saves the obstacle bypass trajectory as shown by the trajectory 503 in Figure 5 as shown by the trajectory 503 in

[0046] It should be noted that both the wall-following trajectory and the obstacle bypass trajectory are the trajectories saved when the robot enters the edge-following driving. The difference between the two is the object of the edge-following, but both trajectories are composed of the robot coordinates and the robot orientation

[0047] Step 305: Determine the obstacle contour reference trajectory according to the current obstacle bypass trajectory

[0048] After obtaining the wall-following trajectory and the obstacle bypass trajectory, the identification process of the missed scanning area can be carried out

[0049] In a possible implementation manner of the embodiment of the present application, when identifying the missed scanning area, first, the un-cleaned areas in the working area are determined according to the obstacle bypass trajectory, such as Figure 6 shown by area A and area B in

[0050] Furthermore, in the embodiment of the present application, the trajectory at a preset distance on the preset side of the obstacle bypass trajectory is used as the obstacle contour reference trajectory. At this time, the obstacle bypass trajectory represents the actual position where the robot has traveled, and the obstacle contour reference trajectory can be used to represent the contour position of the actual obstacle. Specifically, when the direction of the robot entering the edge-following driving around the obstacle is the right wall-following, the trajectory at a preset distance on the right side of the obstacle bypass trajectory is used as the obstacle contour reference trajectory, and when the direction of the robot entering the edge-following driving around the obstacle is the left wall-following, the trajectory at a preset distance on the left side of the obstacle bypass trajectory is used as the obstacle contour reference trajectory. In an example of the present application, the aforementioned preset distance can be taken as half of the robot's body distance

[0051] Figure 6 is a schematic diagram of an obstacle contour reference trajectory provided by an embodiment of the present application. In Figure 6 the gray curve represents the obstacle bypass trajectory 601 of the robot. The area A and area B surrounded by the obstacle bypass trajectory 601 represent the un-cleaned areas in the working area. At the same time Figure 6 the arrow in represents the driving direction of the robot. From this driving direction, it can be determined Figure 6The corresponding robot moves along the wall to the right. Therefore, the black curve on the right side of the gray curve is the aforementioned obstacle contour reference trajectory 602.

[0052] Step 306: Identify the missed-scanning areas in the working area based on the obstacle contour reference trajectory.

[0053] In a possible implementation manner of the embodiment of the present application, after determining the obstacle contour reference trajectory, the working area is segmented by using the obstacle contour reference trajectory. Then, in the segmented working area, the connectivity between the uncleaned area and the wall-following trajectory is judged. Specifically, as Figure 6 shown, the working area can be segmented by the obstacle contour reference trajectory 602, and the uncleaned area, that is, Figure 6 area A and area B in

[0054] are segmented out in the working area. Then, in the segmented working area, the connectivity between area A and area B and the wall-following trajectory is judged. Figure 6 In an example of the present application, the aforementioned judgment of the connectivity between the uncleaned area and the wall-following trajectory, that is, judging whether the uncleaned area and the wall-following trajectory are in the same connected domain. What is meant by being in the same connected domain is that the robot can successfully plan a path from the wall-following trajectory to the uncleaned area, which is manifested as

[0055] the robot can successfully enter area A in

[0055] In a possible implementation manner of the embodiment of the present application, according to the connectivity between the uncleaned area and the wall-following trajectory, it is determined whether the uncleaned area is a missed-scanning area. Specifically, if there is no connectivity between the uncleaned area and the wall-following trajectory, that is, when the robot cannot successfully plan a path from the wall-following trajectory to the uncleaned area, the uncleaned area is identified as an actually unreachable area; while if there is connectivity between the wall-following trajectory and the uncleaned area, that is, when the robot can successfully plan a path from the wall-following trajectory to the uncleaned area, the uncleaned area is identified as a missed-scanning area.

[0056] In an example of the present application, for Figure 6The A area and the B area shown in the figure. The A area is actually reachable but the entrance is narrow, and the B area is actually unreachable. If the gray curve (i.e., the obstacle avoidance trajectory 601 that the robot actually travels) is used for recognition, the A area will be misrecognized as an unreachable area, resulting in missed sweeping. After using the black curve (i.e., the obstacle contour reference trajectory 602) to recognize the A area, the A area and the outer wall-following trajectory are in the same connected domain. Therefore, the A area can be recognized as a missed sweeping area; while the B area is still not in the same connected domain as the outer wall-following trajectory. Therefore, the B area can be recognized as an actually unreachable area. Thus, the missed sweeping area recognition scheme in the embodiments of the present application ensures high recognition accuracy and can accurately recognize the missed sweeping area.

[0057] To explain the solution in the embodiments of the present application in more detail, the following supplementary explanations are also made in the embodiments of the present application.

[0058] In a possible implementation manner of the embodiments of the present application, since there may be large obstacles or moving obstacles in the working area, at this time, the robot cannot completely wrap these obstacles along the wall, that is, the robot cannot smoothly close a circle when following the wall for these obstacles. In this way, when using the aforementioned missed sweeping area recognition scheme for recognition, it is easy to have misrecognition. Specifically, as Figure 7 shown by the obstacle C and the obstacle D, the gray curve is the contour 701 of the obstacle C, and the black curve is the obstacle contour reference trajectory 702 corresponding to the obstacle C and the obstacle D. For Figure 7 the situation shown, even if the robot divides the working area based on the obstacle contour reference trajectory 702 and recognizes the area that is not connected to the wall-following trajectory as an unreachable area, only the uncleaned area corresponding to the obstacle D can be recognized as an unreachable area, while the uncleaned area corresponding to the obstacle C is still connected to the wall-following trajectory, and the area where the obstacle C is located will be recognized as a missed sweeping area, but actually the obstacle C is unreachable. At this time, it is easy to cause misrecognition.

[0059] Furthermore, after recognizing the suspected obstacle corresponding to the obstacle C as a missed sweeping area, the robot will perform supplementary sweeping on this missed sweeping area. On the way for the robot to go to the missed sweeping area, there will inevitably be a collision (because the obstacle C is actually unreachable). After the collision, the robot will mark the obstacle point. In an example of the present application, the obstacle point marked by the robot at this time is to mark a point with a length and a width of 5 cm at the current orientation position of the robot, that is, as Figure 7The obstacle point 703 shown by the black rectangular block in []. After the robot marks the obstacle point, it will continue to re-plan the path to the missed cleaning area, and then collide again. The marked obstacle point 703 will be connected to the obstacle contour reference trajectory 702 with the multiple collisions of the robot to form a closed trajectory, that is, there is no gap that can enter the uncleaned area.

[0060] The robot will re-judge the connectivity between the uncleaned area and the wall-following trajectory through the obstacle contour reference trajectory and the marked obstacle points. If it is determined that the two are not connected, the previously identified missed cleaning area will be determined as a mis-identified area. After determining the mis-identified area, the robot will discard the mis-identified area in the missed cleaning area, that is, the robot will no longer plan a path to the mis-identified area to perform supplementary cleaning on it.

[0061] In a possible implementation manner of the embodiment of the present application, in order to improve the efficiency of subsequent path planning when the robot determines the obstacle contour reference trajectory, it will synchronously mark obstacle points at the position of the obstacle contour reference trajectory. In this way, the robot will bypass these marked obstacle points during subsequent path planning. However, if the robot's path planning fails, then all these marked obstacle points can be deleted, and after deletion, re-plan the path.

[0062] Further, when re-planning the path, after the robot collides, it will mark new obstacle points. At the same time, if the distance between the newly marked obstacle points and the obstacle contour reference trajectory is less than the third preset threshold, the third preset threshold here can be taken as 15 cm or half of the robot body distance, that is, the newly marked obstacle points are close to the obstacle contour reference trajectory. If the robot's path planning fails, these newly marked obstacle points will not be deleted at this time, so as to improve the probing efficiency when the robot re-plans the path subsequently.

[0063] What is not described in this application can be implemented by adopting or referring to the existing technology.

[0064] Each embodiment in this specification is described in a progressive manner. The same or similar parts between each embodiment can be referred to each other, and the key points of each embodiment are the differences from other embodiments.

[0065] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for identifying missed cleaning areas of a robot, the method comprising: Obtaining the wall-following trajectory of the robot; In response to detecting an obstacle during the cleaning task execution in the working area, controlling the robot to perform edge following around the obstacle; Characterized in that, the method further comprises: During the obstacle avoidance process, when the position of the robot closes with the wall-following trajectory, or when the position of the robot closes with the historical trajectory of the current obstacle avoidance and the current driving direction of the robot is consistent with the robot orientation at the corresponding position of the historical trajectory, stop the obstacle avoidance; Obtaining the current obstacle avoidance trajectory of the robot; Determining an obstacle contour reference trajectory according to the current obstacle avoidance trajectory; Identifying the missed cleaning areas in the working area based on the obstacle contour reference trajectory.

2. The method for identifying missed scanning areas of a robot according to claim 1, wherein, The determining an obstacle contour reference trajectory according to the current obstacle avoidance trajectory includes: Taking the trajectory at a first preset distance from a preset side of the current obstacle avoidance trajectory as the obstacle contour reference trajectory; wherein, the preset side is determined according to the edge following direction of the robot, and the first preset distance is the body radius of the robot.

3. A method for identifying missed scanning areas of a robot according to claim 1, characterized in that, The identifying the missed cleaning areas in the working area based on the obstacle contour reference trajectory includes: Determining the connectivity between the uncleaned areas in the working area and the wall-following trajectory based on the obstacle contour reference trajectory; Identifying whether the uncleaned area is a missed cleaning area according to the connectivity.

4. The method for identifying missed scanning areas of a robot according to claim 3, wherein The identifying whether the uncleaned area is a missed cleaning area according to the connectivity includes: If the uncleaned area is not connected to the wall-following trajectory, identifying the uncleaned area as an actually unreachable area; If the uncleaned area is connected to the wall-following trajectory, identifying the uncleaned area as a missed cleaning area.

5. The method for identifying missed scanning areas of a robot according to claim 3, wherein, The determining the connectivity between the uncleaned areas in the working area and the wall-following trajectory based on the obstacle contour reference trajectory includes: Dividing the working area by the obstacle contour reference trajectory; Based on the divided working area, determining whether the uncleaned areas in the working area are connected to the wall-following trajectory.

6. The method for identifying missed scanning areas of a robot according to claim 1, wherein, The method further comprises: Detecting the distance between the current position of the robot and the wall-following trajectory or the historical trajectory of the current obstacle avoidance; When detecting that the distance between the current position of the robot and the wall-following trajectory is less than or equal to a second preset distance, determining that the position of the robot closes with the wall-following trajectory; When detecting that the distance between the current position of the robot and the historical trajectory is less than or equal to a second preset distance, determining that the position of the robot closes with the historical trajectory.

7. A method for identifying missed scanning areas of a robot according to claim 1, characterized in that, After identifying the missed cleaning areas, the method further comprises: Controlling the robot to perform supplementary cleaning on the missed cleaning areas; During the process of the robot going to the missed cleaning area, if the robot collides, marking an obstacle point at the collision point; Based on the obstacle point and the obstacle contour reference trajectory, re-identifying the missed cleaning areas in the working area.

8. The method for identifying missed scanning areas of a robot according to claim 7, wherein The re-identifying the missed cleaning areas in the working area based on the obstacle point and the obstacle contour reference trajectory includes: Redetermine the connectivity between the uncleaned area and the wall-following trajectory within the working area based on the obstacle contour reference trajectory and the obstacle points; If it is determined that there is no connectivity between the uncleaned area and the wall-following trajectory, determine that the uncleaned area is a misidentified area; Control the robot to discard the misidentified area from the missed cleaning area.

9. The method for identifying missed scanning areas of a robot according to claim 1, characterized in that, The method further includes: Mark obstacle points at the position where the obstacle contour reference trajectory is located; When the path planning of the robot fails, delete the obstacle points and replan the path.

10. The method for identifying missed scanning areas of a robot according to claim 9, characterized in that, After the path is replanned, the method further includes: If the robot collides, mark new obstacle points at the collision location; When the path planning of the robot fails again, retain the new obstacle points at a distance less than or equal to the third preset distance from the obstacle contour reference trajectory without being deleted.

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