Mobile robot and repositioning method, device and equipment thereof, medium and product

Abstract

The embodiment of the invention discloses a mobile robot and a repositioning method, device and equipment thereof, a medium and a product, and the method comprises the steps: firstly, obtaining the environment information above the current initial position of the mobile robot, and then, carrying out the repositioning of the mobile robot under the condition that the environment information above the initial position meets preset non-low region features, and controlling the mobile robot to start moving and repositioning from the initial position. Therefore, based on the information of the environment above the current initial position of the mobile robot, the mobile robot starts moving and repositioning under the condition that the initial position is located in a non-low area, the influence of the surrounding environment on the detection range of the mobile robot can be reduced, the detection time in a low area is shortened, and the detection efficiency is improved. The positioning efficiency and effect of the mobile robot are improved, operation resources are saved, and the use performance of the mobile robot is further improved.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of mobile robots, and in particular to a mobile robot and its repositioning method, device, equipment, medium, and product. Background Art

[0002] With the widespread use of mobile robots, there are situations where they may lose their current location and need to relocalize to determine their current map and position. During this relocalization process, mobile robots have limited detection range in low-lying areas, resulting in poor observation data and low positioning efficiency. Summary of the Invention

[0003] In view of this, embodiments of the present application provide at least one mobile robot and its repositioning method, device, equipment, medium and product.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] An embodiment of the present application provides a repositioning method for a mobile robot, the method comprising:

[0006] Obtaining upper environmental information of the initial position where the mobile robot is currently located;

[0007] When the upper environment information of the initial position meets the preset non-low area characteristics, the mobile robot is controlled to move and reposition from the initial position.

[0008] An embodiment of the present application provides a repositioning device for a mobile robot, the device comprising:

[0009] An acquisition module, configured to acquire upper environmental information of the initial position where the mobile robot is currently located;

[0010] The control module is used to control the mobile robot to move and reposition from the initial position when the environmental information above the initial position meets the preset non-low area characteristics.

[0011] An embodiment of the present application provides a mobile robot, comprising: a controller;

[0012] The controller is used to implement part or all of the steps in the above method.

[0013] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0014] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements some or all of the steps in the above method when executed by a processor.

[0015] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code is executed in a computer device, a processor in the display device executes some or all of the steps for implementing the above method.

[0016] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0017] In the embodiment of the present application, first, information about the environment above the mobile robot's current initial position is obtained. Then, if the environmental information above the initial position meets the preset non-low-height area characteristics, the mobile robot is controlled to begin moving and repositioning from the initial position. In this way, based on the environmental information above the mobile robot's current initial position, the mobile robot is caused to begin moving and repositioning when the initial position is in a non-low-height area. This can reduce the impact of the surrounding environment on the mobile robot's detection range, shorten the time required to detect low-height areas, improve the mobile robot's positioning efficiency and effectiveness, save operating resources, and further improve the mobile robot's performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the implementation process of a mobile robot repositioning method provided in an embodiment of the present application Figure 1 ;

[0019] Figure 2 A schematic diagram of the implementation process of a mobile robot repositioning method provided in an embodiment of the present application Figure 2 ;

[0020] Figure 3 A schematic diagram of the structure of a mobile robot repositioning device provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application;

[0022] Figure 5 A hardware entity diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0024] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or sequence of "first / second / third" may be interchanged where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0026] In order to better understand the solution of the embodiment of the present application, the repositioning solution of the mobile robot in the related art is first described below.

[0027] Related technologies typically control mobile robots to directly detect their surroundings at the beginning of relocation, without prioritizing positioning in areas with low height. However, when relocation begins, the mobile robot may be in a low-lying area, where the initial detection range is limited, reducing detection efficiency and affecting positioning results.

[0028] In the embodiments of this application, a mobile robot refers to a robot that can move autonomously. For example, a mobile robot may include, but is not limited to, at least one of a cleaning robot (such as a sweeper, scrubber, mop, or all-in-one washer and mop), a guide robot, and a service robot. During implementation, the composition and structure of the mobile robot may be determined based on actual circumstances, and this embodiment of the application does not limit this.

[0029] On this basis, embodiments of the present application provide a method for relocating a mobile robot, which can be executed by a processor of a computer device. The computer device may refer to a mobile robot, server, laptop computer, tablet computer, desktop computer, smart TV, set-top box, mobile device (e.g., mobile phone, portable video player, personal digital assistant, dedicated messaging device, portable gaming device), or other device with data processing capabilities.

[0030] like Figure 1 As shown, the method includes the following steps S101 to S102:

[0031] Step S101: Acquire the upper environment information of the initial position where the mobile robot is currently located.

[0032] Here, the mobile robot can directly obtain the upper environmental information of the mobile robot's current initial position after being turned on or woken up, or it can obtain the upper environmental information of the mobile robot's current initial position after receiving a specific relocation trigger signal. The embodiments of the present application are not limited to this.

[0033] In some embodiments, before obtaining the above environmental information, it also includes responding to a repositioning trigger signal of the mobile robot. The repositioning trigger signal can be a signal that triggers the mobile robot to move and reposition, and can include but is not limited to at least one of a signal instruction given by the operating user of the mobile robot, a preset operation performed by the operating user of the mobile robot, and a signal instruction automatically triggered when the mobile robot meets the target conditions.

[0034] For example, the mobile robot can automatically trigger a signal instruction for repositioning at a preset time interval during the movement process after it is started.

[0035] For another example, the operator of the mobile robot may trigger the relocation of the mobile robot by performing a preset gesture on the control panel of the mobile robot.

[0036] The initial position may be the position of the mobile robot when responding to the relocation trigger signal. The initial position may be a position in a non-low-profile area or a position in a low-profile area.

[0037] Non-low areas can be areas where there is a large distance between the mobile robot and obstacles above it, such as the area under high-bottomed furniture, open areas indoors, flat ground outdoors, etc. Non-low areas usually have a large space that is convenient for the mobile robot to move and traverse.

[0038] The low area may be an area where the distance between the obstacle above the mobile robot and the mobile robot is small, such as the area under the bed, the bottom area of the sofa, etc. In the low area, there is usually not enough space for the mobile robot to move and operate.

[0039] It is understandable that when the mobile robot starts to relocate, the environment of the initial position of the mobile robot is unknown, that is, the mobile robot can start to relocate in a non-low area or in a low area.

[0040] The upper environmental information of the initial position may include but is not limited to at least one of the obstacle information above the mobile robot, the distance information between the obstacle above the mobile robot and the mobile robot, etc. The obstacle information may include but is not limited to the type, shape, number, etc. of the obstacles.

[0041] In some embodiments, information about the environment above the current initial position of the mobile robot can be acquired through an information acquisition component. The information acquisition component may include, but is not limited to, an image acquisition component and a signal acquisition component. The image acquisition component may include a camera, an ultrasonic imager, etc., and the signal acquisition component may include a Bluetooth signal acquisition component, an infrared signal acquisition component, a laser signal acquisition component, etc.

[0042] For example, the distance between the obstacle above the mobile robot and the initial position of the mobile robot at the current moment can be obtained by using a laser radar.

[0043] For another example, the distance between the obstacle above the mobile robot and the initial position of the mobile robot at the current moment can be obtained through an infrared sensor.

[0044] For another example, a camera may be used to capture a real-time image above the initial position of the mobile robot at the current moment, and further obtain the position and shape of the obstacle above.

[0045] In some embodiments, the information collection component can be externally connected to the mobile robot or integrated into the mobile robot.

[0046] Step S102 : When the upper environment information of the initial position meets the preset non-low area feature, the mobile robot is controlled to move and reposition from the initial position.

[0047] Here, the non-low area feature may be a characteristic condition that characterizes an area as a non-low area. For example, the non-low area feature may include that the distance between the obstacle above the mobile robot in the area and the mobile robot is greater than a minimum distance threshold, the area ratio between the partial area where the distance between the obstacle above the mobile robot in the area and the mobile robot is greater than the minimum distance threshold and the area of the area is greater than a minimum ratio threshold, etc.

[0048] It can be understood that when the environmental information above the initial position meets the preset non-low area characteristics, it can be confirmed that the area where the initial position is located is a non-low area. At this time, the mobile robot is controlled to move and reposition from the initial position. Compared with starting from the low area, the impact of the surrounding environment on the detection range of the mobile robot can be reduced, and the positioning efficiency and effect of the mobile robot can be improved.

[0049] In the embodiment of the present application, first, information about the environment above the mobile robot's current initial position is obtained. Then, if the environmental information above the initial position meets the preset non-low-height area characteristics, the mobile robot is controlled to begin moving and repositioning from the initial position. In this way, based on the environmental information above the mobile robot's current initial position, the mobile robot is caused to begin moving and repositioning when the initial position is in a non-low-height area. This can reduce the impact of the surrounding environment on the mobile robot's detection range, shorten the time required to detect low-height areas, improve the mobile robot's positioning efficiency and effectiveness, save operating resources, and further improve the mobile robot's performance.

[0050] In some embodiments, the upper environmental information of the initial position includes a height value of at least one sampling point in an initial area where the initial position is located, and the height value of the sampling point represents the distance between the mobile robot at the sampling point and an upper obstacle. The above method may further include the following step S111:

[0051] Step S111 : When the height values of the sampling points in the initial area are all greater than a height threshold, it is determined that the upper environment information of the initial position meets the non-low area feature.

[0052] Here, the height threshold may be a preset height threshold.

[0053] In some embodiments, if the height of a sampling point is greater than a height threshold, the sampling point may be determined as a non-low sampling point; if the height of a sampling point is not greater than the height threshold, the sampling point may be determined as a low sampling point. If all sampling points within the initial area are non-low sampling points, it may be determined that the environmental information above the initial location meets the non-low area characteristic.

[0054] In some embodiments, if the height values of all sampling points within the initial area are greater than a height threshold, the initial area where the initial position is located can be determined to be a non-low area, and the environmental information above the initial position can be further determined to meet the non-low area characteristics. This allows the mobile robot to be in an environment corresponding to a non-low area while moving from the initial area where the initial position is located, thereby improving detection effectiveness.

[0055] In some embodiments, the altitude value of at least one sampling point may be obtained based on collected environmental information data, wherein the environmental information data may include, but is not limited to, at least one of: lidar data, Bluetooth ranging data, infrared ranging data, image data, etc.

[0056] For example, Direct Time-of-Flight (DTOF) data can be used to determine whether the environment above the initial position meets the non-low area characteristic. A DTOF lidar is used to measure the time it takes for a laser pulse to be reflected by an obstacle above the mobile robot and then return. This is used to calculate the distance between the obstacle and the mobile robot, i.e., the height of the sampling point.

[0057] In the above embodiment, based on the relationship between the height values of each sampling point in the initial area and the height threshold, and when the height values of each sampling point in the initial area are all greater than the height threshold, it is determined that the upper environmental information of the initial position meets the non-low area feature. This can improve the accuracy of determining whether the initial position is in a non-low area, and further improve the efficiency and effectiveness of mobile repositioning starting from the initial position.

[0058] In some embodiments, the above method may further include the following steps S121 to S122:

[0059] Step S121 : When the upper environment information of the initial position does not satisfy the non-low area feature, control the mobile robot to move from the initial position to a first target position.

[0060] Here, the first target position may be a starting position for starting the movement and repositioning, or may be a target position far away from the initial position.

[0061] The first target position may include at least one of a position located in a non-low area, a position whose distance from the initial position is not less than a preset initial distance threshold, a position whose moving time from the initial position is not less than a preset initial time length, etc.

[0062] Step S122: Control the mobile robot to move and reposition from the first target position.

[0063] It is understood that if the environmental information above the initial position does not meet the non-low-rise area characteristics, it can be determined that the initial area where the initial position is located includes a low-rise area. Moving and relocating from the initial position will be affected by the low-rise area, reducing the detection range and thus reducing the efficiency and effectiveness of relocation. By starting the moving and relocating from the first target position obtained after leaving the initial position, the impact of the initial position on the efficiency and effectiveness of relocation can be reduced.

[0064] In the above embodiment, when the upper environmental information of the initial position does not meet the non-low area characteristics, controlling the mobile robot to move from the initial position to the first target position and then starting mobile repositioning can reduce the impact of the initial position on the repositioning efficiency and effect.

[0065] In some embodiments, controlling the mobile robot to move from the initial position to the first target position in step S121 may include the following steps S131 to S133:

[0066] Step S131 : determining a first candidate position in the current environment, where the distance between the first candidate position and the initial position is not less than a first distance threshold.

[0067] Here, the first candidate position may be a target position to be moved from an initial position and selected from a current space where the mobile robot is located.

[0068] For example, a non-low area may be searched from all area information acquired by the mobile robot before the current moment, and the first candidate position may be determined in the non-low area.

[0069] The first distance threshold may be a preset minimum distance threshold between the initial position and the first candidate position. This can increase the probability that the environment information above the first candidate position is different from the environment information above the initial position, further increasing the probability of improving the effectiveness of mobile relocation starting from a position other than the initial position.

[0070] Step S132: Control the mobile robot to move from the initial position to the first candidate position, and obtain upper environmental information of the current position of the mobile robot during the movement.

[0071] Here, in the process of the mobile robot moving from the initial position to the first candidate position, the upper environment information of the position of the mobile robot can be obtained in real time, and it can be determined whether the upper environment information of the position meets the non-low area feature.

[0072] Step S133: When the upper environment information of the current position of the mobile robot meets the non-low area feature, the current position of the mobile robot is determined as the first target position, and the mobile robot is controlled to stop moving.

[0073] Here, when the environmental information above the current position of the mobile robot meets the characteristics of a non-low area, it can be determined that the current position of the mobile robot is in a non-low area. At this time, the mobile robot is controlled to stop moving, and this position is used as the starting position for mobile repositioning and determined as the first target position. This can improve the positioning efficiency and effect compared to the mobile robot starting from the initial position in a low area for mobile repositioning.

[0074] In the above embodiment, first, a first candidate position is determined in the current environment, the distance between which and the initial position is not less than a first distance threshold. Then, the mobile robot is controlled to move from the initial position to the first candidate position, and the upper environmental information of the mobile robot's current position is obtained during the movement. Finally, when the upper environmental information of the mobile robot's current position meets the characteristics of a non-low area, the current position of the mobile robot is determined as the first target position, and the mobile robot is controlled to stop moving. In this way, on the one hand, during the process of moving to the first candidate position, based on the upper environmental information of the mobile robot's current position obtained in real time, a first target position in a non-low area can be determined, thereby reducing the impact of low areas on detection when starting mobile repositioning and improving the efficiency and effect of positioning. On the other hand, after determining the first target position, stopping moving to the first candidate position can save operating resources and further improve the efficiency of positioning.

[0075] In some embodiments, controlling the mobile robot to move from the initial position to the first target position in step S121 may further include the following steps S141 to S142:

[0076] Step S141, in response to the mobile robot arriving at the first candidate position, when the upper environmental information of the first candidate position does not meet the non-low area characteristics, determine the next first candidate position from the current environment, and the distance between the next first candidate position and the current first candidate position is not less than the first distance threshold.

[0077] Here, when the mobile robot reaches the first candidate position and the environmental information above the first candidate position does not meet the non-low area characteristics, it can be determined that the area covered by the route during movement and the area where the first candidate position is located both include low areas. At this time, searching for other non-low areas as the starting position for mobile repositioning can improve the efficiency and effectiveness of positioning. Therefore, other first candidate positions that are different from the currently reached first candidate position are continuously determined from the current environment of the mobile robot, and the distance between the next first candidate position and the current first candidate position is ensured to be no less than the first distance threshold. In this way, the probability that the environmental information above the next first candidate position is different from the environmental information above the current first candidate position can be increased, further improving the probability that the effectiveness of mobile repositioning starting from a non-current first candidate position can be improved.

[0078] Step S142: Control the mobile robot to move from the current first candidate position to the next first candidate position, and obtain upper environmental information of the current position of the mobile robot during the movement.

[0079] Here, in the process of the mobile robot moving from the current first candidate position to the next first candidate position, the upper environmental information of the position of the mobile robot can be obtained in real time, and it can be determined whether the upper environmental information of the position meets the non-low area feature.

[0080] In the above embodiment, first, in response to the mobile robot arriving at the first candidate position, if the environmental information above the first candidate position does not meet the non-low area feature, a next first candidate position is determined from the current environment, the distance between the next first candidate position and the current first candidate position being not less than a first distance threshold. Then, the mobile robot is controlled to move from the current first candidate position to the next first candidate position, and environmental information above the current position of the mobile robot is obtained during the movement. In this way, after arriving at the first candidate position, if the mobile robot is still not located in a non-low area, another first candidate position different from the current first candidate position is determined again, and the other first candidate position is sufficiently far away from the current first candidate position. At this time, the probability that the environmental information above the next first candidate position is different from the environmental information above the current first candidate position can be increased, further improving the probability of improving the effect of mobile repositioning starting from a non-current first candidate position.

[0081] It can be understood that in the process of controlling the mobile robot to move to the next first candidate position, if it is determined that it has entered a non-low area based on the upper environmental information of the mobile robot's position obtained in real time, the mobile robot can be controlled to stop moving to the next first candidate position and start moving repositioning.

[0082] In some embodiments, controlling the mobile robot to move from the initial position to the first target position in step S121 may further include the following step S151:

[0083] Step S151: When the upper environmental information of the first candidate position does not meet the non-low area feature, if the distance between the first candidate position and the initial position exceeds a second distance threshold, or the running time of the mobile robot from the initial position to the first candidate position exceeds a first time threshold, the first candidate position is determined as the first target position.

[0084] Here, the second distance threshold may be a preset minimum distance threshold between the first candidate position and the initial position.

[0085] The first time threshold may be a preset minimum running time threshold of the mobile robot starting from the initial position.

[0086] For example, when no non-low area can be found from all areas that the mobile robot currently passes through, a first candidate position whose distance from the initial position exceeds a second distance threshold may be used as the first target position.

[0087] For another example, if no non-low-rise area can be found in all areas the mobile robot is currently traversing, the first candidate location reached after a travel time exceeding a first time threshold from the initial location can be used as the first target location. This allows the robot to locate a location whose environmental information differs significantly from that of the initial location without wasting operational resources.

[0088] When the distance between the first candidate position and the initial position exceeds the second distance threshold, or the running time of the mobile robot from the initial position to the first candidate position exceeds the first time threshold, it can be determined that the first candidate position is far enough away from the initial position, and the probability that the environmental information above the first candidate position is different from the environmental information above the initial position can be increased. Therefore, determining the current first candidate position as the first target position can further improve the efficiency of mobile repositioning.

[0089] In the above embodiment, if the environmental information above the first candidate location does not meet the non-low-rise area characteristic, then if the distance between the first candidate location and the initial location exceeds the second distance threshold, or if the travel time of the mobile robot from the initial location to the first candidate location exceeds the first travel time threshold, then the first candidate location is determined as the first target location. In this way, if the environmental information above the first candidate location does not meet the non-low-rise area characteristic, the probability of determining a first target location whose environmental information above the location differs significantly from the environmental information above the initial location can be increased based on the distance between the first candidate location and the initial location or the travel time of the mobile robot from the initial location to the first candidate location, further improving the efficiency of mobile relocation.

[0090] In some embodiments, the process of controlling the mobile robot to perform mobile repositioning includes the following steps S161 to S162:

[0091] Step S161: Determine the current position of the mobile robot as a second target position, and control the mobile robot to collect environmental information at the second target position.

[0092] Here, the second target position may be a detection position for moving and repositioning, and may include the first target position in the above embodiment.

[0093] In some embodiments, environmental information can be collected by an information collection component. The environmental information may include but is not limited to at least one of image information, sound information, and distance information of the environment.

[0094] Step S162: In response to the mobile robot completing environmental information collection at the second target location, determining a next second target location from the current environment, and controlling the mobile robot to move to the next second target location to collect environmental information until a relocation result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or the next second target location does not exist in the current environment;

[0095] The next second target position is located outside the low area historically detected by the mobile robot, and the upper environmental information of at least one sampling point in the low area does not meet the non-low area feature.

[0096] Here, after the mobile robot completes the collection of the environmental information of the second target position, it can perform repositioning based on the collected environmental information and obtain a repositioning result, and the repositioning result can include positioning success or positioning failure.

[0097] In some embodiments, the relocation result of the mobile robot may be obtained through Simultaneous Localization and Mapping (SLAM) technology based on the currently collected environmental information and the historically collected environmental information.

[0098] In some implementations, when the currently collected environmental information matches the historically collected environmental information, the relocation result may be a successful positioning; when the currently collected environmental information does not match the historically collected environmental information, the relocation result may be a failed positioning.

[0099] In some embodiments, after positioning based on the environmental information of the current second target location fails, the next second target location can be determined from the current environment to continue repositioning until a repositioning result is obtained or there is no next second target location.

[0100] If the next second target location is outside of any low-lying areas previously detected by the mobile robot, the mobile robot can prioritize searching non-low-lying areas when determining the next second target location. This allows the mobile robot to prioritize detecting non-low-lying areas during mobile repositioning, reducing the time spent detecting low-lying areas and improving positioning efficiency and effectiveness.

[0101] In the above embodiment, the current position of the mobile robot is first determined as a second target position, and the mobile robot is controlled to collect environmental information at the second target position. Then, in response to the mobile robot completing environmental information collection at the second target position, a next second target position is determined from the current environment, and the mobile robot is controlled to move to the next second target position to collect environmental information until a relocation result for the mobile robot is obtained based on the currently collected environmental information and the previously collected environmental information, or the next second target position does not exist in the current environment. The next second target position is located outside of a low-lying area previously detected by the mobile robot, and the environmental information above at least one sampling point in the low-lying area does not meet the non-low-lying area characteristics. In this way, the mobile robot can prioritize environmental information collection for non-low-lying areas during mobile relocation, and obtain a relocation result for the mobile robot based on the currently collected environmental information and the previously collected environmental information, or the next second target position does not exist in the current environment. This reduces the time required to detect low-lying areas and further improves positioning efficiency and effectiveness.

[0102] In some embodiments, controlling the mobile robot to move to the next second target location to collect environmental information in step S162 may include the following steps S171 to S173:

[0103] Step S171 , controlling the mobile robot to move toward the next second target position, and obtaining upper environmental information of the current position of the mobile robot during the movement.

[0104] Here, the upper environment information of the current position of the mobile robot can be obtained in real time during the process of the mobile robot moving to the next second target position, and it can be determined whether the current position is in a non-low area.

[0105] Step S172: When the upper environment information of the current position of the mobile robot meets the non-low area feature, control the mobile robot to continue moving toward the next second target position.

[0106] Here, when the upper environmental information of the current position of the mobile robot meets the non-low area feature, it can be determined that the current position of the mobile robot is in the non-low area, the detection range is good, and there is no need to change the movement strategy.

[0107] Step S173 , in response to the mobile robot reaching the next second target position, controlling the mobile robot to collect environmental information at the next second target position.

[0108] Here, after the mobile robot reaches the next second target position and collects environmental information for the next second target position, the repositioning result of the mobile robot can be obtained based on the currently collected environmental information and the historically collected environmental information, or there is no other undetected second target position in the current environment.

[0109] In the above embodiment, first, the mobile robot is controlled to move toward the next second target position, and during the movement, the environmental information above the current position of the mobile robot is obtained. Then, when the environmental information above the current position of the mobile robot meets the characteristics of the non-low area, the mobile robot is controlled to continue to move toward the next second target position. In response to the mobile robot reaching the next second target position, the mobile robot is controlled to collect environmental information at the next second target position. In this way, after the mobile robot is relocated in the non-low area, it can continue to preferentially search for non-low areas for relocation, maintain a good detection range, and further improve the efficiency and effect of positioning during the overall relocation process.

[0110] In some embodiments, controlling the mobile robot to move to the next second target location to collect environmental information in step S162 may further include the following steps S181 to S183:

[0111] Step S181: When the upper environment information of the current position of the mobile robot does not meet the non-low area feature, it is determined that the mobile robot has detected the low area, and the mobile robot is controlled to stop moving to the next second target position.

[0112] Here, when the environmental information above the current location of the mobile robot does not meet the non-low area characteristics, it is determined that the area where the mobile robot is located includes a low area. At this time, continuing to move may cause the mobile robot to detect in the low area, resulting in poor positioning effect.

[0113] Step S182: Control the mobile robot to explore the boundary of the currently detected low area to obtain the boundary of the low area.

[0114] Here, by controlling the mobile robot to explore the boundaries of the detected low area, the boundaries of the low area are obtained, and the scope of the low area can be determined.

[0115] In some implementations, the boundary of the low area may be obtained by performing a boundary determination operation along the low area.

[0116] For example, the critical position between the low-lying area and the adjacent non-low-lying area may be detected by movement, and the detection may be continued along the critical position until the boundary determination operation is completed.

[0117] In some embodiments, the end condition for determining the boundary may include the mobile robot moving along the low area for detection and the detection direction making a circle based on the detection direction before detection, or the mobile robot making a circle around an upper obstacle.

[0118] Step S183: Record the low area based on the boundary of the low area.

[0119] Here, after the low area is recorded, the positioning area can be selected based on the low area in the subsequent repositioning process. For example, the non-low area can be preferentially selected as the repositioning moving area.

[0120] In the above embodiment, first, if the environmental information above the current location of the mobile robot does not meet the non-low-height area characteristics, the mobile robot is determined to have detected a low-height area, and the mobile robot is controlled to stop moving to the next second target location. Then, the mobile robot is controlled to explore the boundaries of the currently detected low-height area to obtain the boundaries of the low-height area. Finally, based on the boundaries of the low-height area, the low-height area is recorded. In this way, when the mobile robot detects a low-height area during its movement toward the second target location, the scope of the low-height area can be determined by exploring and recording the boundaries of the low-height area. The subsequent positioning area can then be selected based on the low-height area, further improving the efficiency and effectiveness of the overall repositioning.

[0121] In some embodiments, the process of controlling the mobile robot to perform mobile repositioning may further include the following steps S191 to S193:

[0122] Step S191, in response to the fact that the next second target position does not exist in the current environment and the repositioning result of the mobile robot is not obtained, a third target position is determined from the current environment, and the mobile robot is controlled to move toward the third target position; the route of the mobile robot from the current position to the next second target position does not pass through a low area.

[0123] Here, for each second target position determined from the current environment, the route of the mobile robot from the current position to the second target position does not pass through the low area.

[0124] In some embodiments, the third target location may be located in a low-lying area.

[0125] In some embodiments, when there is no next second target position in the current environment and no repositioning result of the mobile robot is obtained, it can be determined that there is no non-low area in the current environment that the mobile robot cannot reach without passing through the low area. At this time, detection can be performed on the low area in the current environment, or detection can be performed on other environments far away from the current environment. Other environments may include low areas and / or non-low areas.

[0126] Step S192: In response to reaching the third target position, controlling the mobile robot to collect environmental information at the third target position, and obtaining environmental information above the third target position.

[0127] Here, after the mobile robot reaches the third target position and collects environmental information of the third target position, the repositioning result of the mobile robot can be obtained based on the currently collected environmental information and the historically collected environmental information, or it can be judged based on the upper environmental information of the third target position whether the current environment includes an undetected non-low area.

[0128] Step S193, in a case where the environmental information above the third target position does not meet the non-low area characteristics, in response to the mobile robot completing the environmental information collection at the third target position, the next third target position is determined from the current environment, and the mobile robot is controlled to move to the next third target position to collect environmental information.

[0129] Here, when the environmental information above the third target position does not meet the non-low area characteristics, the area where the third target position is located includes a low area, and the repositioning result of the mobile robot can be obtained based on the currently collected environmental information and the historically collected environmental information. If no repositioning result is obtained, the next third target position in the next detection area is determined from the current environment.

[0130] In the above embodiment, first, in response to the fact that the next second target position does not exist in the current environment and the repositioning result of the mobile robot is not obtained, the third target position is determined from the current environment, and the mobile robot is controlled to move to the third target position; wherein, the route of the mobile robot from the current position to the next second target position does not pass through a low area, and then, in response to reaching the third target position, the mobile robot is controlled to collect environmental information at the third target position and obtain the environmental information above the third target position. Finally, when the environmental information above the third target position does not meet the non-low area characteristics, in response to the mobile robot completing the environmental information collection at the third target position, the next third target position is determined from the current environment, and the mobile robot is controlled to move to the next third target position to collect environmental information. In this way, since the second target position is a non-low area that the mobile robot can currently reach without passing through a low area, if the relocation result of the mobile robot is still not obtained after exploring the second target position in the current environment, the mobile robot can be controlled to go to a third target position different from the second target position to collect environmental information, that is, to go to the currently reachable low area to collect environmental information, so that more environmental information can be obtained, which is conducive to obtaining the relocation result as soon as possible and improving the accuracy of the relocation result.

[0131] In some embodiments, the process of controlling the mobile robot to perform mobile repositioning may further include the following step S1001:

[0132] Step S1001, when the environmental information above the third target position meets the non-low area characteristics, in response to the mobile robot completing the environmental information collection at the third target position, the next second target position is determined from the current environment, and the mobile robot is controlled to move to the next second target position to collect environmental information.

[0133] Here, when the environmental information above the third target position meets the non-low area characteristics, it can be determined that the third target position is in an undetected non-low area, and after collecting the environmental information of the third target position, other non-low areas are preferentially searched for detection.

[0134] It is understandable that before the mobile robot reaches the third target position, a new second target position can no longer be found in the current environment, that is, there is no non-low area in the current environment that the mobile robot can reach without passing through the low area; but since the third target position may be located in a low area, after the mobile robot reaches the third target position, a new non-low area may appear in the current environment that the mobile robot can reach without passing through the low area, that is, the next second target position may appear.

[0135] In the above embodiment, if the environmental information above the third target location meets the non-low-profile area characteristics, in response to the mobile robot completing environmental information collection at the third target location, the next second target location is determined from the current environment, and the mobile robot is controlled to move to the next second target location to collect environmental information. In this way, when an unexplored non-low-profile area is obtained, the mobile robot can prioritize exploration of other non-low-profile areas, ensuring that the mobile robot always prioritizes positioning based on non-low-profile areas during the relocation process, thereby improving the efficiency and effectiveness of the overall relocation.

[0136] The following describes the application of the mobile robot repositioning method provided in the embodiments of the present application in actual scenarios, taking the scenario of mobile repositioning of a sweeping robot with a DTOF component as an example.

[0137] When a robot vacuum begins cleaning, it may need to perform mobile relocalization to determine its current map and location, due to factors such as whether it has been moved or not removed from the charging station. When the robot vacuum is in low-lying areas, observation data is poor, hindering positioning. For example, positioning speed and effectiveness are poor when the robot vacuum is under furniture such as beds and sofas. During mobile relocalization, exiting low-lying areas first and prioritizing positioning in areas with low heights will help improve positioning effectiveness and speed.

[0138] The present application provides a mobile robot repositioning method that can implement a control strategy for a robot vacuum with a DTOF component to prioritize positioning in non-low-profile areas during mobile repositioning, thereby reducing the duration of poor observation time in low-profile areas and improving positioning effectiveness and speed. This method can be executed by a processor of a computer device.

[0139] like Figure 2 As shown, the method includes the following steps S201 to S213:

[0140] Step S201: determine whether the initial position is in a low area.

[0141] Here, when the initial position is in a low area, step S202 is executed; when the initial position is in a non-low area, step S206 is executed.

[0142] During implementation, the DTOF data can be used to determine whether the initial position is in a low area.

[0143] Step S202: leaving the low area.

[0144] Here, when the initial position of the sweeping machine is in a low area, the sweeping machine may be controlled to leave the low area. Step S202 may include steps S203 to S205.

[0145] Step S203: searching for a first target position away from a low area.

[0146] Step S204: Check in real time whether the vehicle enters a non-low area during movement.

[0147] Step S205: Determine whether the vehicle has left the low area.

[0148] During implementation, entering a non-low area, the distance from the initial position exceeding the second distance threshold, or moving from the initial position for more than the first target time can all be determined as leaving the low area.

[0149] Step S206: Search for the second target location.

[0150] Here, a second target position is searched for in the current environment at the current position, and positions in non-low areas are preferentially selected during the search.

[0151] Step S207: Move to the second target position.

[0152] Step S208: Check in real time whether the vehicle enters a low area.

[0153] Here, during the process of the sweeping machine moving to the second target position, it can be determined whether it enters a low area. If it enters a low area, it stops moving toward the second target position and executes step S209; if it does not enter a low area, it repeats steps S206 to S208 until a repositioning result is obtained, or the next second target position cannot be found; if the next second target position cannot be found after repeating steps S206 to S208, it executes step S210.

[0154] During implementation, DTOF data can be used to determine whether a vehicle has entered a low area.

[0155] Step S209: obtaining the low area boundary.

[0156] Here, after obtaining the low area boundary, step S206 is executed.

[0157] Step S210: global pattern search.

[0158] Here, the third target position is determined by detecting the entire area including the low area in the current environment.

[0159] Step S211, moving to the third target position.

[0160] Step S212: determine whether the third target position is in a low area.

[0161] Here, when the third target position is in a low area, steps S210 to S212 are repeated until a relocation result is obtained or the next third target position cannot be found; when the third target position is in a non-low area, step S206 is executed.

[0162] Step S213: Obtain the relocation result.

[0163] During implementation, if positioning is still unsuccessful after all areas are detected, a repositioning result of positioning failure may be obtained.

[0164] In this embodiment of the application, the DTOF data is used to determine whether the position passed by the sweeper is in a low-lying area, so that the sweeper can prioritize moving to non-low-lying areas during the mobile repositioning process. This can reduce the time of poor observation in low-lying areas and improve the effectiveness and speed of positioning.

[0165] The embodiment of the present application provides a repositioning device for a mobile robot. Figure 3 As shown, the mobile robot repositioning device 300 includes: an acquisition module 310 and a control module 320, wherein:

[0166] An acquisition module 310 is configured to acquire upper environmental information of an initial position where the mobile robot is currently located;

[0167] The control module 320 is configured to control the mobile robot to move and reposition from the initial position when the upper environmental information of the initial position meets a preset non-low area feature.

[0168] In some embodiments, the control module is also used to: control the mobile robot to move from the initial position to a first target position when the environmental information above the initial position does not meet the non-low area characteristics; and control the mobile robot to move and reposition from the first target position.

[0169] In some embodiments, the control module is also used to: determine a first candidate position in the current environment, and the distance between the first candidate position and the initial position is not less than a first distance threshold; control the mobile robot to move from the initial position to the first candidate position, and obtain the upper environmental information of the current position of the mobile robot during the movement; when the upper environmental information of the current position of the mobile robot meets the non-low area characteristics, determine the current position of the mobile robot as the first target position, and control the mobile robot to stop moving.

[0170] In some embodiments, the control module is also used to: in response to the mobile robot arriving at the first candidate position, when the upper environmental information of the first candidate position does not meet the non-low area characteristics, determine the next first candidate position from the current environment, and the distance between the next first candidate position and the current first candidate position is not less than the first distance threshold; control the mobile robot to move from the current first candidate position to the next first candidate position, and obtain the upper environmental information of the current position of the mobile robot during the movement.

[0171] In some embodiments, in the process of controlling the mobile robot to perform mobile repositioning, the control module is also used to: determine the current position of the mobile robot as a second target position, and control the mobile robot to collect environmental information at the second target position; in response to the mobile robot completing the environmental information collection at the second target position, determine the next second target position from the current environment, and control the mobile robot to move to the next second target position to collect environmental information, until the repositioning result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or the next second target position does not exist in the current environment; wherein, the next second target position is located outside the low area historically detected by the mobile robot, and the environmental information above at least one sampling point in the low area does not meet the non-low area characteristics.

[0172] In some embodiments, the control module is also used to: control the mobile robot to move toward the next second target position, and obtain the upper environmental information of the current position of the mobile robot during the movement; when the upper environmental information of the current position of the mobile robot meets the non-low area characteristics, control the mobile robot to continue moving toward the next second target position; in response to the mobile robot reaching the next second target position, control the mobile robot to collect environmental information at the next second target position.

[0173] In some embodiments, the control module is also used to: when the environmental information above the current location of the mobile robot does not meet the non-low area characteristics, determine that the mobile robot has detected the low area, and control the mobile robot to stop moving to the next second target position; control the mobile robot to explore the boundary of the currently detected low area to obtain the boundary of the low area; and record the low area based on the boundary of the low area.

[0174] In some embodiments, the control module is also used to: in response to the absence of a next second target position in the current environment and the failure to obtain a repositioning result of the mobile robot, determine a third target position from the current environment, and control the mobile robot to move toward the third target position; the route of the mobile robot from the current position to the next second target position does not pass through a low area; in response to reaching the third target position, control the mobile robot to collect environmental information at the third target position, and obtain environmental information above the third target position; if the environmental information above the third target position does not meet the non-low area characteristics, in response to the mobile robot completing the environmental information collection at the third target position, determine the next third target position from the current environment, and control the mobile robot to move to the next third target position to collect environmental information.

[0175] In some embodiments, the control module is also used to: when the environmental information above the third target position meets the non-low area characteristics, in response to the mobile robot completing the environmental information collection at the third target position, determine the next second target position from the current environment, and control the mobile robot to move to the next second target position to collect environmental information.

[0176] In some embodiments, the upper environmental information of the initial position includes the height value of at least one sampling point in the initial area where the initial position is located, and the height value of the sampling point represents the distance between the mobile robot at the sampling point and the upper obstacle. The device also includes: a determination module, which is used to: determine that the upper environmental information of the initial position meets the non-low area characteristics when the height values of each sampling point in the initial area are greater than a height threshold.

[0177] The present application embodiment provides a mobile robot, such as Figure 4 As shown, the mobile robot 400 includes: a controller 410; the controller 410 is used to implement the above-mentioned mobile robot repositioning method.

[0178] The descriptions of the above device embodiments and mobile robot embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the device embodiments and mobile robot embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0179] It should be noted that, in the embodiment of the present application, if the above-mentioned mobile robot repositioning method is implemented in the form of a software function module and is sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0180] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps in the above method when executing the program.

[0181] The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor. The computer-readable storage medium may be transient or non-transient.

[0182] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0183] An embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, implements some or all of the steps in the above method. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0184] It should be noted that the descriptions of the above storage medium, computer program product, and device embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, computer program product, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0185] It should be noted that Figure 5 A hardware entity diagram of a computer device provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502 and a memory 503, wherein:

[0186] Processor 501 generally controls the overall operation of computer device 500 .

[0187] The communication interface 502 enables the computer device to communicate with other terminals or servers through a network.

[0188] The memory 503 is configured to store instructions and applications executable by the processor 501. It can also cache data to be processed or processed by the processor 501 and various modules in the computer device 500 (for example, image data, audio data, voice communication data, and video communication data). This can be implemented using flash memory (FLASH) or random access memory (RAM). Data can be transmitted between the processor 501, the communication interface 502, and the memory 503 via a bus 504.

[0189] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0190] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0191] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0192] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0193] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0194] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0195] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0196] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A mobile robot repositioning method, characterized in that: The method comprises: Obtaining upper environmental information of the initial position where the mobile robot is currently located; When the upper environment information of the initial position meets the preset non-low area characteristics, the mobile robot is controlled to move and reposition from the initial position.

2. The method according to claim 1, characterized in that The method further comprises: When the upper environment information of the initial position does not meet the non-low area feature, controlling the mobile robot to move from the initial position to a first target position; The mobile robot is controlled to move and reposition from the first target position.

3. The method according to claim 2, characterized in that The controlling the mobile robot to move from the initial position to the first target position includes: Determine a first candidate position in the current environment, where a distance between the first candidate position and the initial position is not less than a first distance threshold; Controlling the mobile robot to move from the initial position to the first candidate position, and obtaining upper environmental information of the current position of the mobile robot during the movement; When the upper environment information of the current position of the mobile robot meets the non-low area feature, the current position of the mobile robot is determined as the first target position, and the mobile robot is controlled to stop moving.

4. The method according to claim 3, characterized in that The controlling the mobile robot to move from the initial position to the first target position further includes: In response to the mobile robot arriving at the first candidate position, if the environment information above the first candidate position does not meet the non-low area feature, determining a next first candidate position from the current environment, where the distance between the next first candidate position and the current first candidate position is not less than the first distance threshold; The mobile robot is controlled to move from the current first candidate position to the next first candidate position, and during the movement, the upper environment information of the current position of the mobile robot is acquired.

5. The method according to any one of claims 1 to 4, characterized in that The process of controlling the mobile robot to perform mobile relocation includes: determining the current position of the mobile robot as a second target position, and controlling the mobile robot to collect environmental information at the second target position; In response to the mobile robot completing environmental information collection at the second target location, determining a next second target location from the current environment, and controlling the mobile robot to move to the next second target location to collect environmental information until a relocation result of the mobile robot is obtained based on the currently collected environmental information and the historically collected environmental information, or the next second target location does not exist in the current environment; The next second target position is located outside the low area historically detected by the mobile robot, and the upper environmental information of at least one sampling point in the low area does not meet the non-low area feature.

6. A repositioning device for a mobile robot, characterized in that: The device comprises: An acquisition module, configured to acquire upper environmental information of the initial position where the mobile robot is currently located; The control module is used to control the mobile robot to move and reposition from the initial position when the environmental information above the initial position meets the preset non-low area characteristics.

7. A mobile robot, characterized in that: include: Controller; The controller is configured to implement the method according to any one of claims 1 to 5.

8. A computer device comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and the processor implements the method according to any one of claims 1 to 5 when executing the program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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