A repositioning method and a self-moving robot

Abstract

The embodiment of the present application discloses a kind of repositioning method and self-moving robot, the embodiment of the present application is by being arranged in the front of self-moving robot range sensor, self-moving robot can be rotated autonomously during repositioning, so that range sensor can collect the point cloud information around, to realize subsequent repositioning.The embodiment of the present application replaces laser radar sensor by using range sensor, can realize repositioning and guarantee the accuracy of positioning during repositioning at lower cost, solve the technical problem that prior art cannot realize accurate positioning at lower cost during repositioning.In addition, the embodiment of the present application can reduce the overall height of self-moving robot by setting range sensor in the front of self-moving robot, so that the passability of self-moving robot is better, can enter more lower area to clean.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a relocation method and a self-moving robot. Background Technology

[0002] During task execution, robots may lose their position on the map due to sensor malfunctions, external interference, or human movement, resulting in an inability to accurately determine their own position and orientation. Existing technologies typically use relocalization methods to help robots re-determine their correct position and orientation on the map.

[0003] However, existing relocalization methods generally employ SLAM (Simultaneous Localization and Mapping) based localization techniques. Among these, laser SLAM-based relocalization is costly, while visual SLAM-based relocalization has poor accuracy and requires expensive hardware to support its relocalization calculations. Summary of the Invention

[0004] This invention provides a relocation method and a self-moving robot, which solves the technical problem in the prior art that robots cannot achieve accurate positioning at a low cost during the relocation process.

[0005] In a first aspect, embodiments of the present invention provide a repositioning method applicable to a self-moving robot. The self-moving robot has a ranging sensor positioned in front of it. The ranging sensor includes a signal transmitter and at least one signal receiver. The signal transmitter is used to emit a laser signal, and the signal receiver is used to receive the reflected signal of the laser signal. The method includes:

[0006] The self-moving robot is controlled to rotate at least one revolution at its current position and collect point cloud information. The point cloud information is generated by controlling the signal transmitter to emit lasers during the rotation and by generating point cloud information based on the reflected signals received by the signal receiver.

[0007] Update the temporary map based on the point cloud information;

[0008] Match the temporary map with the preset map;

[0009] If the temporary map and the preset map are successfully matched, the current location in the preset map is determined based on the matching result.

[0010] This also includes:

[0011] If the temporary map fails to match the preset map, move to the next location and use the next location as the current location;

[0012] The process returns to the step of controlling the self-moving robot to rotate at least one revolution at the current position and collect point cloud information to update the temporary map and match the temporary map with the preset map, until the temporary map and the preset map are successfully matched or the relocation cutoff condition is met.

[0013] The movement to the next location includes:

[0014] The device can be randomly moved to a location different from the location where it was previously relocated, or moved a preset distance in a preset direction, or moved a target distance in a target direction, wherein the target direction is the opposite direction to the direction to which it was previously relocated, and the target distance is greater than the distance to which it was previously relocated.

[0015] The movement to the next location includes:

[0016] If an exploration boundary exists in the temporary map, multiple alternative exploration points are determined from the exploration boundary, where the exploration boundary is the intersection of known and unknown areas in the temporary map;

[0017] From the plurality of candidate exploration points, select the candidate exploration points whose distance from the current location does not exceed the distance threshold as the target exploration point;

[0018] Move from the current location to the target exploration point.

[0019] Where an exploration boundary exists in the temporary map, after determining multiple candidate exploration points from the exploration boundary, the method further includes:

[0020] If there are no candidate exploration points whose distance from the current location does not exceed the distance threshold, the candidate exploration point with the shortest distance from the current location is determined as the target exploration point.

[0021] In the temporary map, plan the movement path from the current location to the target exploration point;

[0022] The movement path is divided into multiple sub-paths, and movement is performed according to the movement path;

[0023] When moving to the end of any sub-path, the current end is taken as the current position. The self-moving robot is controlled to rotate at least one revolution at the current position and collect point cloud information to update the temporary map and match the temporary map with the preset map until the temporary map matches the preset map successfully or the relocation cutoff condition is reached.

[0024] The step of controlling the self-moving robot to rotate at least one revolution at its current position and collecting point cloud information includes:

[0025] When the self-moving robot determines that it has lost its location on a preset map within the base station, the self-moving robot is controlled to leave the base station and move to a preset position relative to the base station.

[0026] The preset position is used as the current position, and the self-moving robot is controlled to rotate at least one revolution at the current position and collect point cloud information.

[0027] Wherein, the step of controlling the self-moving robot to leave the base station and move to a preset position relative to the base station when the self-moving robot determines that it has lost its location on a preset map within the base station includes:

[0028] When the self-moving robot first starts the cleaning task in the base station or when the re-washing is completed in the base station, the location of the lost robot in the preset map is determined;

[0029] Control the self-moving robot to leave the base station and move to a preset position relative to the base station.

[0030] The step of controlling the self-moving robot to rotate at least one revolution at its current position and collecting point cloud information includes:

[0031] When the self-moving robot determines the lost location on the preset map outside the base station, it is controlled to rotate at least one revolution at the current location and collect point cloud information.

[0032] Wherein, when the self-moving robot determines its lost location on a preset map outside the base station, controlling the self-moving robot to rotate at least one revolution at its current location and collect point cloud information includes:

[0033] When the self-moving robot starts a cleaning task for the first time outside the base station, when it performs a recharging task in standby mode outside the base station, or when it does not move after pausing the cleaning task and restarts the cleaning task, a change in position is detected, and it is determined that the position located in the preset map is lost.

[0034] Control the self-moving robot to rotate at least one revolution at its current position and collect point cloud information.

[0035] This also includes:

[0036] If the location of the lost object in the preset map is determined when the cleaning task is started, and the relocation cutoff condition is met, the object returns to the location where the relocation was first performed.

[0037] The self-moving robot is controlled to restart its exploration of the current environment to rebuild the map and perform the cleaning task;

[0038] If the location on the preset map is lost when the relocation task is started, and the relocation cutoff condition is met, the system returns to the location where the relocation was first performed.

[0039] The self-moving robot is controlled to restart its exploration of the current environment to rebuild the map and detect the base signal emitted by the base station.

[0040] The relocation cutoff conditions include one or more combinations of the following: the relocation duration reaches a preset duration, the distance moved during the relocation process reaches a preset distance, the area of ​​the temporary map during the relocation process reaches a preset area, or the number of relocation failures reaches a preset number.

[0041] Secondly, embodiments of the present invention provide a self-moving robot, wherein a ranging sensor is disposed in front of the self-moving robot, the ranging sensor includes a signal transmitter and a signal receiver, the signal transmitter is used to emit a laser signal, the signal receiver is used to receive the reflected signal of the laser signal, and the self-moving robot also includes a processor and a memory.

[0042] The memory is used to store computer programs and to transfer the computer programs to the processor;

[0043] The processor is configured to execute a relocation method as described in the first aspect according to instructions in the computer program.

[0044] The above-described embodiments of the present invention provide a relocation method and a self-moving robot. By placing a ranging sensor in front of the self-moving robot, the robot can autonomously rotate during relocation, allowing the ranging sensor to collect surrounding point cloud information for subsequent relocation. By replacing the lidar sensor with a ranging sensor, the present invention achieves relocation at a lower cost and ensures accuracy during the relocation process, solving the technical problem that existing technologies cannot achieve accurate positioning at a lower cost. Furthermore, by placing the ranging sensor in front of the self-moving robot, the overall height of the robot is reduced, improving its maneuverability and enabling it to enter lower-lying areas for cleaning. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of a single-point lidar provided in an embodiment of the present invention.

[0046] Figure 2 This is a front view of a self-moving robot provided in an embodiment of the present invention.

[0047] Figure 3 This is a flowchart illustrating a relocation method provided in an embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram illustrating a self-moving robot returning to a base station for backwashing, as provided in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram illustrating a self-relocating robot moving to the next position for repositioning, as provided in an embodiment of the present invention.

[0050] Figure 6 This is a schematic diagram illustrating the principle of repositioning of a self-moving robot, as provided in an embodiment of the present invention.

[0051] Figure 7 This is a schematic diagram illustrating a self-moving robot randomly moving to the next position, as provided in an embodiment of the present invention.

[0052] Figure 8 This is a schematic diagram illustrating a self-moving robot moving forward to the next position, as provided in an embodiment of the present invention.

[0053] Figure 9 This is a schematic diagram illustrating a self-moving robot moving to the next position, provided as an embodiment of the present invention.

[0054] Figure 10 This is a schematic diagram of a temporary map provided in an embodiment of the present invention.

[0055] Figure 11 This is a schematic diagram illustrating a self-moving robot moving along a movement path, as provided in an embodiment of the present invention.

[0056] Figure 12 This is a schematic diagram of a preset position provided in an embodiment of the present invention.

[0057] Figure 13 This is a schematic diagram illustrating the repositioning of a self-moving robot within a workspace, as provided in an embodiment of the present invention.

[0058] Figure 14 This is a circuit diagram of a self-moving robot provided in an embodiment of the present invention. Detailed Implementation

[0059] The following description and accompanying drawings fully illustrate specific embodiments of this application to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of embodiments of this application includes the entire scope of the claims and all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "invention," which is merely for convenience and is not intended to automatically limit the scope of the application to any single invention or inventive concept if more than one invention is disclosed. Relational terms such as "first" and "second" are used herein only to distinguish one entity or operation from another, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed. The various embodiments in this document are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the structures, products, etc., disclosed in the embodiments, since they correspond to the disclosed parts, the descriptions are relatively simple; relevant details can be found in the method section.

[0060] In existing technologies, robots may encounter a "hijacking" problem during task execution. This "hijacking" problem refers to the phenomenon where a robot loses its correct position information on a map due to sensor malfunction, external interference, or human intervention, making it unable to accurately determine its own position and orientation. Robot "hijacking" problems typically occur in the following situations:

[0061] (1) Unknown or incorrect initial position: When the robot starts the task, it cannot determine its exact position on the map, or the initial position information is incorrect.

[0062] (2) The perceived motion does not match the actual motion: During the movement of the robot, due to sensor errors or environmental factors, the perceived motion information does not match the actual motion.

[0063] (3) Landmark loss: The robot cannot find the landmarks used for positioning during movement, which makes it unable to accurately determine its own position.

[0064] In existing technologies, when a robot experiences a "kidnapping" problem, relocalization methods are typically used to help the robot re-determine its correct position and orientation on the map, thus resolving the localization loss caused by the "kidnapping." Current relocalization methods generally employ SLAM (Simultaneous Localization and Mapping) based localization technology. SLAM-based localization technology refers to the robot's onboard sensors (such as LiDAR, cameras, inertial measurement units, etc.) acquiring point cloud information and determining its own position and orientation in the environment in real time based on this point cloud information, while simultaneously building a map of the environment. In other words, during movement, the robot simultaneously locates its own position and orientation using the observed point cloud information and builds an environmental map based on that point cloud information.

[0065] SLAM-based localization technologies include laser-based SLAM relocalization and vision-based SLAM relocalization. Laser-based SLAM relocalization utilizes a high-speed rotating lidar system to emit lasers. The distance between the robot and obstacles is determined by the time it takes for the laser to reflect back after hitting an obstacle, enabling real-time robot localization and environmental map construction. The robot then matches the constructed environmental map with a known global map to determine its position and orientation within the global map, achieving relocalization. Vision-based SLAM relocalization, on the other hand, uses an internal camera to acquire images of the surrounding environment. Image feature points are matched and compared to determine the robot's position and orientation, achieving relocalization.

[0066] However, for laser SLAM-based relocalization technology, lidar sensors are relatively expensive. Furthermore, existing lidar sensors need to rotate during operation to emit lasers in all directions for 360° detection; therefore, lidar sensors are typically mounted on top of the robot. Because lidar sensors themselves have a certain size, mounting them on top of the robot increases its overall height, resulting in poor maneuverability.

[0067] Visual SLAM-based relocalization technology is significantly constrained by the environment. The surge in information in images captured in complex environments can increase algorithm complexity, reducing localization accuracy, and requires expensive hardware to support its computation. Furthermore, localization errors are also greater in low-light indoor environments or when measuring distances at long distances.

[0068] Based on this, to address the technical problem that existing technologies for robot repositioning cannot achieve accurate positioning at a low cost, this invention provides a repositioning method. This repositioning method is applicable to self-moving robots, such as robotic vacuum cleaners or mops, which possess autonomous movement and automatic cleaning functions. Taking the normal forward direction of the self-moving robot as its travel direction, this embodiment includes a ranging sensor positioned in front of the self-moving robot, used to collect point cloud information. In this embodiment, the ranging sensor includes a signal transmitter and at least one signal receiver. The signal transmitter emits a laser signal, and the signal receiver receives the reflected laser signal. The laser signal is projected onto the surface of an object, forming a reflected signal. Based on the reflected signal, the ranging sensor can detect the object's position and distance information, thereby generating point cloud information. In one embodiment, the ranging sensor can be a single-point lidar, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of a single-point lidar provided in an embodiment of the present invention. The single-point lidar includes a signal transmitter 21 and a signal receiver 22. The signal transmitter 21 emits a laser beam, which is reflected back after encountering a target object and received by the signal receiver 22. The single-point lidar then calculates the distance to the target object by calculating the phase difference between the emitted and reflected phases of the modulated laser beam, and generates point cloud information. In another embodiment, as... Figure 2 As shown, Figure 2This is a front view of a self-moving robot provided in an embodiment of the present invention. A ranging sensor 20 is disposed directly in front of the self-moving robot 10 along its direction of travel. The ranging sensor 20 can be embedded in the outer shell of the self-moving robot 10 or adhered to the outer shell of the self-moving robot 10. The mounting height of the ranging sensor 20 is lower than the height of the self-moving robot 10. Preferably, the mounting position of the ranging sensor 20 can be positioned near the top of the self-moving robot 10. The ranging sensor 20 can be positioned near the top of the self-moving robot at the front. In this embodiment, by placing the ranging sensor in front of the self-moving robot, compared to the method using lidar sensors in the prior art, costs are reduced while also reducing the overall height of the self-moving robot, resulting in better maneuverability and the ability to enter lower areas for cleaning.

[0069] It is understood that the self-moving robot provided in this embodiment also includes a drive module and a positioning module, etc. The electronically controlled components in these modules are all controlled by the self-moving robot's processor. Correspondingly, the point cloud information collected by the ranging sensor can be sent to the processor for processing. The processor can analyze and process the received point cloud information to construct a map. In addition, the self-moving robot is also equipped with a charging module, a communication module, etc. It is understood that the drive module, positioning module, charging module, and communication module can all be implemented with reference to relevant self-moving robot technology fields. Specific installation methods and basic working principles are not elaborated here, nor are the corresponding working contents described. For example, the process of returning to the base station and charging via the charging module after cleaning is not described in detail. Furthermore, the self-moving robot is generally equipped with a base station, which is a device that provides charging, positioning, navigation, communication, and cleaning services for the self-moving robot.

[0070] like Figure 3 As shown, Figure 3 This is a flowchart illustrating a relocation method provided in an embodiment of the present invention. The relocation method provided in this embodiment includes:

[0071] Step 101: Control the self-moving robot to rotate at least one revolution at the current position and collect point cloud information. The point cloud information is generated by controlling the signal transmitter to emit lasers during the rotation and based on the reflected signals received by the signal receiver.

[0072] In this embodiment, when the self-moving robot experiences a "kidnapping" problem, i.e., loses its position on the preset map, it needs to relocalize. The preset map is a pre-set map, such as a global map of the robot's workspace, which can be pre-stored in the robot. During relocalization, the self-moving robot first needs to collect point cloud information to construct a temporary map. In this embodiment, since the ranging sensor is positioned in front of the robot and cannot rotate autonomously like a lidar sensor, it needs to rotate 360° around its current position to collect point cloud information. This rotation causes the ranging sensor to rotate. During rotation, the ranging sensor's signal transmitter emits a laser, and the ranging sensor generates a 360° point cloud frame based on the reflected signal received by the signal receiver. In another embodiment, the self-moving robot can rotate at a differential speed, meaning the center of rotation is not unique.

[0073] Step 102: Update the temporary map based on the point cloud information.

[0074] After acquiring point cloud information, the autonomous mobile robot can update the temporary map based on this information. The temporary map is initialized when the autonomous mobile robot begins relocalization. It can be understood that when the autonomous mobile robot performs relocalization for the first time, the temporary map is a blank map that does not contain any data.

[0075] Step 103: Match the temporary map with the preset map.

[0076] After updating the temporary map, the self-moving robot needs to match the temporary map with a preset map to determine its current position within the preset map. For example, when matching the temporary map with the preset map, points with obvious or invariant features, such as corners or furniture edges, can be extracted from the preset map, and corresponding feature points are also extracted from the temporary map. Then, algorithms such as cross-correlation, sequential detection, hierarchical search, or edge feature matching are used to match the feature points in the temporary map with those in the preset map. By calculating the similarity or distance between feature points, the most similar matching pair is found. Finally, based on the most similar matching pair, it is determined whether there is a matching position between the temporary map and the preset map, thus determining whether the temporary map matches the preset map. The process of matching the temporary map with the preset map can refer to existing technologies, and is not specifically limited in this embodiment. Furthermore, in different scenarios, to improve matching speed, the range of the preset map used for matching the temporary map can be flexibly selected. In some scenarios, the self-moving robot can obtain a local map from the global map and match the local map with the temporary map, thereby improving the matching speed. For example, such as Figure 4 As shown, Figure 4 This is a schematic diagram illustrating the process of a self-moving robot returning to a base station for re-washing, as provided in an embodiment of the present invention. Assume that the self-moving robot 10 triggers the re-washing process while cleaning room A. The self-moving robot 10 returns to the base station 30 in the lobby for re-washing, and then exits the base station for relocation after the re-washing is completed. During the relocation process, the self-moving robot can obtain a local map and a temporary map of the area surrounding the base station 30 in the lobby from the global map and match them. By reducing the amount of data that needs to be matched, the speed of relocation can be improved.

[0077] Step 104: If the temporary map and the preset map are successfully matched, determine the current location in the preset map based on the matching result.

[0078] If the temporary map and the preset map are successfully matched, the current location in the preset map can be determined based on the matching positions of the temporary map and the preset map, and the relocation can be completed.

[0079] The above-described embodiments of the present invention provide a repositioning method. By placing a ranging sensor in front of a self-propelled robot, the robot can autonomously rotate during repositioning, allowing the ranging sensor to collect surrounding point cloud information for subsequent repositioning. By replacing the lidar sensor with a ranging sensor, the present invention achieves repositioning at a lower cost and ensures accuracy during the repositioning process, solving the technical problem that existing technologies cannot achieve accurate positioning at a lower cost during repositioning. Furthermore, by placing the ranging sensor on the front shell of the self-propelled robot, the overall height of the robot is reduced, improving its maneuverability and enabling it to enter lower-lying areas for cleaning.

[0080] Based on the above embodiments, it also includes:

[0081] Step 105: If the temporary map fails to match the preset map, move to the next location and use the next location as the current location.

[0082] If the temporary map fails to match the preset map, the mobile robot needs to move to the next location. The direction and distance of the next location relative to the current location can be preset or randomly selected, as long as it does not coincide with a previously relocated location. For example, Figure 5 As shown, Figure 5This diagram illustrates a self-moving robot repositioning to a new location, as provided in an embodiment of the present invention. The dashed line represents the robot's movement path. After moving to the next location, the self-moving robot can use that location as its current location.

[0083] Step 106: Return to the control of the self-moving robot to rotate at least one revolution at the current position and collect point cloud information to update the temporary map and match the temporary map with the preset map, until the temporary map and the preset map are successfully matched or the relocation cutoff condition is met.

[0084] After moving to the next position and setting that position as the current position, the self-moving robot needs to re-execute steps 101 to 106, i.e., the self-moving robot needs to re-localize. Specifically, the self-moving robot needs to rotate 100 degrees around the current position to collect point cloud information of the surrounding 360°. Then, based on the collected point cloud information, it updates the previously constructed temporary map and matches the updated temporary map with a preset map. Based on the matching result, it determines its position in the preset map. The specific re-localization process can be referred to the content described in steps 101 to 104 above, and will not be repeated in this embodiment. If the self-moving robot fails to relocalize at the current position, it needs to continue moving to the next position and setting that position as the current position, and continue relocalizing until relocalization is successful or the relocalization cutoff condition is met. The relocalization cutoff condition is the condition for stopping relocalization, such as setting the relocalization cutoff condition to a preset duration. In one embodiment, such as... Figure 6 As shown, Figure 6 This is a schematic diagram illustrating the principle of repositioning for a self-moving robot according to an embodiment of the present invention. It should also be noted that after moving to the next position, the self-moving robot can reposition itself without adjusting its posture. That is, the orientation at the next position is used as the zero point of the rotation angle during repositioning. During the repositioning process, after one full rotation, the self-moving robot's posture only needs to return to the zero point of the angle.

[0085] As described above, in the relocation process of this embodiment of the invention, if relocation at the current location fails, the self-moving robot can continue to move to the next location for relocation until the temporary map successfully matches the preset map or the relocation cutoff condition is met, thereby further improving the success rate of relocation of the self-moving robot.

[0086] Based on the above embodiments, step 105, moving to the next position, includes:

[0087] Step 1051: Randomly move to a position different from the historical relocation position, or move a preset distance in a preset direction, or move a target distance in a target direction, where the target direction is the opposite of the direction to the previous relocation position, and the target distance is greater than the distance to the previous relocation position.

[0088] In one embodiment, if the updated temporary map fails to match the preset map after relocation at the current location, the self-moving robot needs to randomly move to a location different from the historical relocation location for relocation. The specific location of the next relocation can be selected according to actual needs, and the historical relocation locations are limited to the time interval from the moment the self-moving robot started this time to the current moment. For example, as shown... Figure 7 As shown, Figure 7 This is a schematic diagram illustrating a self-moving robot randomly moving to the next position, provided by an embodiment of the present invention. Figure 7 In the above embodiments, L1 to L3 represent the next possible location for the self-moving robot. After a failed relocation at the current location, the self-moving robot will continue to randomly move to the next location for relocation. This next location does not overlap with any previously relocated location, thus improving the success rate of relocation and preventing repeated relocation at the same location.

[0089] In another embodiment, the user can also pre-set the method by which the self-moving robot moves to the next location. Specifically, this can be set to allow the self-moving robot to move a preset distance in a preset direction, such as moving 1 meter forward or backward. The specific setting can be customized according to actual needs, and this embodiment does not impose any specific limitations. For example, if, after relocation at the current location, the updated temporary map fails to match the preset map, the self-moving robot moves 1 meter forward to reach the next location. Figure 8 As shown, Figure 8 This is a schematic diagram illustrating a self-moving robot moving forward to the next position according to an embodiment of the present invention. Furthermore, it can be understood that when an obstacle exists in front of the self-moving robot, preventing further forward movement, the robot can rotate its body by a certain angle to adjust its forward direction. As described above, in this embodiment of the present invention, after the self-moving robot fails to reposition at its current position, it will move a preset distance in a preset direction to reach the next position for repositioning. This improves the success rate of repositioning while also avoiding repeated positioning at the same location.

[0090] In another embodiment, if relocation fails at the current position, the self-propelled robot can move to the next position by moving a target distance in a target direction, where the target direction is opposite to the direction from which it last moved to the relocation position, and the target distance is greater than the distance from the last relocation position. For example, if the robot moved 1 meter forward when moving to the next position, it needs to move more than 1 meter backward the next time it moves to the next position. For instance, as shown... Figure 9 As shown, Figure 9 This is a schematic diagram illustrating how a self-moving robot moves to the next position according to an embodiment of the present invention. Assuming that when moving to the next position, it moves 1 meter to the left, then the next time it moves to the next position, it needs to move 2 meters to the right, and so on, until repositioning is successful or the repositioning cutoff condition is met. As described above, in this embodiment of the present invention, after the self-moving robot fails to reposition at its current position, it moves a target distance in a target direction to reach the next position. The target direction is the opposite direction to the previous position, and the target distance is greater than the previous position distance. This movement method improves the success rate of repositioning while avoiding repeated repositioning at the same location.

[0091] Based on the above embodiments, step 105, moving to the next position, includes:

[0092] Step 1052: If there is an exploration boundary in the temporary map, determine multiple alternative exploration points from the exploration boundary. The exploration boundary is the intersection of the known area and the unknown area in the temporary map.

[0093] After the mobile robot updates the temporary map, it further determines whether there are exploration boundaries within the temporary map. Specifically, based on the distribution of traversable and unknown areas, it confirms whether there is an intersection between these two types of areas, i.e., whether there are exploration boundaries. For example, such as... Figure 10 As shown, Figure 10 This is a schematic diagram of a temporary map provided in an embodiment of the present invention. Figure 10In the temporary map, the darkest black represents obstacle areas that the autonomous robot cannot pass through; the next darkest dark gray represents unknown areas that the autonomous robot can explore; and the lightest light gray represents passable areas that the autonomous robot can freely traverse. The boundary between the passable area and the unknown area is the exploration boundary. Further scanning is necessary at the exploration boundary to confirm whether the unknown area is an obstacle or a passable area. The exploration boundary in the temporary map is usually a line of a certain length. If an exploration boundary exists, candidate exploration points are identified from it. In this embodiment, identifying candidate exploration points from the exploration boundary refers to selecting multiple candidate exploration points above or near the boundary line between the passable area and the unknown area, according to preset rules.

[0094] Step 1053: From multiple candidate exploration points, determine the candidate exploration points whose distance from the current location does not exceed the distance threshold as the target exploration point.

[0095] After identifying multiple candidate exploration points, the self-moving robot needs to select the target exploration point from among these candidates, choosing one whose distance from the current position does not exceed a distance threshold. The reason for setting a distance threshold is that if the distance between two adjacent relocations is large, the overlapping area of ​​the point cloud in the updated temporary map after the two relocations may be significantly reduced. The overlapping area is a crucial part of point cloud stitching because it provides connection information between point clouds at different locations. If the overlapping area is insufficient, the updated temporary map may contain large errors that cannot be eliminated and are propagated to the next relocation process, causing error accumulation. This error accumulation will significantly reduce the accuracy of the updated temporary map. Therefore, in this embodiment, it is necessary to select the target exploration point from among the multiple candidate exploration points, choosing one whose distance from the current position does not exceed a distance threshold. Furthermore, the distance threshold can be set according to actual needs; this embodiment does not impose a specific limitation.

[0096] Step 1054: Move from the current location to the target exploration point.

[0097] After determining the target exploration point within the exploration boundary, you can move towards the target exploration point. Once you reach the target exploration point, set the target exploration point as your current position and repeat the process described in steps 101 to 106.

[0098] As described above, in this embodiment of the invention, after the mobile robot fails to relocate at its current position, it further determines a target exploration point within the exploration boundary, moves to the target exploration point, uses the target exploration point as its current position, and then performs relocation. By moving to the target exploration point for relocation, the success rate of relocation can be improved.

[0099] In another embodiment, when an exploration boundary exists in the temporary map, after determining multiple candidate exploration points from the exploration boundary, the method further includes:

[0100] Step 1055: If there are no candidate exploration points whose distance from the current location does not exceed the distance threshold, determine the candidate exploration point with the shortest distance from the current location as the target exploration point.

[0101] In another embodiment, if there are no candidate exploration points in the exploration boundary whose distance from the current position does not exceed a distance threshold, then the candidate exploration point with the shortest distance from the current position needs to be determined as the target exploration point.

[0102] Step 1056: In the temporary map, plan the movement path from the current location to the target exploration point.

[0103] After identifying the target exploration point, it is necessary to further plan the movement path from the current location to the target exploration point on the temporary map.

[0104] Step 1057: Divide the movement path into multiple sub-paths and move according to the movement path.

[0105] After determining the movement path, it needs to be further divided into multiple sub-paths. The end point of each sub-path is the starting point of the next sub-path. Each sub-path can be divided at equal intervals or non-equal intervals, depending on the actual needs. This embodiment does not impose specific limitations. After dividing the movement path into multiple sub-paths, the self-moving robot needs to move according to the movement path.

[0106] Step 1058: When moving to the end of any sub-path, take the current end as the current position, control the self-moving robot to rotate at least one revolution at the current position and collect point cloud information to update the temporary map and match the temporary map with the preset map until the temporary map matches the preset map successfully or the relocation cutoff condition is reached.

[0107] During its movement along the path, when the self-mobilizing robot reaches the end of the first sub-path, it uses that end as its current position, rotates at least one full turn at that position, and collects point cloud information to update the temporary map. This temporary map is then matched with a preset map for relocalization. If relocalization fails at the end of the first sub-path, the robot moves to the end of the second sub-path, uses that end as its current position, and rotates one full turn again for relocalization. This process continues until the temporary map successfully matches the preset map or the relocalization cutoff condition is met. For example,... Figure 11 As shown, Figure 11 This is a schematic diagram illustrating a self-moving robot moving along a movement path, as provided in an embodiment of the present invention. Figure 11 In the diagram, A1 represents the current position of the self-moving robot 10 (corresponding to...). Figure 11 The location of the center of the self-moving robot 10 (the same applies to other locations) is shown in Figure 10. A2 is the target exploration point determined by the self-moving robot 10. B1, B2, and B3 are the endpoints of three sub-paths on the movement path to the target exploration point A2, respectively. D1, D2, D3, and D4 correspond to the distances of each sub-path segment, and D1, D2, D3, and D4 are all less than the distance threshold. The self-moving robot first moves to B1 according to the movement path, uses B1 as its current position, and rotates one full circle for repositioning. If repositioning at B1 fails, it continues to move to B2 and rotates one full circle for repositioning. If repositioning at B2 fails, it continues to move to B3 and rotates one full circle for repositioning. It should also be noted that after the self-moving robot moves to the target exploration point A2 according to the movement path, if it has not yet successfully repositioned or has reached the repositioning cutoff condition, the self-moving robot will re-determine a new target exploration point. During the movement from A1 to A2, the self-moving robot will not re-determine a target exploration point.

[0108] As described above, in this embodiment of the invention, when the distance between the target exploration point and the current position exceeds a distance threshold, the self-moving robot divides the movement path from the current position to the target exploration point into multiple sub-paths. During the movement, when it reaches the end of any sub-path, it uses that end as its current position and controls the self-moving robot to reposition itself at that position. By dividing the movement path into multiple sub-paths and repositioning at the end of each sub-path, the efficiency of the self-moving robot in exploring unknown areas can be guaranteed while improving the success rate of repositioning.

[0109] Based on the above embodiments, step 101, which involves controlling the self-moving robot to rotate at least one revolution at its current position and collecting point cloud information, includes:

[0110] Step 1011: When the self-moving robot determines the lost location on the preset map within the base station, control the self-moving robot to leave the base station and move to a preset position relative to the base station.

[0111] Step 1012: Set the preset position as the current position, control the self-moving robot to rotate at least one revolution at the current position and collect point cloud information.

[0112] In this embodiment, when the self-moving robot determines that it has lost its location on a preset map within the base station, the self-moving robot needs to leave the base station and move to a preset position relative to the base station. This preset position relative to the base station can be pre-set; for example, it can be set to a position 30cm directly in front of the base station. Figure 12 As shown, Figure 12 This is a schematic diagram of a preset position provided in an embodiment of the present invention. Figure 12 The position of the pentagram directly in front of base station 30 is the preset position. After moving to the preset position, the autonomous mobile robot will use it as its current position, rotate at least one revolution at this position, and collect point cloud information. Specifically, when the autonomous mobile robot first starts a cleaning task within the base station or completes a backwash within the base station, it will determine the lost position on the preset map. It can be understood that when the autonomous mobile robot performs a cleaning task for the first time, it needs to establish an understanding of the entire environment and determine its own specific position within it; therefore, the autonomous mobile robot needs to perform relocalization. When the autonomous mobile robot returns to the base station and performs a backwash, since it did not have real-time localization during the backwash process, it needs to perform relocalization after the backwash is completed, allowing it to update its position information and replan the path for the remaining cleaning tasks. Afterward, the autonomous mobile robot is controlled to leave the base station and move to the preset position relative to the base station for subsequent relocalization. In one embodiment, during the relocation process of the self-mobilizing robot to a preset location, in order to improve the matching speed, the preset map to be matched with the temporary map can be a local map around the location of the base station. Matching the local map with the temporary map can improve the matching speed. It should also be noted that after receiving a cleaning task, the self-mobilizing robot will immediately start the cleaning task and begin relocation. During the relocation process, the self-mobilizing robot can simultaneously perform the cleaning task.

[0113] In another embodiment, step 101, controlling the self-moving robot to rotate at least one revolution at its current position and collecting point cloud information, includes:

[0114] When the self-moving robot determines the lost location on the preset map outside the base station, it is controlled to rotate at the current position for at least one revolution and collect point cloud information.

[0115] In another embodiment, when the self-propelled robot determines that it has lost its location on a preset map outside the base station, the self-propelled robot directly rotates at least one full circle at its current position and collects point cloud information for relocation. Specifically, when the self-propelled robot first starts a cleaning task outside the base station, when it performs a recharging task in standby mode outside the base station, or when it has not moved after pausing the cleaning task and then detects a change in its position upon restarting the cleaning task, it is determined that it has lost its location on the preset map. It can be understood that when the self-propelled robot is outside the base station and in standby mode, since it does not have real-time positioning in standby mode, after restarting, the self-propelled robot needs to re-determine its position to plan the optimal path back to the base station, thus requiring relocation. If it has not moved after pausing the cleaning task and then detects a change in its position upon restarting the cleaning task, it indicates that the self-propelled robot's position was manually moved during the pause of the cleaning task. Therefore, after restarting the cleaning task, the self-propelled robot needs to re-determine its current location on the preset map. When it is determined that it has lost its location on the preset map, the self-propelled robot rotates at least one full circle at its current position and collects point cloud information for relocation.

[0116] Based on the above embodiments, it also includes:

[0117] Step 107: When starting the cleaning task, if the location of the lost object in the preset map is determined and the relocation deadline is met, return to the location where the relocation was first performed.

[0118] Step 108: Control the self-moving robot to restart exploring the current environment to rebuild the map and perform cleaning tasks.

[0119] In one embodiment, if the self-propelled robot determines that it has lost its position on a preset map during a cleaning task, and the relocation cutoff condition is met during subsequent relocation processes, the self-propelled robot needs to return to the initial relocation position. This initial relocation position can be marked on a temporary map. Subsequent relocation failures will be resolved by moving back to the initial relocation position based on the temporary map. For example, as shown... Figure 13 As shown, Figure 13 This is a schematic diagram illustrating the repositioning of a self-moving robot within a workspace, as provided in an embodiment of the present invention. Figure 13In the process, after the self-propelled robot 10 starts a cleaning task within the base station 30 and determines the location of the lost object on the preset map, the self-propelled robot 10 needs to leave the base station 30 and move to a preset position C0 relative to the base station 30 (corresponding to...). Figure 13 The self-moving robot 10, starting from the center of the circle (and similarly for other positions), rotates one full circle after setting the preset position C0 as its current position for repositioning. If repositioning at the preset position C0 fails, the self-moving robot 10 determines the target exploration point C3 on a temporary map and establishes a movement path to C3. This path is then divided into three sub-paths, where S1, S2, and S3 represent the distances of each sub-path. The self-moving robot 10 moves according to the path. When it reaches the endpoint C1 of the first sub-path, it sets C1 as its current position and rotates one full circle for repositioning. If repositioning fails, it continues moving to the endpoint C2 and then the target exploration point C3 for further repositioning. If the self-moving robot 10 reaches the repositioning cutoff condition after repositioning at the target exploration point C3, it must return to the initial repositioning position, i.e., the preset position C0. Upon reaching the preset position C0, the self-moving robot 10 restarts its exploration of the current environment to rebuild the map, simultaneously performing a cleaning task during the exploration process. If the self-mobile robot 10 has not reached the relocation cutoff condition after relocation at the target exploration point C3, then the self-mobile robot 10 needs to determine a new target exploration point and move to the new target exploration point for relocation.

[0120] As described above, after the self-mobilizing robot reaches the relocation cutoff condition in a scenario where it has initiated a cleaning task, it will return to the initial relocation location and restart exploring the current environment to rebuild the map and perform the cleaning task. This embodiment of the invention allows the self-mobilizing robot to continue performing the cleaning task even when the relocation cutoff condition is reached, preventing it from entering a standby state due to inability to locate itself. This ensures the cleaning efficiency of the self-mobilizing robot while improving the user experience.

[0121] Step 109: If the location on the preset map is lost when the relocation task is started, and the relocation deadline is met, return to the location where the relocation was first performed.

[0122] Step 110: Control the self-moving robot to restart exploring the current environment to rebuild the map and detect the base signal emitted by the base station.

[0123] In another embodiment, if the self-mobile robot determines that it has lost its location on the preset map when initiating the re-localization task, and the re-localization cutoff condition is met during the subsequent re-localization process, the self-mobile robot also needs to return to the initial re-localization location. After moving to the initial re-localization location, the self-mobile robot needs to restart exploring the current environment to build a map, and also needs to detect the base station signal emitted by the base station, which indicates the location of the base station. When the base station signal is detected, the self-mobile robot can determine the location of the base station and proceed with re-localization.

[0124] As described above, after the self-mobile robot reaches the relocation cutoff condition in the scenario of initiating a recharging task, it will return to the location where it first attempted relocation to restart exploring the base station signal. This embodiment of the invention allows the self-mobile robot to continue exploring the base station signal for charging even when the relocation cutoff condition is reached during the recharging task, preventing the robot from entering standby mode due to location failure and improving the user experience.

[0125] Based on the above embodiments, the relocation cutoff conditions include one or more combinations of the following: the relocation duration reaches a preset duration, the distance moved during the relocation process reaches a preset distance, the area of ​​the temporary map during the relocation process reaches a preset area, or the number of relocation failures reaches a preset number.

[0126] In one embodiment, the relocation cutoff condition can be set to any one or more combinations of the following conditions: the relocation duration reaches a preset duration, the distance moved during the relocation process reaches a preset distance, the area of ​​the temporary map during the relocation process reaches a preset area, and the number of relocation failures reaches a preset number. The preset duration, preset distance, preset area, and preset number can all be set according to actual needs. For example, the preset duration can be set to 5 minutes, the preset distance to 10 meters, the preset area to 10 square meters, and the preset number to 5 times, etc. Furthermore, it should be noted that when the self-moving robot moves to the next location and updates the temporary map, it updates based on the temporary map generated at the previous location. Therefore, as the number of relocations by the self-moving robot increases, the area of ​​the updated temporary map will also increase. When the area of ​​the temporary map reaches the preset area, it indicates that the self-moving robot has explored a sufficient area without successfully relocating, and the environment in which the self-moving robot is located has changed significantly. Therefore, relocation can be stopped at this point.

[0127] This embodiment also provides a self-moving robot, such as Figure 14 As shown, Figure 14The circuit diagram of a self-moving robot provided in this embodiment of the invention shows that a ranging sensor 20 is provided in front of the self-moving robot 10. The ranging sensor 20 includes a signal transmitter 21 and at least one signal receiver 22. The signal transmitter 21 is used to emit laser signals, and the signal receiver 22 is used to receive the reflected signals of the laser signals. The self-moving robot 10 includes a processor 300 and a memory 301.

[0128] The memory 301 is used to store the computer program 302 and to transfer the computer program 302 to the processor 300;

[0129] The processor 300 is used to execute the steps in one of the above-described relocation method embodiments according to the instructions in the computer program 302.

[0130] For example, computer program 302 can be divided into one or more modules / units, one or more modules / units are stored in memory 301 and executed by processor 300 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which are used to describe the execution process of computer program 302 in self-moving robot 10.

[0131] The self-moving robot 10 may include, but is not limited to, a processor 300 and a memory 301. Those skilled in the art will understand that... Figure 14 This is merely an example of the self-moving robot 10 and does not constitute a limitation on the self-moving robot 10. It may include more or fewer components than shown, or combine certain components, or different components. For example, the self-moving robot 10 may also include input / output devices, network access devices, buses, etc.

[0132] The processor 300 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0133] The memory 301 can be an internal storage unit of the self-mobilizing robot 10, such as a hard disk or memory of the self-mobilizing robot 10. The memory 301 can also be an external storage device of the self-mobilizing robot 10, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-mobilizing robot 10. Furthermore, the memory 301 can include both internal and external storage units of the self-mobilizing robot 10. The memory 301 is used to store computer programs and other programs and data required by the self-mobilizing robot 10. The memory 301 can also be used to temporarily store data that has been output or will be output.

[0134] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0136] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0137] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0138] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing computer programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] This invention also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a relocation method applicable to a self-moving robot. A ranging sensor is positioned in front of the self-moving robot. The ranging sensor includes a signal transmitter and at least one signal receiver. The signal transmitter emits a laser signal, and the signal receiver receives the reflected laser signal. The relocation method includes:

[0140] Control the self-moving robot to rotate at least one revolution at its current position and collect point cloud information. The point cloud information is generated by controlling the signal transmitter to emit lasers during the rotation and by the reflected signals received by the signal receiver.

[0141] Update the temporary map based on point cloud information;

[0142] Match the temporary map with the preset map;

[0143] If the temporary map and the preset map are successfully matched, the current location in the preset map is determined based on the matching result.

[0144] Note that the above are merely preferred embodiments and the technical principles applied in this invention. Those skilled in the art will understand that the embodiments of this invention are not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this invention. Therefore, although the embodiments of this invention have been described in detail above, the embodiments of this invention are not limited to the above embodiments. More other equivalent embodiments may be included without departing from the concept of the embodiments of this invention, and the scope of the embodiments of this invention is determined by the scope of the appended claims.

Claims

1. A relocation method, characterized in that, The method is applicable to a self-moving robot, wherein a ranging sensor is disposed in front of the self-moving robot, the ranging sensor including a signal transmitter and at least one signal receiver, the signal transmitter being used to emit a laser signal, and the signal receiver being used to receive the reflected signal of the laser signal, the method comprising: The self-moving robot is controlled to rotate at least one revolution at its current position and collect point cloud information. The point cloud information is generated by controlling the signal transmitter to emit lasers during the rotation and by generating point cloud information based on the reflected signals received by the signal receiver. Update the temporary map based on the point cloud information; Match the temporary map with the preset map; If the temporary map and the preset map are successfully matched, the current location in the preset map is determined based on the matching result.

2. The relocation method according to claim 1, characterized in that, Also includes: If the temporary map fails to match the preset map, move to the next location and use the next location as the current location; The process returns to the step of controlling the self-moving robot to rotate at least one revolution at the current position and collect point cloud information to update the temporary map and match the temporary map with the preset map, until the temporary map and the preset map are successfully matched or the relocation cutoff condition is met.

3. The relocation method according to claim 2, characterized in that, The move to the next location includes: The device can be randomly moved to a location different from the location where it was previously relocated, or moved a preset distance in a preset direction, or moved a target distance in a target direction, wherein the target direction is the opposite direction to the direction to which it was previously relocated, and the target distance is greater than the distance to which it was previously relocated.

4. The relocation method according to claim 2, characterized in that, The move to the next location includes: If an exploration boundary exists in the temporary map, multiple alternative exploration points are determined from the exploration boundary, where the exploration boundary is the intersection of known and unknown areas in the temporary map; From the plurality of candidate exploration points, select the candidate exploration points whose distance from the current location does not exceed the distance threshold as the target exploration point; Move from the current location to the target exploration point.

5. The relocation method according to claim 4, characterized in that, If an exploration boundary exists in the temporary map, after determining multiple candidate exploration points from the exploration boundary, the method further includes: If there are no candidate exploration points whose distance from the current location does not exceed the distance threshold, the candidate exploration point with the shortest distance from the current location is determined as the target exploration point. In the temporary map, plan the movement path from the current location to the target exploration point; The movement path is divided into multiple sub-paths, and movement is performed according to the movement path; When moving to the end of any sub-path, the current end is taken as the current position. The self-moving robot is controlled to rotate at least one revolution at the current position and collect point cloud information to update the temporary map and match the temporary map with the preset map until the temporary map matches the preset map successfully or the relocation cutoff condition is reached.

6. The relocation method according to claim 1, characterized in that, The control of the self-moving robot to rotate at least one revolution at its current position and to collect point cloud information includes: When the self-moving robot determines that it has lost its location on a preset map within the base station, the self-moving robot is controlled to leave the base station and move to a preset position relative to the base station. The preset position is used as the current position, and the self-moving robot is controlled to rotate at least one revolution at the current position and collect point cloud information.

7. The relocation method according to claim 6, characterized in that, When the self-moving robot determines that it has lost its location on a preset map within the base station, controlling the self-moving robot to leave the base station and move to a preset position relative to the base station includes: When the self-moving robot first starts the cleaning task in the base station or when the re-washing is completed in the base station, the location of the lost robot in the preset map is determined; Control the self-moving robot to leave the base station and move to a preset position relative to the base station.

8. The relocation method according to claim 1, characterized in that, The control of the self-moving robot to rotate at least one revolution at its current position and to collect point cloud information includes: When the self-moving robot determines the lost location on the preset map outside the base station, it is controlled to rotate at least one revolution at the current location and collect point cloud information.

9. The relocation method according to claim 8, characterized in that, When the self-moving robot determines the lost location on the preset map outside the base station, controlling the self-moving robot to rotate at least one revolution at the current location and collect point cloud information includes: When the self-moving robot starts a cleaning task for the first time outside the base station, when it performs a recharging task in standby mode outside the base station, or when it does not move after pausing the cleaning task and restarts the cleaning task, a change in position is detected, and it is determined that the position located in the preset map is lost. Control the self-moving robot to rotate at least one revolution at its current position and collect point cloud information.

10. The relocation method according to claim 9, characterized in that, Also includes: If the location of the lost object in the preset map is determined when the cleaning task is started, and the relocation cutoff condition is met, the object returns to the location where the relocation was first performed. The self-moving robot is controlled to restart its exploration of the current environment to rebuild the map and perform the cleaning task; If the location on the preset map is lost when the relocation task is initiated, and the relocation cutoff condition is met, the system returns to the location where the relocation was first performed. The self-moving robot is controlled to restart its exploration of the current environment to rebuild the map and detect the base signal emitted by the base station.

11. The relocation method according to any one of claims 1 to 10, characterized in that, The relocation cutoff conditions include one or more combinations of the following: the relocation duration reaches a preset duration, the distance moved during the relocation process reaches a preset distance, the area of ​​the temporary map during the relocation process reaches a preset area, or the number of relocation failures reaches a preset number.

12. A self-moving robot, characterized in that, The self-moving robot is equipped with a ranging sensor in front of it. The ranging sensor includes a signal transmitter and a signal receiver. The signal transmitter is used to emit laser signals, and the signal receiver is used to receive the reflected signals of the laser signals. The self-moving robot also includes a processor and a memory. The memory is used to store computer programs and to transfer the computer programs to the processor; The processor is configured to execute the relocation method as described in any one of claims 1-11 according to instructions in the computer program.

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