Method, robot and computer storage medium for synchronizing mapping and operation

Abstract

The application discloses a method for synchronously mapping and working, a robot and a computer storage medium. The method comprises the following steps: controlling the robot to move along a current planning path and work; establishing a map of a first working area explored by the robot when moving along the current planning path; planning a next planning path according to the map of the first working area; and controlling the robot to move along the next planning path and work after the robot completes the work along the current planning path. The application controls the robot to move along the current planning path and work, and simultaneously establishes a map of the first working area explored when moving along the current planning path. Then, the next planning path is planned according to the map and a working interval. Finally, the robot is controlled to move along the next planning path and work, and the mapping is continuously performed. Thus, the robot can automatically complete the mapping of the working area while working, the user's operation amount for the robot is reduced, and the user's experience is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a method for simultaneous mapping and operation of a robot, a robot, and a computer storage medium. Background Technology

[0002] Currently, before performing their first task in a work area, various robotic devices need to explore and detect the work area to generate a map of the work area, which can then be directly called upon for subsequent tasks.

[0003] However, current robot mapping methods require users to remotely control or manually operate the robot to explore and detect the work area, which makes the robot's operation cumbersome and results in a poor user experience. Summary of the Invention

[0004] In view of this, this application provides a method, robot, and computer storage medium for simultaneous mapping and operation, which automatically completes mapping of the work area while the operation is being performed, reducing the user's workload. The technical solution of this application is as follows: The first aspect of this application provides a method for simultaneous mapping and operation, comprising: controlling a robot to move and operate along a currently planned path; creating a map of a first operation area explored by the robot while moving along the current planned path; planning a next planned path based on the map of the first operation area, wherein the next planned path maintains a preset operation interval with the current planned path; and controlling the robot to move and operate along the next planned path after the robot has completed its operation along the current planned path.

[0005] In one embodiment of this application, the method further includes: returning to the step of establishing a map of the first work area explored by the robot when it moves along the current planned path, until the next planned path cannot be planned based on the map of the first work area.

[0006] In one embodiment of this application, the method further includes: receiving a remote control command sent by a remote control device; controlling the robot to move and perform operations according to the remote control command; establishing a map of a second work area explored by the robot when it moves according to the remote control command; planning a first planned path according to the map of the second work area; and controlling the robot to move and perform operations along the first planned path.

[0007] In one embodiment of this application, the step of planning a first planned path based on the map of the second work area includes: obtaining the movement trajectory of the robot when it moves according to the remote control command; and planning the first planned path based on the map of the second work area and the movement trajectory.

[0008] The method further includes: setting the exploration range of the robot's sensors according to the work interval, such that the boundary of the map of the first work area explored based on the exploration range maintains the work interval with the current planned path; the step of planning the next planned path according to the map of the first work area includes: extracting the boundary of the map of the first work area; generating the next planned path according to the boundary of the map of the first work area.

[0009] In one embodiment of this application, generating the next planned path based on the boundary of the map of the first work area includes: generating the next planned path based on the boundary of the map of the first work area and the work surface explored by the robot, wherein the next planned path is located within the work surface.

[0010] In one embodiment of this application, the next planned path includes multiple spaced path segments; controlling the robot to move and work along the next planned path includes: calculating the cost of the robot traveling from its current position to each path segment according to a cost algorithm; and controlling the robot to prioritize moving and working along the path segment with the lowest cost.

[0011] In one embodiment of this application, the formula of the cost algorithm includes: ; In the formula, For the value of the term. The preset gain value, The length of the path segment. The distance between the first endpoint of the path segment and the robot's current position. The distance between the second endpoint of the path segment and the robot's current position. This is a minimum value operation.

[0012] In one embodiment of this application, the step of establishing a map of the first work area explored by the robot as it moves along the currently planned path includes: detecting the work surface and obstacles using preset sensors; and establishing and covering the first work area in real time based on the work surface and the obstacles.

[0013] In one embodiment of this application, the width of the sensor's exploration range is twice the working distance.

[0014] In one embodiment of this application, the method further includes: saving all current maps when it is impossible to plan the next planned path based on the map of the first work area.

[0015] A second aspect of this application provides a robot including a processor and a memory, the processor being configured to execute a computer program stored in the memory to implement the aforementioned method of simultaneous mapping and operation.

[0016] The third aspect of this application provides a computer storage medium storing a computer program that, when executed by a processor, causes the processor to perform the method of synchronous mapping and operation.

[0017] It is understood that in the synchronous mapping and operation method of this application, the robot is controlled to move and operate along the current planned path, and a map of the first operation area explored while moving along the current planned path is built. Then, the next planned path is planned according to the map and the operation interval, and the robot is controlled to move and operate along the next planned path and continue mapping. This achieves the effect of the robot automatically completing the mapping of the operation area while operating, thereby reducing the user's workload of robot operation and improving the user experience. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a method for simultaneous mapping and operation provided in an embodiment of this application.

[0019] Figure 2 This is a flowchart illustrating the second method for simultaneous mapping and operation provided in this application embodiment.

[0020] Figure 3 This is a flowchart illustrating the third method for simultaneous mapping and operation provided in this application embodiment.

[0021] Figure 4 This is a flowchart illustrating the planning of the first planning path provided in an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of the first type of movement trajectory and corresponding planned path provided in the embodiments of this application.

[0023] Figure 6 This is a schematic diagram of the first planning path provided in the embodiments of this application.

[0024] Figure 7 This is a schematic diagram of the second type of movement trajectory and corresponding planned path provided in the embodiments of this application.

[0025] Figure 8 This is a schematic diagram of the third type of movement trajectory and corresponding planned path provided in the embodiments of this application.

[0026] Figure 9 This is a schematic diagram of the fourth type of movement trajectory and corresponding planned path provided in the embodiments of this application.

[0027] Figure 10 This is a flowchart illustrating a method for planning the next planned path based on a map, as provided in an embodiment of this application.

[0028] Figure 11 This is a schematic diagram of the boundary of a map provided in an embodiment of this application.

[0029] Figure 12 This is a schematic diagram of a path segment of a map provided in an embodiment of this application.

[0030] Figure 13 This is a flowchart illustrating a path segment selection method provided in an embodiment of this application.

[0031] Figure 14 This is a flowchart illustrating a method for creating a map of a first work area, as provided in an embodiment of this application.

[0032] Figure 15 This is a schematic diagram of the exploration range of a robot sensor provided in an embodiment of this application.

[0033] Figure 16 This is a schematic block diagram of a robot provided in an embodiment of this application. Detailed Implementation

[0034] It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0035] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0036] Currently, before performing their first task in a work area, various robotic devices need to explore and detect the work area to generate a map of the work area, which can then be directly called upon for subsequent tasks.

[0037] However, current robot mapping methods require users to remotely control or manually operate the robot to explore and detect the work area, which makes the robot's operation cumbersome and results in a poor user experience.

[0038] This application provides a method, robot, and computer storage medium for simultaneous mapping and operation, which automatically completes mapping of the work area while the operation is being performed, reducing the workload of users.

[0039] Please refer to Figure 1 , Figure 1 A flowchart illustrating a method for simultaneous mapping and operation provided in this application embodiment specifically includes the following steps: Step S11: Control the robot to move and perform operations along the currently planned path.

[0040] In this embodiment, the robot includes intelligent robots with trajectory tracking capabilities, such as sweeping robots, lawnmower robots, and snow removal robots. The robot is equipped with a positioning and navigation sensor, an environmental perception sensor, an obstacle detection sensor, and a controller. The controller acquires positioning data through the positioning and navigation sensor, environmental data through the environmental perception sensor, and detects obstacles on the movement trajectory through the obstacle detection sensor to perform obstacle avoidance. Simultaneously, the controller builds a semantic map based on the environmental data and detected obstacles. The positioning and navigation sensor can be an RTK locator, the environmental perception sensor can be a visual sensor, and the obstacle detection sensor can be ultrasonic radar or infrared radar; no limitation is made here.

[0041] The currently planned path mentioned above is the path the robot is currently executing. For example, the path the robot initially plans is the first planned path. When the robot moves and performs tasks along the first planned path, that first planned path is the currently executing path. The path the robot plans a second time is the second planned path. After the robot completes its work along the first planned path, it then moves and performs tasks along the second planned path. In this case, the second planned path is the currently executing path.

[0042] Step S12: Create a map of the first work area explored by the robot as it moves along the current planned path.

[0043] In this embodiment, when the robot moves along the currently planned path, its controller can detect surrounding map elements through preset sensors to build a map of the first work area in real time based on the map elements. The map elements include the work surface and obstacles; for example, when the robot is a lawnmower, the map elements include grass and obstacles.

[0044] While moving along the planned path, the robot can also perform tasks. For example, if the robot is a lawnmower, it can move along the planned path and simultaneously perform lawnmowing.

[0045] Because the exploration range of the preset sensor is limited, when the robot moves along the current planned path, the preset sensor can only explore map elements within a certain range around the current planned path. In other words, the first working area is the area that the preset sensor can explore when moving along the current planned path.

[0046] Step S13: Plan the next planned path according to the map of the first work area, and maintain a preset work spacing between the next planned path and the current planned path.

[0047] In this embodiment of the application, the above-mentioned working distance can be input by the robot user. For example, when the robot is a lawn mowing robot, the user can input the mowing distance through the terminal of the lawn mowing robot, which is the above-mentioned working distance, so that the lawn mowing robot can move and mow the grass according to the working distance.

[0048] After creating a map of the first work area, the robot's controller will plan the next path based on the map and the work spacing. For example, the next path can be planned based on the edge outline of the first work area map and the work spacing, ensuring that the next path maintains a preset work spacing from the current path.

[0049] In some embodiments, the exploration range of the robot's sensors can be set according to the work interval, so that the boundary of the map of the first work area explored based on the exploration range maintains a work interval with the current planned path, thereby allowing the robot to directly extract the boundary of the map of the first work area as the next planned path. Figure 11 The current planned path is planned path 111. When the robot moves along planned path 111, the area that the preset sensors can explore is the annular area between dashed lines 112 and 113. This annular area is the first working area, and the boundary of the map of the first working area is dashed lines 112 and 113. The distance (shortest distance) between dashed line 112 and planned path 111 is the preset working distance. Therefore, the boundary of the map of the first working area (such as dashed line 112) can be extracted as the next planned path. Since the controller only needs map data within the working distance when planning the next planned path, this embodiment sets the exploration range of the robot's sensors according to the working distance, reducing the collection of invalid data by the sensors and reducing the amount of data processing.

[0050] Step S14: After the robot completes its work along the current planned path, control the robot to move and work along the next planned path.

[0051] In this embodiment, the controller controls the robot to move and work along the next planned path, and at the same time, it also builds a map of the first work area explored when moving along the next planned path. When building the map, the current map of the first work area and the map of the first work area of ​​the last movement can be merged, thereby achieving the effect of building the map of the work area while working.

[0052] It is understood that in the synchronous mapping and operation method of this application, the robot is controlled to move and operate along the current planned path, and a map of the first operation area explored while moving along the current planned path is built. Then, the next planned path is planned according to the map and the operation interval, and the robot is controlled to move and operate along the next planned path and continue mapping. This achieves the effect of the robot automatically completing the mapping of the operation area while operating, thereby reducing the user's workload of robot operation and improving the user experience.

[0053] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the second method for simultaneous mapping and operation provided in an embodiment of this application. Figure 1 Compared to the methods shown, the difference lies in that, Figure 2 The method shown also includes the following steps: Step S15: Return to step S12, which establishes a map of the first work area explored by the robot while it is moving along the current planned path, until it is impossible to plan the next planned path based on the map of the first work area.

[0054] In this embodiment, when the controller controls the robot to move and work along the next planned path, it will rebuild the map of the first working area explored when moving along the current planned path. When building the map, the map of the current planned path and the map of the first working area of ​​the last movement can be merged to further expand the map according to the first working area explored at present, until it is impossible to plan the next planned path according to the map.

[0055] In some embodiments, when it is impossible to plan the next planned path based on the map of the first work area, the controller determines that the robot has completed the work in the work area and can control the robot to return to the initial position. The controller can also save the map obtained while working and exploring as the exploration map of the work area, so that the exploration map can be directly called to plan the work path in the work area during the next operation.

[0056] Please refer to Figure 3 , Figure 3 A flowchart illustrating the third method for simultaneous mapping and operation provided in this application embodiment is shown, specifically including the following steps: Step S31: Receive remote control commands sent by the remote control device, and control the robot to move and perform operations according to the remote control commands.

[0057] In this embodiment, the remote control device includes electronic devices such as mobile phones, tablets, and computers that communicate and interact with the robot. The robot's control unit receives remote control commands and controls the robot to move and perform tasks according to these commands. For example, the controller can receive forward, backward, left turn, and right turn commands from the remote control device to move and perform tasks.

[0058] Step S32: Create a map of the second work area explored by the robot when it moves according to the remote control command.

[0059] In this embodiment, when the robot moves according to remote control commands, it can also detect surrounding map elements through preset sensors to create a map of the second work area in real time based on these map elements. That is, the path along which the robot moves and performs its work according to remote control commands is the initial path, and the corresponding map of the second work area is the initial map of the exploration work area.

[0060] In some embodiments, the map elements include the working surface and obstacles. During remote control, the controller also identifies ground elements and obstacles based on preset sensors and builds an initial map based on these elements and obstacles. Simultaneously, the robot performs tasks during remote control; for example, if the robot is a lawnmower, it can perform lawnmowing operations concurrently with remote control. The preset sensors can be image sensors. The second working area is the area that the preset sensors can explore along the initial path.

[0061] Step S33: Plan the first planned route based on the map of the second work area.

[0062] In this embodiment of the application, after the map of the second working area is established, that is, the initial map is established as described above, the robot's controller can plan a first planned path based on the map of the second working area and the working interval. This first planned path is the first path for the robot to automatically perform synchronous mapping and operation.

[0063] In some embodiments, the exploration range of the robot's sensors can be set according to the work interval, so that the boundary of the map of the second work area explored based on the exploration range maintains the work interval with the initial path, thereby allowing the robot to directly extract the boundary of the map of the second work area as the first planned path.

[0064] Step S34: Control the robot to move and perform operations along the first planned path.

[0065] It is understandable that remotely controlling the robot to create a map of the second work area allows the robot to plan the first path based on the map, which can satisfy the user's need to customize the shape of the planned path, thereby improving the user experience.

[0066] Step S35: Create a map of the first work area explored by the robot as it moves along the current planned path.

[0067] Step S36: Plan the next planned route based on the map of the first work area.

[0068] Step S37: After the robot completes its work along the current planned path, control the robot to move and work along the next planned path.

[0069] In this embodiment of the application, steps S35~S36 are the same as steps S12~S14, and will not be repeated here.

[0070] In some embodiments, please refer to Figure 4 The above step S33 may further include the following steps: Step S331: Obtain the movement trajectory of the robot when it moves according to the remote control command.

[0071] Step S332: Plan the first planned path based on the map and movement trajectory of the second work area.

[0072] In this embodiment of the application, the robot or the robot's remote control device can store multiple movement trajectories of the robot when it moves according to the remote control command. When the robot needs to automatically perform synchronous mapping and operation, the user can select one of the multiple movement trajectories to generate the first planned path mentioned above.

[0073] In some embodiments, the aforementioned movement trajectory may include a closed curved shape, a polygon, a straight line, and an arc, etc., without limitation.

[0074] For example, such as Figure 5 In the work area 50 shown, when the movement trajectory is circular, the robot generates a first circular planned path 51 based on the circle and the work interval. After the robot completes its work along the first planned path 51, the next planned path 52 is generated, as follows: Figure 6 As shown, the synchronous mapping and operation of the entire work area 50 is finally completed.

[0075] like Figure 7As shown, when the movement trajectory is rectangular, the robot generates the first planned path 71 of the rectangle based on the rectangle and the work spacing. After the robot completes its work along the first planned path 71, it plans the next planned path 72 of the rectangle, and so on, until the synchronous mapping and work of the entire work area 70 are completed.

[0076] like Figure 8 As shown, when the movement trajectory is a straight line, the robot generates the first planned path 81 based on the straight line and the work interval. After the robot completes its work along the first planned path 81, it plans the next planned path 82 of the rectangle, and so on, until the synchronous mapping and work of the entire work area 80 are completed.

[0077] like Figure 9 As shown, when the movement trajectory is an arc, the robot generates the first planned path 91 of the arc based on the arc and the work interval. After the robot completes its work along the first planned path 91, it plans the next planned path 92 of the arc, and so on, until the synchronous mapping and work of the entire work area 90 are completed.

[0078] Please refer to Figure 10 , Figure 10 A flowchart illustrating a method for planning the next planned path based on a map, provided in this application embodiment, specifically includes the following steps: Step S101: Extract all boundaries from the map of the first working area.

[0079] For example, such as Figure 11 As shown, when the planned path 111 is a rectangle, the robot walks along the planned path 111 and collects images to build a map of the first working area. The map of the first working area has two boundaries, namely boundary 112 and boundary 113.

[0080] In some embodiments, the robot's controller can extract multiple boundaries from a map of the first working area. When extracting multiple boundaries, the controller can also discard boundaries shorter than the aforementioned preset value to obtain at least one path segment. For example, the preset value could be the robot's body length, such as 1 meter, to prevent the robot from being unable to complete mapping of shorter boundaries, thus avoiding a situation where the mapping process cannot be completed.

[0081] In some embodiments, if at least one boundary with a length less than a preset value is not selected, the controller may determine that the mapping of the working area is complete.

[0082] Step S102: Generate the next planned path based on the boundary of the first work area map.

[0083] In this embodiment, after the robot moves along the current planned path and finishes its work, and establishes a map of the first work area, it can extract all the boundaries from the map of the first work area and generate the next planned path based on the boundaries and the work spacing.

[0084] The process of generating the next planned path based on the boundaries of the first work area map and the work spacing includes: generating the next planned path based on the boundaries of the first work area map and the work surface explored by the robot. The next planned path is located within the work surface. For example, when the robot is a lawnmower, the work surface is the lawn. If the boundary is outside the lawn, it will not be planned as the next planned path. Only if the boundary is inside the lawn will it be planned as the next planned path.

[0085] It is understandable that, since the exploration range of the preset sensors used to detect map elements in the robot is limited, the above-mentioned boundaries are based on the exploration range of the preset sensors. For example, when the current planned path is a straight line, the map of the first working area established based on the map elements of the current planned path will be a long strip, and the above-mentioned boundaries may be formed on both sides of the long strip.

[0086] In some embodiments, when the boundary corresponding to the working surface cannot be extracted from the map of the first working area, or when it is impossible to plan the next planned path based on the map of the first working area, all current maps are saved. It can be understood that after each movement operation along the current planned path and the creation of the map of the first working area, the robot extracts the map boundaries. If the boundaries cannot be extracted, it indicates that the synchronous mapping and operation of the working area are complete. Mapping can then be stopped, and the current map can be saved as the exploration map of the working area for use in the next operation of that working area. If the boundaries can still be extracted, it means that the work area has not been completed and the exploration is incomplete. In this case, a planned path can be generated based on the extracted boundaries to continue the operation and exploration.

[0087] In some embodiments, the next planned path includes multiple interval path segments, such as... Figure 12 As shown, the robot walks along the planned path 121 in the work area 120 and collects images to build a map of the first work area. The map of the first work area has four boundaries, and four intervals are generated for the next planned path: path segment 122, path segment 123, path segment 124 and path segment 125.

[0088] Then as Figure 13 As shown, step S14 above may further include the following steps: Step S141: Calculate the cost of the robot traveling from its current position to each path segment using the cost algorithm.

[0089] In this embodiment of the application, after the controller filters out multiple path segments, it can calculate the cost value of each path segment according to a preset cost algorithm. The cost value is based on the cost required for the robot to travel from its current position to the path segment, which is related to the energy consumed and distance required for the robot to travel to the path segment, and is not limited here.

[0090] If only one path segment remains after the above screening process, the controller can skip calculating the cost of the remaining path segment and directly generate the next planned path for that path segment, perform movement, operations, and mapping, thereby reducing the amount of computation and improving the efficiency of simultaneous mapping and operations.

[0091] Step S142: Control the robot to move and perform tasks along the path segment with the lowest cost.

[0092] In this embodiment, after calculating the cost value of each path segment, the controller selects the path segment with the lowest cost value as the next planned path and executes the next planned path movement operation and mapping. As described above... Figure 12 In the process, select the path segment with the lowest cost from path segment 121, path segment 122, path segment 123, and path segment 124.

[0093] In some embodiments, the formula for the above cost algorithm includes: ; In the formula, For the sake of value, The preset gain value, The length of the path segment. This is the distance between the first endpoint of the path segment and the robot's current position. This is the distance between the second endpoint of the path segment and the robot's current position. This is a minimum value operation.

[0094] Please refer to Figure 14 , Figure 14 A flowchart illustrating a method for creating a map of a first work area, provided in this application embodiment, specifically includes the following steps: Step S121: Detect the working surface and obstacles using preset sensors.

[0095] In this embodiment, the aforementioned preset sensor can be a vision sensor, such as a camera. The controller acquires images through the vision sensor and identifies the working surface and obstacles through the images.

[0096] Different types of robots have different working surfaces. For example, a lawnmower robot works on grass, while other surfaces, such as roads, are non-working surfaces. Similarly, a delivery robot works on roads, while other surfaces, such as grass, are non-ground elements. Therefore, during mapping, the controller obtains detection data from preset sensors and can first filter out the working surfaces from this data.

[0097] Step S122: Create and cover the first working area in real time based on the working surface and obstacles.

[0098] In this embodiment, after identifying the working surface and obstacles, a map of the first working area is created by extracting the working surface and obstacles from the image. For example, when the robot is a lawnmower robot, the working surface can be grass, while other non-grass ground is considered a non-working element.

[0099] The exploration range of the aforementioned preset sensors is a preset multiple of the working distance. The robot's controller can adjust the exploration range of the preset sensors according to the working distance to control the amount of data processed during mapping.

[0100] like Figure 15 As shown, the preset sensor is set in the middle of the robot 100. When the robot moves, if the exploration range on both sides of the movement trajectory can be consistent, the controller can adjust the width of the exploration range to twice the working distance. This allows the robot to build a map while following the current planned path, so that the currently built map can be perfectly stitched with the previous map, thus ensuring the quality of the map while taking into account the minimum amount of data processing.

[0101] Please refer to Figure 16 , Figure 16 This is a schematic block diagram of a robot provided in an embodiment of this application. The robot 100 includes a processor 110 and a memory 120. The processor 110 is used to execute a computer program stored in the memory 120 to implement the synchronous mapping and operation method of any of the above embodiments.

[0102] It is understood that the beneficial effects of the robot 100 described above can be referred to the beneficial effects of the mapping method in the foregoing embodiments, and will not be repeated here.

[0103] This application also provides a computer storage medium storing a computer program that, when executed by a processor, causes the processor to perform the aforementioned method of synchronous mapping and operation.

[0104] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer storage medium or transmitted through the computer storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0105] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.

[0106] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application should fall within the protection scope defined by the claims of this application.

Claims

1. A method for simultaneous mapping and operation, characterized in that, include: Control the robot to move and perform tasks along the currently planned path; Create a map of the first work area explored by the robot as it moves along the currently planned path; The next planned path is planned according to the map of the first work area, and the next planned path maintains a preset work distance from the current planned path; After the robot completes its work along the current planned path, it is controlled to move and work along the next planned path.

2. The method for simultaneous mapping and operation as described in claim 1, characterized in that, Also includes: Return to the step of creating a map of the first work area explored by the robot as it moves along the current planned path, until it is no longer possible to plan the next planned path based on the map of the first work area.

3. The method for simultaneous mapping and operation as described in claim 1, characterized in that, Also includes: Receive remote control commands sent by the remote control device, and control the robot to move and perform operations according to the remote control commands; Create a map of the second work area explored by the robot as it moves according to the remote control command; Plan the first route based on the map of the second work area; Control the robot to move and perform operations along the first planned path.

4. The method for simultaneous mapping and operation as described in claim 3, characterized in that, The step of planning the first planned path based on the map of the second work area includes: Obtain the movement trajectory of the robot when it moves according to the remote control command; The first planned path is planned based on the map of the second work area and the movement trajectory.

5. The method for simultaneous mapping and operation as described in claim 1, characterized in that, The method further includes: setting the exploration range of the robot's sensors according to the work interval, such that the boundary of the map of the first work area explored based on the exploration range maintains the work interval with the current planned path; The step of planning the next planned path based on the map of the first work area includes: Extract the boundaries of the map for the first work area; The next planned path is generated based on the boundaries of the map of the first work area.

6. The method for simultaneous mapping and operation as described in claim 5, characterized in that, The step of generating the next planned path based on the boundary of the map of the first work area includes: The next planned path is generated based on the boundary of the map of the first work area and the work surface explored by the robot, and the next planned path is located within the work surface.

7. The method for simultaneous mapping and operation as described in claim 6, characterized in that, The next planned path includes multiple interval path segments; Controlling the robot to move and operate along the next planned path includes: The cost of the robot traveling from its current position to each of the path segments is calculated using a cost algorithm. The robot is controlled to prioritize moving and operating along the path segment with the lowest cost.

8. The method for simultaneous mapping and operation as described in claim 7, characterized in that, The formula for the cost algorithm includes: ； In the formula, For the value of the term. The preset gain value, The length of the path segment. The distance between the first endpoint of the path segment and the robot's current position. The distance between the second endpoint of the path segment and the robot's current position. This is a minimum value operation.

9. The method for simultaneous mapping and operation as described in claim 1, characterized in that, The process of creating a map of the first work area explored by the robot as it moves along the currently planned path includes: The working surface and obstacles are detected by preset sensors; A map covering the first work area is created in real time based on the work surface and the obstacles.

10. The method for simultaneous mapping and operation as described in claim 9, characterized in that, The sensor's exploration range is twice the width of the work interval.

11. The method for simultaneous mapping and operation as described in claim 2, characterized in that, Also includes: If it is impossible to plan the next planned path based on the map of the first work area, save all current maps.

12. A robot, characterized in that, It includes a processor and a memory, the processor being used to execute a computer program stored in the memory to implement the method of simultaneous mapping and operation as described in any one of claims 1 to 11.

13. A computer storage medium, characterized in that, The computer storage medium stores a computer program that, when executed by a processor, causes the processor to perform the method of synchronous mapping and operation as described in any one of claims 1 to 11.

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