Multi-area mapping method, robot and computer program product

Abstract

A multi-area mapping method, a robot, and a computer program product, i.e. a computer-readable storage medium. The method comprises: S101, a robot acquires position information of a first path, there being intersection points between the first path and boundaries of at least two working areas; S102, on the basis of the position information of the first path, the robot moves along the first path; and S103, when moving to a target intersection point, the robot acquires environment information of a target working area, then returns from the target working area to the first path, and resumes moving along the first path, the intersection points of the first path and the boundaries of the at least two working areas comprising the target intersection point, the target working area being a working area to which the target intersection point belongs, and the environment information of the target working area being used for establishing a map of the target working area. The method can implement efficient multi-area mapping, and save the time of users.

Description

Multi-region mapping methods, robots and computer program products

[0001] This application claims priority to Chinese Patent Application No. 2024118132808, filed on December 10, 2024, entitled "Multi-region mapping method, robot and computer program product", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of artificial intelligence technology, and in particular to a multi-region mapping method, a robot, and a computer program product. Background Technology

[0003] With the rapid development of artificial intelligence technology, robots are being widely used in various scenarios. For example, in factory environments, inspection robots are used for inspections; in home environments, robotic vacuum cleaners are used to clean the floor; and in outdoor environments, robotic lawnmowers are used to mow the lawn. When entering a work area for the first time, a robot typically needs to actively explore the area to create a map of it.

[0004] Currently, when multiple work areas need to be mapped, users need to remotely control a robot to move between adjacent work areas. For example, the user first remotely controls the robot to work area A for exploration and mapping. After the robot completes mapping in work area A, the user manually controls the robot to move from work area A to work area B to establish (confirm / record) a connecting path between work area A and work area B. The user continues to wait for the robot to complete mapping in work area B, and then manually controls the robot to move from work area B to work area C to establish a connecting path between work area B and work area C... and so on, until mapping of all work areas is completed.

[0005] In the above solution, the user needs to wait for the robot to complete mapping of the current work area before manually controlling the robot to move to the next work area requiring mapping. This results in a long waiting time for the user. The user's waiting time is positively correlated with the number of work areas N requiring mapping; the user's waiting time is the sum of the mapping times for the first N work areas. Furthermore, determining the connecting paths between the N work areas requires at least N-1 remote control operations, which is cumbersome. Especially when N is large, the user's waiting time will be extremely long, and the numerous operations will lead to a poor user experience. Summary of the Invention

[0006] This application provides a multi-region mapping method, a robot, and a computer program product, which can achieve efficient multi-region mapping and save users' time.

[0007] Firstly, this application provides a multi-region mapping method for a robot. The method includes: the robot acquiring position information of a first path; then, the robot moving along the first path based on the position information; when the robot reaches a target intersection point, the robot collecting environmental information of a target work area; subsequently, the robot returning from the target work area to the first path and continuing to move along the first path. The first path intersects with the boundaries of at least two work areas, and these intersection points include a target intersection point. The target work area is the work area to which the target intersection point belongs, and the environmental information of the target work area is used to create a map of the target work area.

[0008] In the above scheme, the robot obtains the position information of the first path (the first path intersects with the boundaries of at least two work areas), and then moves along the first path based on this position information. When it reaches a target intersection point on the first path, the robot collects the environmental information of the target work area to which the target intersection point belongs, in order to build a map of the target work area. Then, the robot returns from the target work area to the first path and continues to move along the first path. This process is repeated until the robot obtains the environmental information of the at least two work areas, thereby enabling it to build maps of the at least two work areas.

[0009] Because the robot in the above scheme automatically moves along the first path based on its location information, and each time the robot reaches a target intersection point, it enters the work area belonging to that intersection point to collect relevant environmental information before returning to the first path to continue moving, the robot can automatically collect environmental information from all work areas that intersect with the first path. This information can then be used to create a map of all work areas intersecting with the first path. Furthermore, the user does not need to operate or wait while the robot moves along the first path based on its location information, saving time and effort. Therefore, this multi-area mapping scheme offers a good user experience and high mapping efficiency.

[0010] Based on the first aspect, in a possible implementation, the robot receives remote control commands sent by a remote control device, moves according to the remote control commands, and collects the coordinates of multiple location points that the robot passes through. These multiple location points are located on a first path, and then the position information of the first path is determined based on the coordinates of these multiple location points.

[0011] Based on the first aspect, in a possible implementation, during the robot's movement according to remote control commands, the robot uses sensors to identify the boundary of a first working area, obtains boundary information, and determines the intersection point of the first path and the boundary of the first working area based on the boundary information and the position information of the first path, wherein the first working area is one of at least two working areas. Alternatively, during the robot's movement according to remote control commands, upon receiving an intersection point marking command, the robot's position is marked as an intersection point of the first path and the boundaries of at least two working areas.

[0012] Based on the first aspect, in a possible implementation scheme, the target intersection point belongs to the working area where the robot has not yet collected environmental information.

[0013] Based on the first aspect, in a possible implementation, when the robot moves along the first path to a non-target intersection point, the robot continues to move along the first path, wherein the intersection points of the first path with the boundaries of at least two work areas include non-target intersection points, and the non-target intersection points belong to the work areas where the robot has currently collected environmental information.

[0014] Based on the first aspect, in a possible implementation, the robot builds a map of the target work area based on the environmental information of the target work area. Then, the robot determines a return path based on the map and location information of the target work area, and then returns from the target work area to the first path according to the return path. The endpoint of the return path is the first intersection point the robot passes through when leaving the target work area along the first movement direction of the first path. The first movement direction is the movement direction of the first path corresponding to when the robot moves to the target intersection point. The first intersection point is one of all intersection points between the boundary of the target work area and the first path.

[0015] Based on the first aspect, in a possible implementation, the robot determines the road segment between the first intersection point and the second intersection point in the first path as a connecting path between the map of the first working area and the map of the second working area, wherein the first working area and the second working area belong to at least two working areas, the first intersection point is the intersection point of the boundary of the first working area and the first path, and the second intersection point is the intersection point of the boundary of the second working area and the first path.

[0016] Based on the first aspect, in a possible implementation, after the environmental information of the at least two working areas has been collected, the robot returns to the first charging station along the first path, wherein the first charging station is located on the first path; or, after the environmental information of the at least two working areas has been collected, the robot builds a map of the at least two working areas based on the environmental information of the at least two working areas, and then returns to the second charging station based on the map of the at least two working areas, wherein the second charging station is located at the boundary or inside of the at least two working areas.

[0017] Secondly, this application provides another multi-region mapping method, which is applied to a robot. The method includes: the robot moving along a first path, wherein there are multiple intersections on the first path; when the robot moves to a target intersection among the multiple intersections, the robot collects environmental information of a target work area, wherein the target work area is a work area to which the target intersection belongs among the multiple work areas, and the environmental information of the target work area is used to build a map of the target work area; after the robot collects the environmental information of the target work area, the robot continues to move along the first path so that the robot collects environmental information of multiple work areas.

[0018] Based on the second aspect, in a possible implementation, the aforementioned intersection point is the intersection point of the first path and the boundary of the working area.

[0019] Based on the second aspect, in possible implementations, all of the aforementioned multiple intersection points are target intersection points, or some of the aforementioned multiple intersection points are target intersection points.

[0020] Based on the second aspect, in a possible implementation, as the robot moves along the first path, each time it reaches a target intersection, the robot performs the step of collecting environmental information of the target work area.

[0021] Based on the second aspect, in a possible implementation, the robot enters the target work area to explore and collect environmental information of the target work area; after collecting the environmental information of the target work area, the robot returns from the target work area to the first path and continues to move along the first path.

[0022] Based on the second aspect, in a possible implementation, the method further includes: the robot receiving a remote control command sent by a remote control device; the robot moving according to the remote control command and collecting the coordinates of multiple location points passed by the robot, wherein the multiple location points are located on a first path; and determining the first path based on the coordinates of the multiple location points.

[0023] Based on the second aspect, in a possible implementation, the method further includes: during the process of the robot moving according to the remote control command, the robot uses sensors to identify the boundary of the first working area, obtains boundary information, and determines the intersection point of the first path and the boundary of the first working area based on the boundary information and the first path, wherein the first working area belongs to multiple working areas; or, during the process of the robot moving according to the remote control command, when the robot receives the intersection point marking command, the robot's position is marked as one of the multiple intersection points.

[0024] Thirdly, this application also provides a multi-region mapping apparatus, including a unit for instructing a robot to perform a method as described in any possible implementation of the first or second aspect.

[0025] Fourthly, this application also provides a robot including a processor and a memory, the processor being configured to execute instructions stored in the memory to cause the robot to perform a method as described in any of the possible implementations of the first or second aspect.

[0026] Fifthly, this application also provides a computer program product containing instructions that, when executed on a robot, cause the robot to perform a method as described in any of the possible implementations of the first or second aspect.

[0027] In a sixth aspect, this application also provides a computer storage medium including instructions that, when executed by a robot, cause the robot to perform a method as described in any of the possible implementations of the first or second aspect.

[0028] Based on the implementation schemes provided in the above aspects, this application can be further combined to provide more implementation schemes. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments are briefly introduced below.

[0030] Figure 1 is a flowchart illustrating a multi-region mapping method provided in an embodiment of this application;

[0031] Figure 2 is a schematic diagram illustrating the relationship between a first path and multiple work areas provided in an embodiment of this application;

[0032] Figure 3 is a schematic diagram illustrating the relationship between another first path and multiple work areas provided in an embodiment of this application;

[0033] Figure 4 is a schematic diagram of a multi-region mapping device provided in an embodiment of this application;

[0034] Figure 5 is a schematic diagram of the structure of a robot provided in an embodiment of this application. Detailed Implementation

[0035] Please refer to Figure 1, which is a flowchart of a multi-region mapping method provided in an embodiment of this application, including steps S101 to S103.

[0036] S101, The robot obtains the position information of the first path, wherein the first path intersects with the boundaries of at least two work areas.

[0037] This application does not specifically limit the type of robot mentioned above. For example, assuming the robot is a lawnmower robot, its working area can be a lawn, garden, farmland, livestock farm, etc. As another example, assuming the robot is a vacuum cleaner robot, its working area can be a living room, bedroom, kitchen, toilet, etc. in a home environment, or a lawn, road, activity square, etc. in an outdoor environment. Furthermore, assuming the robot is an inspection robot, its working area can be different factory buildings, workshops, etc. in a factory environment.

[0038] This application does not impose specific limitations on the number, shape, and size of the working areas. For example, a robot may have multiple working areas, and the shapes and sizes of the different working areas may be the same or different. Each working area may be a regular shape such as a circle, ellipse, sector, triangle, rectangle, or other polygons, or it may be an irregular shape.

[0039] The first path intersects with the boundaries of at least two working areas of the robot. These at least two areas can be part or all of the robot's working areas. For ease of description, these at least two working areas will be referred to as N working areas, where N is a positive integer greater than or equal to 2. The value of N can be set according to the actual application scenario, and this application does not impose any limitation on it. For any one of the N working areas, the first path intersects with the boundary of that working area at least once. The number of intersections between the boundaries of different working areas of the N working areas and the first path may be the same or different.

[0040] For example, Figure 2 is a schematic diagram of the relationship between a first path and multiple working areas provided in an embodiment of this application. The first path is represented by a thick solid line, and the working areas are represented by rectangles. The first path intersects with the boundaries of three working areas (N=3 in this case), which are denoted as working areas A, B, and C, respectively. The boundaries of working areas A and B each intersect with the first path at two points, while the boundary of working area C intersects with the first path at only one point. The first end of the first path is located at a charging pile (or charging station) for robot charging, and the second end of the first path is located on the boundary of working area C (i.e., intersection point 5). The direction of robot movement on the first path is not limited here; it can move from the first end to the second end or from the second end to the first end.

[0041] It should be noted that the number, shape, size, and positional relationship of the working areas in Figure 2 are merely examples, and the positional relationship between the first path and each working area is also merely an example and does not constitute a limitation. In practical application scenarios, the first path may intersect with the boundaries of more or fewer working areas, and the number and location of the intersections between the first path and the boundaries of each working area can also be adjusted. The first path may pass through a working area (having at least two intersections with the boundary of that working area), or it may not pass through a working area (having only one intersection with the boundary of that working area). The positions of the two ends of the first path (i.e., the first end and the second end) can also be adjusted, and this application does not impose any specific limitations. The positional relationship between the first path and the charging pile in Figure 2 is also merely an example (the charging pile in Figure 2 is located at the first end of the first path) and does not constitute a limitation. In addition to the first end, the charging pile can be located at other positions on the first path, such as the second end of the first path, or on or inside the boundary of a working area. The first path may also not pass through the charging pile, and this application does not impose any specific limitations in this regard.

[0042] For example, Figure 3 is a schematic diagram of the relationship between another first path and multiple working areas provided in an embodiment of this application. In the figure, the first path is represented by a thick solid line, and the working areas are represented by rectangles. There are four working areas in Figure 3, denoted as working areas A, B, C, and D. The first path intersects with working area A at two points, and the first path intersects with each of working areas B, C, and D at only one point. The first end of the first path is located at a charging pile, which is located on the boundary of working area A, and the second end of the first path is located at point 4, the intersection of the first path and the boundary of working area D.

[0043] The following describes how the robot obtains the location information of the first path.

[0044] Optionally, the robot receives remote control commands sent by the remote control device, then moves according to the remote control commands and collects the coordinates of multiple location points that the robot passes through. These multiple location points are located on the first path, and the position information of the first path is determined based on the coordinates of these multiple location points.

[0045] Specifically, the user can send remote control commands to the robot via a remote control device, which instructs the robot on how to move. This remote control device can establish a wireless communication connection with the robot and can be a smartphone, remote control handle, remote controller, computer (such as a laptop, tablet, etc.), wearable device, etc., without specific limitations in this application. When the robot receives the remote control command, it moves according to the command, and during the movement, it locates itself, thereby collecting the coordinates of multiple position points it passes through, which are located on the first path.

[0046] Regarding the robot's localization method, it can be one or more of the following: Real-Time Kinematic (RTK) localization (also known as real-time differential localization), visual localization (such as visual inertial odometry (VIO)), and lidar localization. This application does not make any specific limitations on this method.

[0047] Regarding the type of coordinates, they can be latitude and longitude in a geographic coordinate system, Mercator projection coordinates, or coordinates in a plane coordinate system, etc., and this application does not specifically limit this. Then, the robot can determine the location information of the first path based on the coordinates of these multiple location points, or the robot can send the coordinates of these multiple location points to the server for processing. The server determines the location information of the first path based on the coordinates of the multiple location points, and then sends the location information of the first path to the robot.

[0048] The intersection points of the first path with each work area can be determined using the following methods: Method 1 and / or Method 2.

[0049] In Method 1, during the robot's movement according to the aforementioned remote control commands, the robot can use sensors to identify the boundary of the first working area and obtain the boundary information of the first working area. Then, the robot determines the intersection point of the first path and the boundary of the first working area based on the boundary information and the position information of the first path, wherein the first working area is one of the aforementioned at least two working areas (i.e., N working areas) (it can be any or a specific working area).

[0050] In other words, during the process of the robot moving according to the remote control command, in addition to collecting the coordinates of multiple locations the robot passes through, the robot can also use sensors to identify the boundary of the first working area and obtain boundary information, which is used to indicate part or all of the boundary of the first working area.

[0051] The aforementioned sensor can be a camera, LiDAR, or other types of sensors, and this application does not specifically limit this. Assuming the sensor is a camera, the robot can use the camera to collect images of its surrounding environment. When the robot passes near the first working area, the robot's camera captures an image containing part or all of the boundary of the first working area, and can then determine the boundary information of the first working area based on this image. Then, based on the boundary information of the first working area and the position information of the first path, the robot can determine the location of the intersection point between the boundary of the first working area and the first path.

[0052] Method 2: During the process of the robot moving according to the above remote control instructions, when the robot receives the endpoint instruction, the robot's position (i.e., the robot's current position) is marked as an intersection point of the first path and the boundaries of the above at least two working areas (i.e., N working areas).

[0053] Specifically, users can send remote control commands to the robot via a remote control device to instruct it on how to move. Users can also observe the distance between the robot and the boundary of the first working area as the robot moves according to the remote control commands. When the robot reaches the boundary of the first working area, the user can send an intersection marking command to the robot via the remote control device. Upon receiving the intersection marking command, the robot marks its current position as one of the intersections of the first path and the boundaries of N working areas. Users can also label the currently marked intersection to indicate which specific working area it belongs to.

[0054] Optionally, during the robot's movement according to remote control commands, the robot can utilize the boundary of the first working area, which is one of the aforementioned N working areas (it can be any or a specific working area). When the robot detects that it is located on the boundary of the first working area, it automatically marks its current position as the intersection of the first path and the boundary of the first working area.

[0055] Optionally, before the robot moves according to the remote control command, the robot's remote control device can prompt the user to mark the intersection point when entering and / or leaving the boundary of the work area, so as to avoid missing the opportunity to mark the intersection point. This application does not specifically limit the method of prompting the user here. For example, assuming the remote control device is a mobile phone, before the user sends the remote control command to the robot through the remote control device, the phone can pop up a window prompting the user to mark the intersection point when entering and / or leaving the boundary of the work area; assuming the remote control device is a remote controller, before the user sends the remote control command to the robot through the remote control device, the indicator light on the remote controller can flash red to prompt the user to mark the intersection point when entering and / or leaving the boundary of the work area. Subsequently, the user sends the remote control command to the robot through the remote control device. During the robot's movement according to the remote control command, the user can observe the robot's position. When the robot is about to enter or leave the boundary of the first work area, the user can send an intersection point marking command to the robot through the remote control device. Here, the first work area is one of the aforementioned N work areas (it can be any or a specific work area). When the robot receives the intersection marking instruction, it marks its current position as the intersection of the first path and the boundary of the first working area.

[0056] S102. The robot moves along the first path according to the position information of the first path.

[0057] Specifically, when the robot obtains the position information of the first path, it can move along the first path according to that position information. This application does not specifically limit the robot's direction of movement (also called the driving direction) on the first path. For example, as shown in Figure 2, the robot can start from the first end of the first path and move along the first path from the first end to the second end; this direction of movement is called the first direction of movement of the first path. The robot can also start from the second end of the first path and move along the first path from the second end to the first end; this direction of movement is called the second direction of movement of the first path. That is, the direction of movement on the first path includes both the first and second directions, and the second direction of movement is exactly opposite to the first direction of movement, allowing the robot to move along the first path in either the first or second direction. The robot can also start from any point on the first path other than the first and second ends, move from that point to the first end, and then turn around and continue moving along the first path to the second end upon reaching the first end. In other words, the robot can move continuously in the same direction on the first path, or it can move back and forth on the first path (until the environmental information of N areas has been collected); this application does not limit this.

[0058] S103. When the robot moves to the target intersection point, the robot collects the environmental information of the target work area. Then the robot returns from the target work area to the first path and continues to move along the first path. The intersection point of the first path with the boundaries of the above-mentioned at least two work areas includes the target intersection point. The target work area is the work area to which the target intersection point belongs. The environmental information of the target work area is used to build a map of the target work area.

[0059] As described in step S101, the first path intersects with the boundaries of all N working areas (i.e., at least two of the aforementioned working areas), where N is a positive integer greater than or equal to 2. The first path intersects with the boundary of each of the N working areas at least once; therefore, the number of intersections between the first path and these N working areas is greater than or equal to N. For ease of description, let M be the number of intersections between the first path and the boundaries of these N working areas, where M is greater than or equal to N, meaning the first path has a total of M intersections with the boundaries of these N working areas. The intersections between the first path and the boundaries of the aforementioned at least two working areas include the target intersection, meaning the target intersection belongs to the aforementioned M intersections. It is possible that all intersections among the M intersections are target intersections, or that some intersections among the M intersections are target intersections; these cases will be discussed below.

[0060] Case 1: Each of the above M intersection points is a target intersection point.

[0061] Specifically, when the robot obtains the location information of the first path, it can move along that path. When the robot reaches any of the M intersection points (all of which are target intersection points in case 1), it can enter the work area (the target work area) belonging to that intersection point. The robot actively explores (traverses) this work area to collect its environmental information, which is then used to create a map of the work area.

[0062] In other words, every time the robot moves to an intersection on the first path, it will collect environmental information of the work area to which that intersection belongs. Since the first path intersects with the boundaries of N work areas, the robot will eventually collect environmental information of N work areas to build a map of N work areas.

[0063] Taking Figure 2 as an example, the first path intersects the boundaries of the working areas A to C at a total of 5 points (N=3, M=5), denoted as intersection points 1 to 5. In case 1, all 5 intersection points are target intersection points. In this case, the robot's working logic is that each time it moves to an intersection point, it enters the working area to which that intersection point belongs to collect the corresponding environmental information. After collecting the corresponding environmental information, it returns to the first path and continues to move along the first path.

[0064] Assuming the robot currently lacks environmental information for any of the three work areas, it starts from the first end of the first path and moves towards the second end based on the path's location information. When the robot reaches point 1, the intersection of work area A and the first path, it becomes the target intersection since point 1 is one of the five intersections mentioned above. The robot then enters work area A from point 1 and actively explores it, collecting environmental information. This information is used to create a map of work area A. The type of map is not specifically limited in this application. The robot then returns from work area A to the first path and continues moving towards the second end along that path.

[0065] When the robot moves to the intersection point 2 of the work area B and the first path, since intersection point 2 is one of the five intersection points mentioned above, it is also the target intersection point. Based on the above working logic, the robot will also enter the work area A to which intersection point 2 belongs from intersection point 2. The robot will actively explore again in the work area A to collect environmental information of the work area A. The environmental information of the work area A is used to build a map of the work area A.

[0066] Optionally, for multiple sets of environmental information collected multiple times within the same work area (each collection yields one set of environmental information), the robot can save only any one set, or it can save the set with higher quality information (e.g., clearer images), or it can fuse multiple sets of environmental information (e.g., image fusion) to generate a higher quality set of environmental information, and then save the fused set of environmental information. This application does not impose specific limitations. Therefore, for the first set of environmental information collected by the robot when it enters work area A from intersection point 1 and the second set of environmental information collected by the robot when it enters work area A from intersection point 1, the robot can choose to save either the first or the second set of environmental information, or it can fuse the two sets of environmental information to generate a higher quality set of environmental information for constructing a map of work area A. Then, the robot returns from work area A to the first path and continues to move along the first path towards the second end.

[0067] Similarly, when the robot moves to point 3, the intersection of work area B and the first path, it enters work area B from point 3 to collect environmental information about work area B. The robot then returns from work area B to the first path. The robot continues moving along the first path towards the second end. When it reaches point 4, the intersection of work area B and the first path, the robot enters work area B from point 4 to collect environmental information about work area B again. The robot then returns from work area B to the first path.

[0068] The robot continues moving along the first path towards the second end. When the robot reaches point 5, the intersection of work area C and the first path (which is also the second end of the first path), it enters work area C from point 5, thereby collecting environmental information of work area C. At this point, the robot has completed the first path from the first end and has collected environmental information from 5 work areas.

[0069] Scenario 2: The target intersection point belongs to the working area where the robot has not yet collected environmental information. Therefore, the number of target intersection points will change as the robot's data collection process progresses.

[0070] Specifically, when the robot obtains the location information of the first path, it can move along that path based on that information. When the robot moves to any of the M intersection points, if that intersection point belongs to a work area where the robot has not yet collected environmental information, then that intersection point is a target intersection point, and the work area to which it belongs is the target work area. The robot will then enter the work area of ​​that intersection point to actively explore and collect environmental information to create a map of that work area. Afterward, the robot returns to the first path from that work area and continues moving along it. If, when the robot moves to any of the M intersection points, that intersection point does not belong to a work area where the robot has not yet collected environmental information, but rather to a work area where the robot has already collected environmental information, then that intersection point is not a target intersection point and can be called a non-target intersection point. The work area to which a non-target intersection point belongs is not the target work area, so the robot will not enter its work area from a non-target intersection point but will continue moving along the first path.

[0071] Continuing with Figure 2 as an example, the first path intersects the boundaries of work areas A through C at a total of 5 points (N=3, M=5), denoted as intersection points 1 through 5. In case 2, the robot's working logic is that each time it moves to a target intersection point, it enters the target work area to which that intersection point belongs to collect the corresponding environmental information. After collecting the corresponding environmental information, it returns to the first path and continues to move along the first path. When it moves to a non-target intersection point, it does not enter the work area to which the non-target intersection point belongs, but continues to move along the first path. Here, the target intersection point is the intersection point among the above M intersection points that belongs to the work area where the robot has not yet collected environmental information, and the non-target intersection point is the intersection point among the above M intersection points that belongs to the work area where the robot has already collected environmental information.

[0072] Assuming the robot currently lacks environmental information for any of the three work areas, it starts from the first end of the first path and moves towards the second end based on the path's location information. When the robot reaches point 1, the intersection of work area A and the first path, since point 1 is one of the five intersections mentioned above and its corresponding environmental information has not yet been collected, the robot determines that point 1 is the target intersection and that work area A is the target work area. Following this logic, the robot enters work area A from point 1 and actively explores it, collecting environmental information to create a map of work area A. Then, the robot returns from work area A to the first path and continues moving towards the second end along that path.

[0073] When the robot moves to point 2, the intersection of work area B and the first path, since point 2 is one of the five intersections mentioned above, and the robot has already collected environmental information about work area A to which point 2 belongs, the robot determines that point 2 is not the target intersection, but a non-target intersection. Based on the above working logic, the robot will not enter work area A to which point 2 belongs from point 2, but will continue to move along the first path.

[0074] Similarly, when the robot moves to point 3, the intersection of work area B and the first path, since point 3 is one of the five intersections mentioned above, and the work area to which point 3 belongs has not yet collected corresponding environmental information, the robot determines that point 3 is the target intersection and that work area B to which point 3 belongs is the target work area. According to the above logic, the robot enters work area B from point 3, thereby collecting the environmental information of work area B. The robot then returns from work area B to the first path. The robot continues to move along the first path towards the second end. When it reaches point 4, the intersection of work area B and the first path, since the robot has already collected the environmental information of work area B to which point 4 belongs, the robot determines that point 4 is not the target intersection, and thus continues to move along the first path.

[0075] When the robot moves to point 5, the intersection of work area C and the first path, since the robot has not yet collected environmental information about work area C to which point 5 belongs, it determines that point 5 is the target intersection and that work area C to which point 5 belongs is currently the target work area. Based on this working principle, the robot enters work area C from point 5, thereby collecting environmental information about work area C. At this point, the robot has collected environmental information from 5 work areas.

[0076] Optionally, when the robot collects environmental information about a work area, it can create a map of that work area based on that information. This application does not specify the timing of the mapping process. For example, the robot can create a map of a work area immediately upon collecting environmental information about it, or it can create a map of all N work areas (i.e., the aforementioned N work areas) after collecting environmental information about all of them.

[0077] Optionally, the robot can send environmental information of the target work area to the server. The server then creates a map of the target work area based on this information and sends the map back to the robot. In other words, the robot is only responsible for collecting environmental information; it does not create the map. This reduces the computational demands and processor load on the robot. The server then creates a map of the work area based on the collected information and sends it to the robot, which can then navigate using the map.

[0078] Optionally, the robot creates a map of the target work area based on the environmental information of the target work area, then determines a return path based on the map and location information of the target work area, and then returns from the target work area to the first path according to the return path. The endpoint of the return path is the first intersection point the robot passes through when leaving the target work area along the first movement direction of the first path. The first movement direction is the movement direction of the first path corresponding to the robot's movement along the first path to the target intersection point. The first intersection point is one of all intersection points between the boundary of the target work area and the first path. It should be understood that a robot entering a work area means the robot moves from outside the work area to the work area (both the interior and the boundary of the work area belong to the work area), and a robot leaving a work area means the robot moves from the work area to the outside of the work area.

[0079] Continuing with Figure 2 as an example, assuming the robot currently has no environmental information for any work area, the robot starts from the first end of the first path and moves along the first path from the first end to the second end. The first intersection point the robot reaches along the first path is intersection point 1 on the boundary of work area A. Since intersection point 1 belongs to the work area where the robot has not yet collected environmental information, the robot determines that intersection point 1 is the target intersection point, and then enters work area A from intersection point 1 to collect environmental information of work area A. It should be understood that when the robot moves along the first path to the aforementioned intersection point 1, the direction of movement of the first path is from the first end to the second end (corresponding to the first movement direction described above). Once the robot has collected environmental information of work area A, intersection point 1 is no longer the target intersection point.

[0080] The robot creates a map of work area A based on the environmental information of work area A. Then, based on the map of work area A and the position information of the first path, it determines a return path. The starting point of this return path is the robot's current position, and the ending point is intersection point 2 (corresponding to the first node described earlier) that the robot passes when leaving work area A along the first movement direction of the first path (which is from the first end of the first path to the second end). Intersection point 2 is an intersection point between the boundary of work area A and the first path. Leaving work area A means moving from work area A to outside of work area A. Then, the robot returns to the first path according to the return path and continues to move towards the second end along the first movement direction of the first path.

[0081] Optionally, the robot determines the road segment between the first intersection point and the second intersection point in the first path as the connecting path between the map of the first working area and the map of the second working area, wherein the first working area and the second working area belong to at least two working areas, the first intersection point is the intersection point of the boundary of the first working area and the first path, and the second intersection point is the intersection point of the boundary of the second working area and the first path.

[0082] Continuing with Figure 2 as an example, intersection point 2 is an intersection of the first path and the boundary of work area A, and intersection point 3 is an intersection of the first path and the boundary of work area B. The robot can define the path segment between intersection points 2 and 3 in the first path as a connected path between the maps of work area A and work area B. Assuming the robot is a lawnmower robot and its work area is a lawn, then the connected path between intersection points 2 and 3 is a path that allows the robot to move outside the lawn.

[0083] Similarly, intersection point 4 is an intersection point between the first path and the boundary of work area B, and intersection point 5 is an intersection point between the first path and the boundary of work area C. The robot can determine the path segment between intersection point 4 and intersection point 5 in the first path as the connecting path between the map of work area B and the map of work area C.

[0084] Since the charging pile in Figure 2 is outside the work area, the robot can also determine the road segment between the nearest intersection point 1 to the charging pile in the first path and the charging pile as the connected path from the charging pile to the work area A on the map.

[0085] Optionally, after the environmental information of at least two working areas has been collected, the robot can return to the first charging station along the first path. The first charging station is located on the first path, and can be located at any end of the first path, or at any location other than the two ends; this application does not impose specific limitations.

[0086] For example, as shown in Figure 2, the charging pile is located outside the work area and at the first end of the first path (corresponding to the first charging pile mentioned above). When the robot has collected the environmental information of work areas A, B and C, the robot can return to the charging pile along the first path to charge.

[0087] Optionally, after the environmental information of at least two working areas has been collected, the robot can build a map of the at least two working areas based on the environmental information of the at least two working areas, and then return to the second charging station based on the map of the at least two working areas, wherein the second charging station is located within the at least two working areas or on the boundary of the at least two working areas.

[0088] For example, as shown in Figure 3, the charging station is located at the first end of the first path and on the boundary of work area A (corresponding to the second charging station mentioned above). After the robot has collected the environmental information of work areas A, B, C, and D, it can create a map of work areas A, B, C, and D based on the environmental information of work areas A, B, C, and D. Then, the robot can plan a path based on the map of work areas A, B, C, and D, and return to the charging station on the boundary of work area A for charging.

[0089] In summary, in the multi-region mapping method provided in this application embodiment, the robot can move along the first path by acquiring the location information of the first path (the first path intersects with the boundaries of at least two work areas). When it reaches a target intersection point on the first path, the robot collects the environmental information of the target work area to which the target intersection point belongs, in order to build a map of the target work area. Then, the robot returns from the target work area to the first path and continues to move along the first path. This process is repeated until the robot obtains the environmental information of the at least two work areas, thereby enabling the creation of maps for the at least two work areas.

[0090] Because the robot in the above scheme automatically moves along the first path based on its location information, and each time the robot reaches a target intersection point, it enters the work area belonging to that intersection point to collect relevant environmental information before returning to the first path to continue moving, the robot can automatically collect environmental information from all work areas that intersect with the first path. This information can then be used to create a map of all work areas intersecting with the first path. Furthermore, the user does not need to operate or wait while the robot moves along the first path based on its location information, saving time and effort. Therefore, this multi-area mapping scheme offers a good user experience and high mapping efficiency.

[0091] Please refer to Figure 4, which shows a multi-region mapping device 400 provided in an embodiment of this application, including an acquisition module 410 and a control module 420.

[0092] The acquisition module 410 is used to acquire the location information of the first path, wherein the first path intersects with the boundaries of at least two work areas.

[0093] The control module 420 is used to control the robot to move along the first path based on the position information.

[0094] The control module 420 is also used to instruct the robot to collect environmental information of the target work area when the robot moves to the target intersection point, wherein the intersection point of the first path with the boundaries of the above-mentioned at least two work areas includes the target intersection point, the target work area is the work area to which the target intersection point belongs, and the environmental information of the target work area is used to build a map of the target work area.

[0095] The control module 420 is also used to return from the target work area to the first path and continue moving along the first path.

[0096] Optionally, the acquisition module 410 is specifically used to receive remote control commands sent by the remote control device, and the control module 420 is used to control the robot to move according to the remote control commands, and to collect the coordinates of multiple location points passed by the robot, and then determine the position information of the first path based on the coordinates of these multiple location points. The multiple location points are located on the first path.

[0097] Optionally, during the process of the control module 420 controlling the robot to move according to the remote control command, the acquisition module 410 is further configured to: acquire the boundary information obtained by the robot using the sensor to identify the boundary of the first working area, and determine the intersection point of the first path and the boundary of the first working area according to the boundary information and the position information of the first path, wherein the first working area is one of the above-mentioned at least two working areas.

[0098] Optionally, during the process of the control module 420 controlling the robot to move according to the remote control command, the acquisition module 410 is further configured to: mark the position of the robot as an intersection point of the first path and the boundaries of the above-mentioned at least two working areas when the robot receives the intersection point marking command.

[0099] Optionally, the aforementioned target intersection points belong to the working area where the robot has not yet collected environmental information.

[0100] Optionally, the control module 420 is further configured to: control the robot to continue moving along the first path when the robot moves to a non-target intersection point along the first path, wherein the intersection point of the first path with the boundaries of the at least two work areas includes the non-target intersection point, and the non-target intersection point belongs to the work area where the robot has currently collected environmental information.

[0101] Optionally, the control module 420 is specifically used to: establish a map of the target working area based on the environmental information of the target working area; determine a return path based on the map and location information of the target working area; and control the robot to return from the target working area to the first path according to the return path. The endpoint of the return path is the first intersection point the robot passes through when leaving the target working area along the first moving direction of the first path. The first moving direction is the moving direction of the first path corresponding to when the robot moves along the first path to the target intersection point. The first intersection point is one of all intersection points between the boundary of the target working area and the first path.

[0102] Optionally, the control module 420 is further configured to: determine the road segment between the first intersection point and the second intersection point in the first path as a connecting path between the map of the first working area and the map of the second working area, wherein the first working area and the second working area belong to at least two working areas, the first intersection point is the intersection point of the boundary of the first working area and the first path, and the second intersection point is the intersection point of the boundary of the second working area and the first path.

[0103] Optionally, the control module 420 is also used to: control the robot to return to the first charging pile along the first path after the environmental information of at least two working areas has been collected, wherein the first charging pile is located on the first path.

[0104] Optionally, the control module 420 is also used to: after the environmental information of the above-mentioned at least two working areas has been collected, to establish a map of at least two working areas based on the environmental information of the at least two working areas, and to control the robot to return to the second charging pile based on the map of the at least two working areas, wherein the second charging pile is located at the boundary or inside of the at least two working areas.

[0105] It should be noted that the multi-region mapping device 400 in Figure 4 is only exemplarily divided into an acquisition module 410 and a control module 420 based on function. In reality, the multi-region mapping device 400 in Figure 4 can also contain more or fewer modules. For example, one of the above modules can be split into multiple functional modules, or two or more of the above modules can be merged into one functional module. Other functional modules can also be added to the multi-region mapping device 400 in Figure 4. This application does not limit this. Both the acquisition module 410 and the control module 420 can be implemented by software or by hardware.

[0106] It should also be noted that the multi-region mapping device 400 can be deployed in the robot described above to control the robot to execute the multi-region mapping method of Figure 1. For details, please refer to the previous introduction, which will not be repeated here.

[0107] Please refer to Figure 5. This application also provides a structural schematic diagram of a robot 500, including a bus 502, a processor 504, a memory 506, and a communication interface 508. The processor 504, the memory 506, and the communication interface 508 communicate with each other via the bus 502. This application does not limit the number of processors 504 and memories 506 in the robot 500.

[0108] Bus 502 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one line is used in Figure 5, but this does not imply that there is only one bus or one type of bus. Bus 502 can include pathways for transmitting information between various components of robot 500 (e.g., memory 506, processor 504, communication interface 508).

[0109] Processor 504 may include any one or more processors such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0110] Memory 506 may include volatile memory, such as random access memory (RAM). Processor 504 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0111] The memory 506 stores executable program code. The processor 504 executes the executable program code to implement the functions of the acquisition module 410 and the control module 420 in FIG4, thereby implementing the operation steps in the multi-region mapping method of FIG1 of this application.

[0112] The communication interface 508 uses transceiver modules such as, but not limited to, network interface cards and transceivers to enable communication between the robot 500 and other devices or communication networks.

[0113] Robot 500 may also include sensors (not shown in the figure) for collecting environmental information about the work area. This application does not specifically limit the type of sensors.

[0114] Robot 500 may also include mobility devices (not shown in the figure), such as wheels, drive motors, transmission systems, etc., to enable robot 500 to move.

[0115] This application embodiment also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that the robot can store / use. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc. The computer-readable storage medium includes instructions specifically used to instruct the robot to perform the operational steps of the multi-region mapping method of Figure 1; that is, when the instructions are executed by the robot, the robot performs the multi-region mapping method of Figure 1.

[0116] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a robot or stored on any available medium. When the computer program product runs on the robot, it causes the robot to perform the operational steps of the multi-region mapping method of FIG1.

[0117] The embodiments described above are merely some, not all, of the embodiments described in this application. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without inventive effort are within the scope of protection of this application.

[0118] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0119] It should be noted that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms "a," "the," and "the" in this application are also intended to include the plural forms, unless the context clearly indicates otherwise.

Claims

1. A multi-region mapping method, characterized in that, The method is applied to a robot, and the method includes: The robot acquires the location information of a first path, wherein the first path intersects with the boundaries of at least two work areas; The robot moves along the first path according to the location information; When the robot moves to the target intersection point, the robot collects environmental information of the target work area, wherein the intersection point of the first path with the boundaries of the at least two work areas includes the target intersection point, the target work area is the work area to which the target intersection point belongs, and the environmental information of the target work area is used to build a map of the target work area; The robot returns from the target work area to the first path and continues to move along the first path.

2. The method according to claim 1, characterized in that, The robot obtains the location information of the first path, including: The robot receives remote control commands sent by the remote control device; The robot moves according to the remote control command and collects the coordinates of multiple location points that the robot passes through, wherein the multiple location points are located on the first path; The location information of the first path is determined based on the coordinates of the multiple location points.

3. The method according to claim 2, characterized in that, The method further includes: During the process of the robot moving according to the remote control command, the robot uses sensors to identify the boundary of the first working area, obtains boundary information, and determines the intersection point of the first path and the boundary of the first working area based on the boundary information and the position information of the first path, wherein the first working area is one of the at least two working areas; Alternatively, during the process of the robot moving according to the remote control command, when the robot receives the intersection marking command, the robot's position is marked as an intersection of the first path and the boundaries of the at least two work areas.

4. The method according to claim 1, characterized in that, The target intersection point belongs to the working area where the robot has not yet collected environmental information.

5. The method according to claim 4, characterized in that, The method further includes: When the robot moves along the first path to a non-target intersection point, the robot continues to move along the first path, wherein the intersection point of the first path with the boundaries of the at least two work areas includes the non-target intersection point, and the non-target intersection point belongs to the work area where the robot has currently collected environmental information.

6. The method according to claim 1, characterized in that, The robot returning from the target work area to the first path includes: The robot creates a map of the target work area based on the environmental information of the target work area; The robot determines a return path based on the map of the target work area and the location information. The endpoint of the return path is the first intersection point that the robot passes through when it leaves the target work area along the first movement direction of the first path. The first movement direction is the movement direction of the first path when the robot moves along the first path to the target intersection point. The first intersection point is one of all intersection points between the boundary of the target work area and the first path. The robot returns from the target work area to the first path according to the return path.

7. The method according to claim 1, characterized in that, The method further includes: The robot determines the road segment between the first intersection point and the second intersection point in the first path as the connecting path between the map of the first working area and the map of the second working area, wherein the first working area and the second working area belong to the at least two working areas, the first intersection point is the intersection point of the boundary of the first working area and the first path, and the second intersection point is the intersection point of the boundary of the second working area and the first path.

8. The method according to claim 1, characterized in that, The method further includes: Once the environmental information of at least two work areas has been collected, the robot returns to the first charging station along the first path, wherein the first charging station is located on the first path. Alternatively, if the environmental information of the at least two working areas has been collected, the robot builds a map of the at least two working areas based on the environmental information of the at least two working areas, and returns to the second charging station based on the map of the at least two working areas, wherein the second charging station is located at the boundary or inside of the at least two working areas.

9. A multi-region mapping method, characterized in that, The method is applied to a robot, and the method includes: The robot moves along a first path, where there are multiple intersections along the first path; When the robot moves to the target intersection point among the plurality of intersection points, the robot collects environmental information of the target working area, wherein the target working area is a working area to which the target intersection point belongs among the plurality of working areas, and the environmental information of the target working area is used to build a map of the target working area; After the robot collects environmental information of the target work area, the robot continues to move along the first path so that it can collect environmental information of the multiple work areas.

10. The method according to claim 9, characterized in that, The intersection point is the point where the first path intersects with the boundary of the working area.

11. The method according to claim 9, characterized in that, All of the multiple intersection points are the target intersection points, or some of the multiple intersection points are the target intersection points.

12. The method according to claim 9, characterized in that, As the robot moves along the first path, it performs the step of collecting environmental information of the target work area every time it reaches a target intersection point.

13. The method according to any one of claims 9 to 12, characterized in that, The robot collects environmental information about the target work area, including: The robot enters the target work area to explore and collect environmental information about the target work area; After the robot collects environmental information about the target work area, the robot continues to move along the first path, including: After the robot collects environmental information of the target work area, the robot returns from the target work area to the first path and continues to move along the first path.

14. The method according to any one of claims 9 to 12, characterized in that, The method further includes: The robot receives remote control commands sent by the remote control device; The robot moves according to the remote control command and collects the coordinates of multiple location points that the robot passes through, wherein the multiple location points are located on the first path; The first path is determined based on the coordinates of the multiple location points.

15. The method according to any one of claims 9 to 12, characterized in that, The method further includes: During the process of the robot moving according to the remote control command, the robot uses sensors to identify the boundary of the first working area, obtains boundary information, and determines the intersection point of the first path and the boundary of the first working area based on the boundary information and the first path, wherein the first working area belongs to the plurality of working areas; Alternatively, during the process of the robot moving according to the remote control command, when the robot receives the intersection marking command, the robot's position is marked as one of the multiple intersection points.

16. A robot, characterized in that, It includes a processor and a memory, the processor being configured to execute instructions stored in the memory to cause the robot to perform the method as described in any one of claims 1-15.

17. A computer program product containing instructions, characterized in that, When the instructions are executed on the robot, the robot performs the method as described in any one of claims 1-15.

18. A computer-readable storage medium, characterized in that, Includes instructions that, when executed by the robot, cause the robot to perform the method as described in any one of claims 1-15.

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