CN-116483061-B - Map storage method and system of self-moving robot and self-moving robot

CN116483061BCN 116483061 BCN116483061 BCN 116483061BCN-116483061-B

Abstract

The invention discloses a map storage method and system of a self-moving robot and the self-moving robot. Based on the method, when the self-mobile robot such as a sweeper and the like recognizes that the self-mobile robot completes a target area coverage task, the map is not directly stored, but the map storage condition detection is performed first, whether the detection result of the map storage condition detection meets the preset map storage condition is judged, and the currently acquired map is stored as the multiplexed map under the condition that the detection result of the map storage condition detection meets the preset map storage condition is determined. Therefore, the accuracy of the stored multiplexing map can be effectively improved, the map error is reduced, and the stored multiplexing map has higher use value.

Inventors

WANG QING
WANG YUANCHAO
WANG FULIN

Assignees

追觅创新科技(苏州)有限公司

Dates

Publication Date: 20260505
Application Date: 20220114

Claims (9)

1. A map storage method of a self-moving robot, comprising: Identifying whether the self-moving robot completes a target area coverage task; Under the condition that the self-mobile robot completes the target area coverage task, carrying out image storage condition detection, and judging whether a detection result of the image storage condition detection meets a preset image storage condition or not, wherein the image storage condition detection comprises first-class detection of position change of a charging seat, wherein the position change of the charging seat is obtained based on the position information of the current charging seat and the reference position information of the charging seat, and the reference position information of the charging seat is acquired and recorded when the self-mobile robot starts to execute the target area coverage task; Under the condition that the detection result of the map storage condition detection meets the preset map storage condition, storing the currently acquired map as a multiplexing map; wherein the first type of detection for the change in the position of the charging stand includes: Acquiring the position information of the current charging seat; Determining a position offset value of the current charging seat according to the position information of the current charging seat and the reference position information of the charging seat stored locally in advance; Detecting whether the position offset value of the current charging seat is larger than a preset offset value threshold value or not; and under the condition that the position offset value of the current charging seat is larger than the preset offset threshold value, determining that the detection result does not meet the preset map storage condition.
2. The map storage method of a self-moving robot according to claim 1, wherein after the map storage condition detection is performed, the method further comprises: And under the condition that the detection result of the map storage condition detection does not meet the preset map storage condition, storing the currently acquired map as a temporary map.
3. The method for storing a map of a self-moving robot according to claim 1 or 2, wherein the map storage condition detection further includes a second type of detection of a work error with respect to a map processing module.
4. A method of storing a map of a self-moving robot according to claim 3, wherein the second type of detection of the working error for the map processing module comprises: Acquiring first map data currently output by a map processing module and referring to the map data; calculating the matching degree of the first map data and the reference map data; Detecting whether the matching is smaller than a preset matching degree threshold value or not; and under the condition that the matching degree is smaller than a preset matching degree threshold value, determining that the detection result does not meet a preset map storage condition.
5. A method of storing a map of a self-moving robot according to claim 3, wherein the second type of detection of the working error for the map processing module comprises: Acquiring second map data output by a map processing module; detecting whether the partitioning is finished in the second map data; and under the condition that the second map data is determined to not finish the partition, determining that the detection result does not meet the preset map storage condition.
6. The map storage method of a self-moving robot as claimed in claim 5, wherein the detecting whether the division is completed in the second map data comprises: And/or detecting whether the dividing line between different areas in the second map data meets the preset partition requirement.
7. The map storage method of a self-moving robot according to claim 1, wherein in a case where it is recognized that the self-moving robot does not complete the target area coverage task, the method further comprises: Storing the map acquired currently as a temporary map; and updating the temporary map in the process of executing the target area coverage task.
8. A map storage system of a self-moving robot, comprising: The identification module is used for identifying whether the self-moving robot completes the target area coverage task or not; the map storage condition detection module is used for carrying out map storage condition detection under the condition that the target area coverage task is completed by the self-mobile robot is identified, judging whether a detection result of the map storage condition detection meets a preset map storage condition or not, wherein the map storage condition detection comprises a first type detection for the position change of a charging seat, a second type detection for detecting whether the position change of the current charging seat is larger than a preset offset value threshold value or not, and acquiring and recording the position information of the charging seat at the beginning of the target area coverage task starting by the self-mobile robot, wherein the first type detection for the position change of the charging seat comprises the steps of acquiring the position information of the current charging seat, determining whether the position offset value of the current charging seat is larger than the preset offset value threshold value or not according to the position information of the current charging seat and the reference position information of the charging seat stored locally in advance; and the map storage module is used for storing the currently acquired map as a multiplexing map under the condition that the detection result of the map storage condition detection meets the preset map storage condition.
9. A self-moving robot, comprising: A robot main body; The controller is arranged on the robot main body; Wherein the controller is configured to: Identifying whether the self-moving robot completes a target area coverage task; The method comprises the steps of carrying out map storage condition detection under the condition that the target area coverage task is completed by the self-mobile robot, judging whether a detection result of the map storage condition detection meets preset map storage conditions or not, detecting whether the position deviation value of a current charging seat is larger than a preset deviation value threshold value or not according to the position information of the current charging seat and the reference position information of the charging seat, acquiring and recording the position information of the charging seat at the beginning when the target area coverage task is started by the self-mobile robot, wherein the first detection of the position deviation value of the charging seat comprises the steps of acquiring the position information of the current charging seat, determining whether the position deviation value of the current charging seat is larger than the preset deviation value threshold value according to the position information of the current charging seat and the reference position information of the charging seat stored locally, and determining that the detection result does not meet the preset map storage conditions under the condition that the position deviation value of the current charging seat is larger than the preset deviation threshold value; And under the condition that the detection result of the map storage condition detection meets the preset map storage condition, storing the currently acquired map as a multiplexing map.

Description

Map storage method and system of self-moving robot and self-moving robot Technical Field The invention belongs to the technical field of robots, and particularly relates to a map storage method and system of a self-moving robot and the self-moving robot. Background In the prior art, when a self-moving robot such as a sweeper executes a sweeping task on a certain area for the first time, a temporary map is generated and stored regularly, and when the first sweeping task is completed, a multiplexing map is generated and stored. When the area is cleaned again later, the previously stored multiplexed map may be used as the navigation map of the area. The multiplexed map saved in the above manner may have errors and relatively poor accuracy. Based on the prior art, the errors cannot be found, so that errors are easy to occur when the stored multiplexing map is directly used for navigation in the follow-up process, and the use experience of a user is further affected. Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art. Disclosure of Invention In order to solve the technical problems, the invention provides a map storage method of a self-mobile robot, which comprises the steps of identifying whether the self-mobile robot completes a target area coverage task, carrying out map storage condition detection under the condition that the self-mobile robot is identified to complete the target area coverage task, judging whether a detection result of the map storage condition detection meets a preset map storage condition, and storing a currently acquired map as a multiplexing map under the condition that the detection result of the map storage condition detection meets the preset map storage condition. In one embodiment, after the map storage condition detection, the method further comprises the step of storing a currently acquired map as a temporary map in the case that the detection result of the map storage condition detection does not meet the preset map storage condition. In one embodiment, the map storage condition detection includes a first type of detection for a change in the position of the charging dock and/or a second type of detection for a job error of the map processing module. In one embodiment, the first type of detection for the position change of the charging seat comprises the steps of obtaining position information of a current charging seat, determining a position offset value of the current charging seat according to the position information of the current charging seat and reference position information of the charging seat stored locally in advance, detecting whether the position offset value of the current charging seat is larger than a preset offset value threshold value, and determining that a detection result does not meet a preset map storage condition under the condition that the position offset value of the current charging seat is larger than the preset offset threshold value. In one embodiment, the second type of detection of the operation error of the map processing module comprises the steps of obtaining first map data and reference map data which are currently output by the map processing module, calculating the matching degree of the first map data and the reference map data, detecting whether the matching degree is smaller than a preset matching degree threshold value, and determining that a detection result does not meet a preset map storage condition under the condition that the matching degree is smaller than the preset matching degree threshold value. In one embodiment, the second type of detection of the operation error of the map processing module comprises the steps of obtaining second map data output by the map processing module, detecting whether the second map data is partitioned or not, and determining that a detection result does not meet a preset map storage condition under the condition that the second map data is determined to be not partitioned. In one embodiment, in the case that the self-mobile robot is not complete with the target area coverage task, the method further comprises the steps of saving a currently acquired map as a temporary map, continuing to execute the target area coverage task, and updating the temporary map in the process of executing the target area coverage task. In one embodiment, the self-moving robot comprises a cleaning robot, and the target area coverage task comprises a cleaning task of a target area, respectively. The invention further provides a map storage system of the self-mobile robot, which comprises an identification module, a map storage condition detection module and a map storage module, wherein the identification module is used for identifying whether the self-mobile robot completes a target area coverage task, the map storage condition detection module is used for carrying out map storage condition detection and judging whether a detection result of the m