CN109719735B - Environment data recording method and system and robot - Google Patents
Environment data recording method and system and robot Download PDFInfo
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- CN109719735B CN109719735B CN201910056921.2A CN201910056921A CN109719735B CN 109719735 B CN109719735 B CN 109719735B CN 201910056921 A CN201910056921 A CN 201910056921A CN 109719735 B CN109719735 B CN 109719735B
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Abstract
The invention is suitable for the technical field of robots, and provides an environmental data recording method, an environmental data recording system and a robot.A robot acquires environmental data information of the robot at a current position when executing a preset task, maps the acquired environmental data information to a unit corresponding to the current position in a map for storage, and preprocesses the environmental data information in the map to generate an environmental data record based on the position; the environmental data information of the robot at different positions in the moving process is acquired when the robot executes the preset task, so that the utilization rate of the robot is improved, the monitoring efficiency and flexibility of the environmental state of the space environment are improved, the requirement of people on the family space environment information is met, and the user experience is better.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an environmental data recording method, an environmental data recording system and a robot.
Background
With the rapid development of science and technology, robots are widely applied to human social life, and currently, a number of related technologies for providing various mobile services such as environmental patrol, cleaning and the like by using robots are developed. Along with the improvement of the living standard of people, the demand degree of people on the family space environment information is higher and higher, but the monitoring equipment for the family space environment information generally needs to be manually moved to a specific certain position to carry out corresponding monitoring, and the monitoring equipment can only reflect the specific environment information of the position, but does not have good representativeness on the environment condition in the whole space of a family, and the demand of people on the family space environment information cannot be effectively met.
Disclosure of Invention
In view of this, embodiments of the present invention provide an environmental data recording method, an environmental data recording system, and a robot, so as to solve a problem that an existing environmental monitoring device cannot effectively meet a demand of people for home space environmental information.
A first aspect of an embodiment of the present invention provides an environmental data recording method, including:
when the robot executes a preset task, acquiring environmental data information of the robot at the current position;
mapping the environmental data information to a unit corresponding to the current position in a map for storage;
and preprocessing the environmental data information in the map to generate an environmental data record based on the position.
A second aspect of an embodiment of the present invention provides an environment data recording system, including:
the robot system comprises an environmental data information acquisition unit, a task processing unit and a task processing unit, wherein the environmental data information acquisition unit is used for acquiring the environmental data information of the robot at the current position when the robot executes a preset task;
the environment data information storage unit is used for mapping the environment data information to a unit corresponding to the current position in a map for storage;
and the position-based environment data record generating unit is used for preprocessing the environment data information in the map and generating the position-based environment data record.
A third aspect of embodiments of the present invention provides a robot, including:
the environment data recording method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of the environment data recording method provided by the first aspect of the embodiment of the invention are realized when the computer program is executed by the processor.
Wherein the computer program comprises:
the robot system comprises an environmental data information acquisition unit, a task processing unit and a task processing unit, wherein the environmental data information acquisition unit is used for acquiring the environmental data information of the robot at the current position when the robot executes a preset task;
the environment data information storage unit is used for mapping the environment data information to a unit corresponding to the current position in a map for storage;
and the position-based environment data record generating unit is used for preprocessing the environment data information in the map and generating the position-based environment data record.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the environmental data recording method provided by the first aspect of the embodiments of the present invention.
Wherein the computer program comprises:
the robot system comprises an environmental data information acquisition unit, a task processing unit and a task processing unit, wherein the environmental data information acquisition unit is used for acquiring the environmental data information of the robot at the current position when the robot executes a preset task;
the environment data information storage unit is used for mapping the environment data information to a unit corresponding to the current position in a map for storage;
and the position-based environment data record generating unit is used for preprocessing the environment data information in the map and generating the position-based environment data record.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: when a robot executes a preset task, acquiring environmental data information of the robot at a current position, mapping the acquired environmental data information to a unit corresponding to the current position in a map for storage, and preprocessing the environmental data information in the map to generate an environmental data record based on the position; the environmental data information of the robot at different positions in the moving process is acquired when the robot executes the preset task, so that the utilization rate of the robot is improved, the monitoring efficiency and flexibility of the environmental state of the space environment are improved, the requirement of people on the family space environment information is met, and the user experience is better.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating an implementation of a method for recording environmental data according to an embodiment of the present invention;
fig. 2 is a flowchart of an implementation of a method for sending an early warning prompt message according to an embodiment of the present invention;
fig. 3 is a flowchart of a specific implementation of a method for triggering a task of a robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a specific implementation of a method for preprocessing environment data information according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an environmental data recording system according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a robot according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples. Referring to fig. 1, fig. 1 shows an implementation flow of an environmental data recording method according to an embodiment of the present invention, which is detailed as follows:
in step S101, when the robot performs a preset task, environment data information of the robot at a current location is acquired.
In the embodiment of the present invention, the robot performs preset tasks, including but not limited to patrol, clean and other tasks. When the robot performs a preset task, it generally moves according to a planned route to perform a corresponding task, for example, when performing a cleaning task, it traverses all spatial positions in a home according to the planned route. When the robot starts to execute a preset task, a sensor corresponding to the collection of the environmental data installed on the robot, such as an air quality monitoring sensor, a temperature sensor, a humidity sensor, a luminosity sensor, etc., is started, and a positioning system is started to collect the environmental data information of the robot at the current position, that is, when the robot is located at the position a, the environmental data information of the position a is collected at the same time.
It can be understood that the positioning system and the sensor corresponding to the environmental data acquisition acquire data synchronously, so as to ensure that the environmental data information of the position is acquired simultaneously when the positioning information is acquired.
Here, when the sensors provided on the robot are different, the acquired environmental data information includes, but is not limited to, any one or more of indoor temperature information, indoor humidity information, air content information of indoor air such as CO, formaldehyde, and the like, dust content information, and lighting information.
Optionally, after step S101, a specific implementation step of sending the warning prompt information is further included, please refer to fig. 2, where fig. 2 shows a specific implementation flow of a method for sending the warning prompt information according to an embodiment of the present invention, which is detailed as follows:
in step S201, any one of the environment data values in the environment data information is compared with a preset environment data threshold.
In embodiments of the present invention, the environmental data values include, but are not limited to, temperature values, humidity values, illuminance values, formaldehyde content values, CO content values, and the like. When the value of the environmental data value exceeds a certain value, certain influence is generated on the life or the body of people, so that the value of the environmental data is required to be compared with a preset environmental data threshold value, and when the environmental data value exceeds the corresponding preset environmental data threshold value, corresponding early warning prompt is carried out on a user.
It can be understood that the preset environment data thresholds corresponding to different environment data values are different, for example, the preset environment data threshold corresponding to the temperature value may be 18 ℃ to 28 ℃, and the preset environment data threshold corresponding to the humidity value may be 30% RH to 80% RH.
In step S202, when any one of the environment data values in the environment data information exceeds a preset environment data threshold corresponding to the environment data value, an early warning prompt message including the environment data value is sent to the mobile terminal bound to the robot.
In the embodiment of the invention, when any one environmental data value in the environmental data information exceeds the corresponding preset environmental data threshold value, the early warning prompt information containing the environmental data values is sent to the mobile terminal bound with the robot to inform the user.
It can be understood that when only one environmental data value exceeds the corresponding preset environmental data threshold, the early warning prompt message containing the environmental data value and the corresponding preset environmental data threshold is sent to the mobile terminal bound with the robot; when a plurality of environmental data values exceed the corresponding preset environmental data threshold values at the same time, early warning prompt information containing the plurality of environmental data values and the corresponding preset environmental data threshold values is sent to the mobile terminal bound with the robot.
Optionally, in order to facilitate the user to know the environment state in time, the step S202 specifically includes:
and when any one environmental data value in the environmental data information exceeds a corresponding preset environmental data threshold value, immediately sending early warning prompt information containing the environmental data value to the mobile terminal bound with the robot.
Optionally, in order to reduce the system load of the robot, the step S202 specifically includes:
and when any one environmental data value in the environmental data information exceeds a corresponding preset environmental data threshold value, sending all early warning prompt information containing the environmental data value to the mobile terminal bound with the robot at preset time intervals.
In one application scenario, when a user places the robot at the cellar entrance for cleaning, the robot acquires CO at a certain position in the cellar when executing the cleaning task2Is much higher than the predetermined CO2At the content threshold, the CO will be included2The content prompt information is sent to the mobile terminal bound with the robot to inform the user to enter the cellar after taking corresponding measures, so that safety accidents are avoided.
Optionally, after step S201, a specific implementation step of triggering a task type corresponding to the environment data value is further included, please refer to fig. 3, where fig. 3 shows a specific implementation flow of a method for triggering a task of a robot according to an embodiment of the present invention, and the detailed description is as follows:
in step S301, when any one of the environment data values in the environment data information exceeds the corresponding preset environment data threshold, it is determined whether the any one of the environment data values belongs to a corresponding environment data value in a task type that the robot needs to process.
In the embodiment of the invention, the robot has the function of processing various task types, such as cleaning, humidifying, heating, cooling and other tasks, and different tasks correspond to different environment data values. When the dust content in the environment data information exceeds a preset dust content threshold, it is first determined whether the dust content belongs to a task type that the robot needs to process, such as a corresponding dust content in a dust collection task, that is, it is determined whether the robot can process the task type corresponding to the environment data value.
In step S302, when it is determined that any one of the environment data values belongs to a corresponding environment data value in a task type that the robot needs to process, a task corresponding to the task type is triggered to control the robot to execute a corresponding task.
In the embodiment of the present invention, when it is determined that the robot can process the task type corresponding to the environment data value, the corresponding task type is triggered to control the robot to execute the corresponding task, so that the environment data value is reduced to a range of a preset environment data threshold, for example, when the humidity of the air in the room is lower than the preset humidity threshold, a watering or humidifying task is executed; when the temperature in the room is lower than the preset temperature threshold value, the heating task is executed.
In step S102, the environment data information is mapped to a cell corresponding to the current position in the map and stored.
In the embodiment of the present invention, since the robot generally moves on a plane when performing the preset task, the corresponding map is preferably a two-dimensional map, and when the robot moves in a three-dimensional space, the corresponding map is preferably a three-dimensional map.
After the environmental data information of the robot at the current position is obtained, the environmental data information is mapped to a unit corresponding to the current position in the map for storage, that is, the environmental data information of the current position is stored in the corresponding unit of the current position in the map, that is, the value stored in each unit in the map is the environmental data information such as temperature, humidity and the like collected by the robot at the position.
Optionally, the map does not store any environment data information before the robot starts to execute the preset task, and only has the location information, that is, the map is a blank map which does not store environment data information, and only has the location information of the spatial environment.
In step S103, the environment data information in the map is preprocessed to generate a location-based environment data record.
In the embodiment of the present invention, after the environment data information is stored in the corresponding upper unit in the map, the environment data in each unit of the map needs to be preprocessed, and after the environment data information in the map is preprocessed, a position-based environment data record is generated, that is, the environment data information is presented on the map so as to facilitate a user to visually know the surrounding environment.
Optionally, referring to fig. 4, fig. 4 shows a specific implementation flow of a method for preprocessing environment data information according to an embodiment of the present invention, which is detailed as follows:
in step S401, filtering processing is performed on the environment data information in the map.
In the embodiment of the present invention, the more the number of units in the map is, the more the obtained environment data information is, and in a limited environment space, the most of the environment data values in each environment data information do not change much, so as to perform the same processing on the environment data values that are not very different, the filtering processing, for example, the mean filtering processing, is performed on all the environment data information in the map, so as to achieve the same environment data value that is not very different.
In step S402, rounding and archiving are performed on the filtered environment data information in each unit of the map according to the corresponding level.
In the embodiment of the present invention, because the number of decimal points of the environment data value obtained after performing the filtering process, such as the average filtering process, is not uniform and may be very long, for the sake of data regularity, the environment data value in each cell in the map is rounded and archived at a corresponding level after performing the filtering process.
Optionally, step S103 specifically includes:
and when each unit of the map stores corresponding environment data information, stopping collecting the environment data information, and preprocessing all the environment data information in the map.
In the embodiment of the invention, when the robot executes the preset task, the robot may repeatedly move at certain positions, and at this time, the environmental data information of the space environment may not change much, and each unit in the map also stores the corresponding environmental data information, so as to reduce the burden of the robot system and reduce the power consumption of the robot, at this time, the collection of the environmental data information is stopped, and all the environmental data information in the map is preprocessed.
It can be understood that when the robot repeatedly walks through a certain position, the environment data information corresponding to the position has environment data values collected for multiple times, and in order to ensure the accuracy of the data, the environment data information stored for the previous time is replaced by the environment data information stored for the next time. Or the environment data values in the environment data information obtained for multiple times can be averaged, and the environment data values after the averaging processing are stored in the unit. Or, in order to reduce the burden of the robot system, only the environment data information stored for the first time is reserved, and no processing is performed on the environment data information acquired at the position corresponding to the unit later.
Optionally, step S103 specifically includes:
and when the robot finishes a preset task, preprocessing the environmental data information in the map.
In the embodiment of the invention, when the robot finishes the preset task, the environmental data information in the map can not change any more, and the environmental data information in the map is preprocessed, so that more accurate environmental data information can be obtained.
Optionally, after step S103, the method further includes the following steps:
sending the location-based environmental data record to a mobile terminal bound to a robot to present the location-based environmental data record on the mobile terminal.
In the implementation of the invention, if any one environmental data value exceeds the preset environmental data threshold value in the position-based environmental data record, the environmental data value is identified in the map, so that a user can know the environmental data value exceeding the preset environmental data threshold value in the space environment in time and perform corresponding operation according to the corresponding prompt information.
In the embodiment of the invention, when the robot executes a preset task, the environment data information of the robot at the current position is acquired, the acquired environment data information is mapped to a unit corresponding to the current position in a map for storage, and the environment data information in the map is preprocessed to generate an environment data record based on the position; the environmental data information of the robot at different positions in the moving process is acquired when the robot executes the preset task, so that the utilization rate of the robot is improved, the monitoring efficiency and flexibility of the environmental state of the space environment are improved, the requirement of people on the family space environment information is met, and the user experience is better.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be controlled by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 is a schematic diagram of an environment data recording system according to an embodiment of the present invention, which corresponds to an environment data recording method according to the above embodiment, and only shows portions related to the embodiment of the present invention for convenience of description.
Referring to fig. 5, the system includes:
an environment data information obtaining unit 51, configured to obtain environment data information of the robot at a current location when the robot executes a preset task;
an environment data information storage unit 52, configured to map the environment data information to a unit corresponding to the current position in a map for storage;
and the environment data information preprocessing unit 53 is used for preprocessing the environment data information in the map and generating an environment data record based on the position.
Optionally, the environment data information includes at least one environment data value, and the system further includes:
the environment data value comparison unit is used for comparing any one environment data value in the environment data information with a preset environment data threshold value;
and the early warning prompt information sending unit is used for sending the early warning prompt information containing any one environmental data value to the mobile terminal bound with the robot when any one environmental data value in the environmental data information exceeds the corresponding preset environmental data threshold value.
Optionally, the system further comprises:
the environment data value determining unit is used for determining whether any one environment data value belongs to a corresponding environment data value in a task type to be processed by the robot when the any one environment data value in the environment data information exceeds a corresponding preset environment data threshold value;
and the task triggering unit is used for triggering the task corresponding to the task type to control the robot to execute the corresponding task when determining that the any one environmental data value belongs to the corresponding environmental data value in the task type required to be processed by the robot.
Optionally, the environmental data information preprocessing unit 53 includes:
filtering the environmental data information in the map;
and performing corresponding level rounding archiving on the environment data information after filtering processing in each unit of the map.
Optionally, the environmental data information preprocessing unit 53 is further specifically configured to:
and when each unit of the map stores corresponding environment data information, stopping collecting the environment data information, and preprocessing all the environment data information in the map.
Optionally, the environmental data information preprocessing unit 53 is further specifically configured to:
and when the robot finishes a preset task, preprocessing the environmental data information in the map.
Optionally, the system further comprises:
an environment data record sending unit, configured to send the location-based environment data record to a mobile terminal bound to a robot so as to present the location-based environment data record on the mobile terminal.
In the embodiment of the invention, when the robot executes a preset task, the environment data information of the robot at the current position is acquired, the acquired environment data information is mapped to a unit corresponding to the current position in a map for storage, and the environment data information in the map is preprocessed to generate an environment data record based on the position; the environmental data information of the robot at different positions in the moving process is acquired when the robot executes the preset task, so that the utilization rate of the robot is improved, the monitoring efficiency and flexibility of the environmental state of the space environment are improved, the requirement of people on the family space environment information is met, and the user experience is better.
Fig. 6 is a schematic diagram of a robot according to an embodiment of the present invention. As shown in fig. 6, the robot 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the various environmental data recording method embodiments described above, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the units in the system embodiments, such as the functions of the modules 51 to 53 shown in fig. 5.
Illustratively, the computer program 62 may be divided into one or more units, which are stored in the memory 61 and executed by the processor 60 to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the robot 6. For example, the computer program 62 may be divided into an environmental data information acquisition unit 51, an environmental data information storage unit 52, and an environmental data information preprocessing unit 53, and the specific functions of each unit are as follows:
an environment data information obtaining unit 51, configured to obtain environment data information of the robot at a current location when the robot executes a preset task;
an environment data information storage unit 52, configured to map the environment data information to a unit corresponding to the current position in a map for storage;
and the environment data information preprocessing unit 53 is used for preprocessing the environment data information in the map and generating an environment data record based on the position.
Optionally, the environment data information includes at least one environment data value, and the system further includes:
the environment data value comparison unit is used for comparing any one environment data value in the environment data information with a preset environment data threshold value;
and the early warning prompt information sending unit is used for sending the early warning prompt information containing any one environmental data value to the mobile terminal bound with the robot when any one environmental data value in the environmental data information exceeds the corresponding preset environmental data threshold value.
Optionally, the system further comprises:
the environment data value determining unit is used for determining whether any one environment data value belongs to a corresponding environment data value in a task type to be processed by the robot when the any one environment data value in the environment data information exceeds a corresponding preset environment data threshold value;
and the task triggering unit is used for triggering the task corresponding to the task type to control the robot to execute the corresponding task when determining that the any one environmental data value belongs to the corresponding environmental data value in the task type required to be processed by the robot.
Optionally, the environmental data information preprocessing unit 53 includes:
filtering the environmental data information in the map;
and performing corresponding level rounding archiving on the environment data information after filtering processing in each unit of the map.
Optionally, the environmental data information preprocessing unit 53 is further specifically configured to:
and when each unit of the map stores corresponding environment data information, stopping collecting the environment data information, and preprocessing all the environment data information in the map.
Optionally, the environmental data information preprocessing unit 53 is further specifically configured to:
and when the robot finishes a preset task, preprocessing the environmental data information in the map.
Optionally, the system further comprises:
an environment data record sending unit, configured to send the location-based environment data record to a mobile terminal bound to a robot so as to present the location-based environment data record on the mobile terminal.
The robot 6 may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a robot 6 and does not constitute a limitation of the robot 6 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the robot 6, such as a hard disk or a memory of the robot 6. The memory 61 may also be an external storage device of the robot 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the robot 6. The memory 61 is used for storing the computer program and other programs and data required by the terminal. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system/terminal device and method can be implemented in other ways. For example, the above-described system/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or system capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. An environmental data recording method, comprising:
when the robot moves according to a planned route to execute a preset task, acquiring environmental data information of the robot at the current position;
comparing any one environmental data value in the environmental data information with a preset environmental data threshold value;
when any one environmental data value in the environmental data information exceeds a corresponding preset environmental data threshold value, determining whether the any one environmental data value belongs to a corresponding environmental data value in a task type to be processed by the robot;
when the fact that any one environmental data value belongs to a corresponding environmental data value in a task type needing to be processed by the robot is determined, a task corresponding to the task type is triggered to control the robot to execute a corresponding task;
mapping the environmental data information to a unit corresponding to the current position in a map for storage;
preprocessing the environmental data information in the map to generate an environmental data record based on the position;
after the step of preprocessing the environmental data information in the map and generating the location-based environmental data record, the method further comprises:
and sending the position-based environment data record to a mobile terminal bound with the robot so as to present the position-based environment data record on the mobile terminal in a map form.
2. The method of claim 1, wherein after the step of comparing any one of the environmental data values in the environmental data information to a preset environmental data threshold, further comprising:
and when any one environmental data value in the environmental data information exceeds a corresponding preset environmental data threshold value, sending early warning prompt information containing the any one environmental data value to a mobile terminal bound with the robot.
3. The method of claim 1, wherein the step of pre-processing the environmental data information in the map comprises:
filtering the environmental data information in the map;
and performing corresponding level rounding archiving on the environment data information after filtering processing in each unit of the map.
4. A method as claimed in any one of claims 1 to 3, wherein the step of pre-processing the context data information in the map comprises:
and when each unit of the map stores corresponding environment data information, stopping collecting the environment data information, and preprocessing all the environment data information in the map.
5. A method as claimed in any one of claims 1 to 3, wherein the step of pre-processing the context data information in the map comprises:
and when the robot finishes a preset task, preprocessing the environmental data information in the map.
6. An environmental data recording system, the system comprising:
the system comprises an environment data information acquisition unit, a route planning unit and a task scheduling unit, wherein the environment data information acquisition unit is used for acquiring the environment data information of the robot at the current position when the robot moves according to a planned route to execute a preset task;
the environment data value comparison unit is used for comparing any one environment data value in the environment data information with a preset environment data threshold value;
the environment data information storage unit is used for mapping the environment data information to a unit corresponding to the current position in a map for storage;
the position-based environment data record generating unit is used for preprocessing the environment data information in the map and generating a position-based environment data record;
after the preprocessing the environmental data information in the map and generating the environmental data record based on the position, the method further comprises:
sending the location-based environmental data record to a mobile terminal bound with a robot to present the location-based environmental data record on the mobile terminal in the form of a map;
the system further comprises:
the environment data value determining unit is used for determining whether any one environment data value belongs to a corresponding environment data value in a task type to be processed by the robot when the any one environment data value in the environment data information exceeds a corresponding preset environment data threshold value;
and the task triggering unit is used for triggering the task corresponding to the task type to control the robot to execute the corresponding task when determining that the any one environmental data value belongs to the corresponding environmental data value in the task type required to be processed by the robot.
7. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the environmental data recording method according to any one of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for recording environmental data according to any one of claims 1 to 5.
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| KR101641242B1 (en) * | 2010-01-20 | 2016-07-20 | 엘지전자 주식회사 | Robot cleaner and controlling method thereof |
| CN109965778B (en) * | 2013-01-18 | 2022-08-16 | 艾罗伯特公司 | Environment management system including mobile robot and method of using the same |
| CN106153043B (en) * | 2015-04-13 | 2019-09-10 | Tcl集团股份有限公司 | A kind of robot indoor positioning method and system based on infrared distance sensor |
| EP3294101B1 (en) * | 2015-05-12 | 2020-06-17 | Samsung Electronics Co., Ltd. | Robot and controlling method thereof |
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| CN107728484A (en) * | 2017-09-08 | 2018-02-23 | 珠海格力电器股份有限公司 | Processing method, device, processor and the system of Indoor Environment Detection result |
| CN108759844B (en) * | 2018-06-07 | 2021-11-16 | 科沃斯商用机器人有限公司 | Robot repositioning and environment map constructing method, robot and storage medium |
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Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 16th floor, building B1, Nanshan wisdom garden, 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |