CN112051847A - Sweeping robot, control method and device of sweeping robot and readable medium - Google Patents
Sweeping robot, control method and device of sweeping robot and readable medium Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application discloses robot, control method and device of robot and readable storage medium sweeps floor, and the radar of robot of sweeping floor in this application is located inside the casing of robot of sweeping floor, consequently can make the top of robot of sweeping floor not have the arch to improve the ability of robot of sweeping floor to the barrier and reduce the colliding with of robot of sweeping floor. The control method of the sweeping robot in the application is applied to the sweeping robot with the radar inside the shell, can solve the problem that the situation that the surrounding environment cannot be completely acquired is easy to collide with due to the fact that the radar is located in the cavity and the visual angle is shielded, and enables the sweeping robot to work normally.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a sweeping robot, a control method and a control device of the sweeping robot, and a readable medium.
Background
Most of the existing laser radar floor sweeping robots adopt a single-line radar with a 360-degree angle of view Fov (Field of view), are mounted at the top of a chassis of the floor sweeping machine, and complete map building and positioning through the 360-degree view. This results in the top of the sweeping robot having to have a protrusion to increase the height, which causes the ability of the robot to pass through a height-limited area to be reduced, and the protrusion is easy to contact the edge of the object to bump.
Disclosure of Invention
The present application mainly aims to provide a floor sweeping robot, a control method and device for the floor sweeping robot, and a readable storage medium, and aims to solve the problems of the existing floor sweeping robot that the radar is located at the top and the height is increased.
For realizing above-mentioned purpose, the application provides a pair of robot of sweeping floor, the robot of sweeping floor includes casing and radar, the radar set up in inside the casing, set up the confession on the casing the light-emitting area that radar detection signal passes through.
Optionally, the radar is a single-line laser radar rotating by 360 degrees, the light emitting area is a slit through which laser light emitted by the laser radar passes, the slit is arranged along the direction of the rotational deviation of the laser light, and the radar includes a single-point laser emitting device and a signal receiving device.
Optionally, the radar is a solid-state radar with a limited field angle, the plurality of solid-state radars are assembled inside a housing of the sweeping robot, and the radar includes a light source emitting device, a light modulation device and a signal receiving device.
In addition, the application also provides a control method of the sweeping robot, the control method of the sweeping robot is applied to the sweeping robot, and the control method of the sweeping robot comprises the following steps:
acquiring an initial environment map through laser data information of the radar;
judging whether a first unaware area exists according to the initial environment map;
if a first unaware area exists, controlling the sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm so as to update the initial environment map and divide the first area according to an exploration result;
and when the first area does not have a first unseen area, controlling the sweeping robot to sweep the first room.
Optionally, the step of controlling the sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm to update the initial environment map comprises:
acquiring a specified exploration boundary point of the first unaware area;
controlling the sweeping robot to move to the specified exploration boundary point;
and updating the initial environment map through a SLAM algorithm at the specified exploration boundary point.
Optionally, the step of obtaining the specified exploration boundary point of the first unaware area comprises:
acquiring boundary points to be explored of the first unaware area;
calculating the information gain of each boundary point to be explored;
and selecting the boundary point to be explored with the maximum information gain as the specified exploration boundary point.
Optionally, the step of updating the initial environment map at the specified exploration boundary point by means of a SLAM algorithm comprises:
acquiring a first attitude of the radar relative to the initial environment map;
acquiring a third pose of the sweeping robot relative to the initial environment map according to the first pose and a second pose of the radar relative to the sweeping robot;
and updating the initial environment map by using the third posture and the scanning result of the radar based on a Bayesian principle.
Optionally, the step of acquiring a first pose of the radar relative to the initial environment map includes:
acquiring point cloud obtained by scanning the radar and an initial environment map;
and aligning the point cloud and the initial environment map according to a preset algorithm to obtain a first posture of the radar relative to the initial environment map.
Optionally, the step of updating the initial environment map based on bayesian principle by using the third pose and the scanning result of the radar includes:
dividing the initial environment map into a grid map;
acquiring position information of the obstacle according to the third posture and the scanning result of the radar;
and updating the grid probability of each grid point in the grid map based on a Bayesian principle according to the position information.
Optionally, the step of controlling the sweeping robot to sweep the first area includes:
acquiring an edge cleaning line closest to the edge cleaning line as an initial cleaning line;
controlling the sweeping robot to move to the initial starting point of the initial sweeping line;
and cleaning the first area from the initial cleaning point according to a preset route planning method and updating the initial environment map according to a SLAM algorithm in the cleaning process.
Optionally, after the step of controlling the sweeping robot to sweep the first area, the method further includes:
after the first area is cleaned, judging whether a second unseen area exists in the initial environment map;
if a second unsensive area exists, controlling the sweeping robot to explore the second unsensive area according to the preset front edge exploration algorithm and dividing the second area according to an exploration result;
and if the second area does not have a second undetected area, controlling the sweeping robot to sweep the second area.
Optionally, after the step of controlling the sweeping robot to sweep the second area, the method further includes:
and if all the second areas are cleaned, stopping the cleaning work of the sweeping robot.
Optionally, the control method of the sweeping robot further includes:
and outputting fault alarm information when the fault information is detected.
The application still provides a controlling means who sweeps floor robot, the controlling means who sweeps floor robot includes:
the acquisition module is used for acquiring an initial environment map through laser data information of the radar;
the first judging module is used for judging whether a first non-perception area exists according to the initial environment map;
the first exploration module is used for controlling the sweeping robot to explore a first unaware area according to a preset front edge exploration algorithm to update the initial environment map and divide the first area according to an exploration result if the first unaware area exists;
the first cleaning module is used for controlling the sweeping robot to clean the first area when the first area does not have a first unseen area.
Optionally, the first exploration module comprises:
a first obtaining unit, configured to obtain a specified exploration boundary point of the first unaware area;
the moving unit is used for controlling the sweeping robot to move to the specified exploration boundary point;
and the updating unit is used for updating the initial environment map at the specified exploration boundary point through a SLAM algorithm.
Optionally, the first obtaining unit includes:
the first acquisition subunit is used for acquiring each boundary point to be explored of the first unaware area;
the computing subunit is used for computing the information gain of each boundary point to be explored;
and the selection subunit is used for selecting the boundary point to be searched with the largest information gain as the specified search boundary point.
Optionally, the updating unit includes:
the second acquisition subunit is used for acquiring a first attitude of the radar relative to the initial environment map;
the third acquiring subunit is configured to acquire a third pose of the sweeping robot relative to the initial environment map according to the first pose and a second pose of the radar relative to the sweeping robot;
and the updating subunit is used for updating the initial environment map based on the Bayesian principle by using the third pose and the scanning result of the radar.
Optionally, the sweeping module comprises:
the second acquisition unit is used for acquiring the nearest edge cleaning line as an initial cleaning line;
the control unit is used for controlling the sweeping robot to move to the starting point of the starting sweeping line;
and the cleaning unit is used for cleaning the first area from the initial cleaning point according to a preset route planning method and updating the initial environment map according to an SLAM algorithm in the cleaning process.
Optionally, the control device of the sweeping robot further includes:
the second judging module is used for judging whether a second unseen area exists in the initial environment map or not after the first area is cleaned;
the second exploration module is used for controlling the sweeping robot to explore a second unseen area according to the preset front edge exploration algorithm and dividing the second area according to the exploration result if the second unseen area exists;
and the second cleaning unit is used for controlling the sweeping robot to clean the second area if the second area does not have a second undetected area.
The application also provides a readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the control method of the sweeping robot as described above.
The radar of robot of sweeping floor in this application is located the casing of robot of sweeping floor inside, consequently can make the top of robot of sweeping floor not have the arch to improve the robot of sweeping floor to the ability of passing through of barrier and reduce the colliding with of robot of sweeping floor. The control method of the floor sweeping robot is applied to the floor sweeping robot with the radar inside the shell, and can solve the problem that the situation that the surrounding environment cannot be completely acquired due to the fact that the radar is located in the cavity and the visual angle is blocked, and the floor sweeping robot can work normally.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a sweeping robot according to an embodiment of the sweeping robot of the present application;
fig. 3 is a schematic view illustrating a range of a radar offset direction of a sweeping robot according to an embodiment of the sweeping robot
Fig. 4 is a schematic structural diagram of a sweeping robot according to another embodiment of the sweeping robot of the present application;
fig. 5 is a schematic flow chart of a first embodiment of a control method of the sweeping robot according to the present application;
fig. 6 is a layout diagram of a room division layout in the first embodiment of the control method of the sweeping robot according to the present application;
fig. 7 is a detailed flowchart of step S30 in fig. 5 in a second embodiment of the control method of the sweeping robot according to the present application;
fig. 8 is a schematic system structure diagram of a control device of the sweeping robot according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "part", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
The terminal is a sweeping robot in the embodiment of the application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described above.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that turns off the display screen and/or the backlight when the terminal device is moved to the ear. Of course, the terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program of the cleaning robot.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call up the control program of the sweeping robot stored in the memory 1005, and perform the following operations:
acquiring an initial environment map through laser data information of the radar and dividing the initial environment map to acquire an initial room division layout;
selecting a first room from the initial room segmentation layout;
judging whether a first unaware area exists in the first environment according to the initial environment map;
if a first unaware area exists, controlling the sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm so as to update the initial environment map;
when the first room does not have a first unseen area, the sweeping robot is switched to be in a sweeping mode to sweep the first room.
The application provides a robot of sweeping floor, the robot of sweeping floor includes casing and radar, the radar sets up in inside the casing, set up the confession on the casing radar detection signal passes through goes out the light zone, and the radar of the robot of should sweeping floor is located inside the casing of the robot of sweeping floor. The radar is used as a main positioning sensor of the sweeping robot. The radar of the robot that will sweep the floor is placed and can not need increase a arch in order to place the radar at the top of the robot that sweeps the floor inside the cavity of the robot that sweeps the floor, can reduce the height of the robot that sweeps the floor, can improve the ability of the robot that sweeps the floor to the barrier that passes through, can reduce simultaneously because the problem of colliding with that brings to the protruding height estimation mistake of top radar when passing through the barrier. Meanwhile, the sweeping robot also comprises a control device of the sweeping robot, and the control device of the sweeping robot can be used for executing the control method of the sweeping robot in the control method embodiments of the following sweeping robots. The control device of the floor sweeping robot can be used for executing the following steps:
acquiring an initial environment map through laser data information of the radar, and segmenting the initial environment map to acquire an initial room segmentation layout;
selecting a first room from the initial room segmentation layout;
judging whether a first unaware area exists in the first room according to the initial environment map;
if a first unaware area exists, controlling the sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm so as to update the initial environment map;
when the first room does not have a first unseen area, the sweeping robot is switched to be in a sweeping mode to sweep the first room.
Because place the inside back of sweeping floor robot's casing with the radar, can make the angle of vision of radar receive the restriction, can not be like the angle of vision that possess 360 degrees that is located the robot top of sweeping floor, promptly can receive certain influence to the perceptibility of surrounding environment. Therefore, in this application, the robot of sweeping the floor before sweeping the fan, need acquire all environment map information in the room earlier and guarantee that there is not the unseen region in the room promptly, acquire the real-time environment information on the route advancing direction of sweeping according to the radar when sweeping, the initial environment map that obtains with the preceding search for simultaneously acquires the map information in the region that the radar can't detect, thereby make the robot of sweeping the floor can accurately acquire the map information of surrounding environment and can not take place to bump with the barrier on every side, can realize promptly and the same use experience of the traditional robot of sweeping the floor of current radar position top.
In one embodiment, referring to fig. 2 and 3, the radar is a 360 ° rotating single line lidar. The single-line laser radar has the advantages of simple structure, convenience in use, high scanning speed, high angular resolution and high mapping precision. The single-line laser radar comprises a single-point infrared transmitting device and a signal receiving device. The single-line laser radar calculates the distance from a transmitting end to an obstacle according to a triangular distance measurement principle or a light flight time principle, after the distance calculation of one obstacle point is completed, the infrared transmitting device and the signal receiving device rotate at a certain angle at the same time to acquire related data to calculate the distance of the next obstacle point, the acquisition of obstacle distance information of the surrounding transecting plane is completed through the operation, and finally map information of the surrounding environment is obtained. Meanwhile, the light emitting area of the sweeping robot is a slit for the laser emitted by the laser radar to pass through, the slit is arranged along the direction of the laser rotation deviation, and the single-line laser radar can rotate in the slit to acquire the environmental information in the surrounding environment. Referring to figure 2, which is a cross-sectional view of the side of the robot being swept, the devices within the housing represent single line lidar, the lines in front of the radar representing the laser emitted by the radar. Referring to fig. 3, the solid circle in the figure represents the radar, two line segments represent the range of laser emitted by the radar in rotation, and two arrow line segments are arranged between the two line segments to represent the rotation deviation direction of the laser radar.
In another embodiment, referring to fig. 4, the radar is a limited field angle solid state radar. Solid state radars differ from single line lidar in that there is no rotating structure in solid state radars. The solid-state radar comprises a light source emitting device, a light modulation device and a signal receiving device. The solid-state radar modulates the light of a single point into a series of points on the same straight line through the light source modulation device to be emitted, a fixed distance is reserved between the receiving device and the emitting device, and the distance from each point to the emitting device can be calculated by calculating the position of the received light point in a chip, so that the distance of surrounding obstacles is obtained. Meanwhile, because the field angle of the solid-state radar is generally small and is between 60 degrees and 120 degrees, a plurality of solid-state radars need to be installed in the cavity of the sweeping robot to combine to obtain as many fields as possible, and the number of the installed solid-state radars can be determined by the field angle of the solid-state radar and the field angle actually required by the sweeping robot. When the field angle of the solid-state radar is large and the requirement on the field angle is not large on the application date, only one solid-state radar can be installed. Meanwhile, in the embodiment, the light emergent area on the housing of the sweeping robot is not necessarily a slit, and only a light-transmitting material such as transparent plastic can be set.
The radar of the sweeping robot is arranged in the cavity, so that the top bulge of the traditional sweeping robot can be eliminated, and the height of the sweeping robot is reduced. The passing capacity of the sweeping robot to the obstacles is improved, and the collision between the sweeping robot and the obstacles is reduced.
Based on the terminal hardware structure, various embodiments of the control method of the sweeping robot are provided.
The application provides a control method of a sweeping robot.
Referring to fig. 5 and 6, in a first embodiment of a control method of a sweeping robot, the method includes:
step S10, obtaining an initial environment map through laser data information of the radar;
after the radar of the sweeping robot is placed inside the sweeping robot, because the inside of the sweeping robot is provided with the opaque material, the radar of the sweeping robot cannot acquire obstacle information in the surrounding environment 360 degrees, that is, the environment information of a part lost by the sweeping robot, And a traditional SLAM (Simultaneous Localization And Mapping) method is based on a 360-degree field angle, And is therefore not suitable for the sweeping robot in the application. In this application, the robot that sweeps the floor can utilize the radar to carry out initial scanning to the environment of surroundings to obtain the initial environment map of current environment. When generating the initial environment map, the sweeping robot initially scans and explores the surrounding environment to acquire possible area boundary information and partial obstacle information in the current environment.
Step S20, judging whether a first unaware area exists according to the initial environment map;
the radar utilizes the laser to explore the surrounding environment, when the light emitted by the radar meets an obstacle, the light is reflected back by the obstacle, meanwhile, because the light cannot directly pass through the obstacle, the light cannot be explored when the light meets the obstacle, an unsensive area can be formed in an initial environment map, namely, the sweeping robot cannot know whether a new obstacle exists in the area temporarily, and the sweeping robot must know the area information in the unsensive areas when sweeping the room, so that whether the unsensive area exists in the first fan needs to be judged. At present, a floor sweeping robot generates a grid occupying map when a map is built, namely, the map is divided into the grid maps, and corresponding probability information whether the grid is occupied or not (namely whether an obstacle exists or not) is generated for each grid, if the probability information of a boundary grid of an existing area shows that the grid is free but does not have the probability information of an adjacent grid, the existence of an unseen area is indicated, and otherwise, the unseen area does not exist.
Step S30, if a first unaware area exists, controlling the floor sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm so as to update the initial environment map and divide the first area according to an exploration result;
the number of the first unaware areas can be one or more, the boundary points of each unaware area are obtained from the initial environment map, the boundary points of the unaware areas can be judged by probability information of each grid in the grid map, and when only one first unaware area exists, the sweeping robot is controlled to move to the boundary points of the unaware areas, and the laser information is used for finishing environment sensing and exploration of the unaware areas and updating the initial environment map. When a plurality of first unseen areas exist, calculating information gain of boundary points of each unseen area, selecting the boundary point with the largest information gain, namely the boundary point which can provide the most unknown information and is most beneficial to map expansion, planning a route from a current position to the boundary point by a planning algorithm, detecting the surrounding environment by using a radar after reaching the boundary point to obtain the environment information of the first unseen area, updating the initial environment map, and dividing the first area according to a search result. Referring to fig. 6, a diagram of a room division layout in which a solid line represents a boundary line of a certain area in a map and a dotted line represents a boundary line of a sensing area so that an initial environment map can be divided into individual areas using known boundary lines.
Step S40, when a first unaware area does not exist in the first area, controlling the sweeping robot to sweep the first area;
after searching for the imperceptible region, updating the initial environment map, and dividing the region, it is determined whether or not the imperceptible region still exists in the first region, and if the imperceptible region still exists, the method in step S30 is used to search for the imperceptible region and update the initial environment map. When the first area does not have the undetected area, the sweeping robot is controlled to sweep the first area, and meanwhile, the sweeping robot is always sweeping when searching the undetected area. At present, a floor sweeping robot cleans an area in an i-shaped and edge-along manner, cleans a distance along a boundary of the area, moves from the boundary to another boundary opposite to the boundary in the area, moves a distance along the other boundary, and repeats the cleaning process continuously to complete the cleaning process of the whole first area. In the cleaning process of a room, the sweeping robot can still use the SLAM algorithm to continuously perform positioning and mapping so as to complete the updating of the initial environment map, for example, more accurate obstacle position information is obtained or the map is updated in time when a new obstacle appears in the cleaning process so as to avoid collision. Meanwhile, after the first area is cleaned, the second unaware area is acquired again to search and divide the second area, and the cleaning of the second area is completed according to the processes from step S20 to step S40. And finishing the cleaning process of the sweeping robot after all the areas in the initial environment map are cleaned.
In this embodiment, an initial environment map is obtained through laser data information of the radar; judging whether a first unaware area exists according to the initial environment map; if a first unaware area exists, controlling the sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm so as to update the initial environment map and divide the first area according to an exploration result; and when the first room does not have a first unseen area, controlling the sweeping robot to sweep the first area. Before the sweeping robot cleans the area, all map information in the current room needs to be acquired, namely, no corresponding unseen area exists, so that the sweeping robot is ensured not to collide with the obstacle due to the reduction of the field angle in the process of cleaning the fan.
Further, referring to fig. 5 and 7, on the basis of the first embodiment of the control method of the sweeping robot, a second embodiment of the control method of the sweeping robot is provided, and in the second embodiment,
step S30 includes:
step S31, acquiring the appointed exploration boundary point of the first unaware area;
in order to improve the efficiency of searching for the unaware area, it is necessary to select a boundary point that can provide the most information of the unaware area from all boundary points of the unaware area as a designated search boundary point. The amount of information of the non-perceptual area that can be provided for each background point can be represented by the information gain of each boundary point, and the larger the information gain, the more the point has an influence on the non-perceptual area, i.e. the more information of the non-perceptual area can be provided.
Wherein, step S31 includes:
step A1, acquiring each boundary point to be explored of the first unaware area;
step A2, calculating the information gain of each boundary point to be explored;
step A3, selecting the boundary point to be explored with the maximum information gain as the appointed exploration boundary point;
for the first unaware area, all boundary points to be explored of the first unaware area are obtained, wherein the number of the first unaware area may be one or multiple, that is, all boundary points of all the unaware areas are obtained. The method for calculating the information gain comprises the steps of firstly calculating the overall entropy of the unsensive area, then calculating the entropy of each boundary point to be explored, and then obtaining the information gain of each boundary point to be explored according to the overall entropy of the unsensive area and the entropy of each boundary point to be explored. And after the information gain of each boundary point to be explored is obtained, selecting the boundary point to be explored with the largest information gain as the specified exploration boundary point, and exploring the non-perception area corresponding to the specified exploration boundary point.
Step S32, controlling the sweeping robot to move to the specified exploration boundary point;
and planning by a planning algorithm to obtain a motion path of the sweeping robot from the current position to the specified exploration boundary point. The planning algorithm may be a straight line generation method, so as to generate a travel route from the current position to the specified search boundary point, and each grid of the travel route result should be a grid which is displayed as free according to the grid probability.
Step S33, updating the initial environment map by SLAM algorithm at the specified exploration boundary point;
after the sweeping robot is moved to the designated exploration boundary point, the unaware area is explored and the initial environment map is updated according to the SLAM algorithm. The SLAM algorithm is an algorithm commonly used by sweeping robots and is used for the sweeping robots to acquire the current position information in real time and update the map information according to the laser data of the current position. The SLAM algorithm runs through the whole working process of the sweeping robot, and the sweeping robot needs to continuously acquire the current position of the sweeping robot and update the map information stored in the sweeping robot. In the SLAM algorithm, the radar pose of the sweeping robot is determined by using the existing point cloud and the map information, the radar pose and the relative pose of the radar and the sweeping robot are determined to complete the positioning process of the sweeping robot on the map, and then the laser data of the radar is used for acquiring the relative position information of each obstacle and the current position of the sweeping robot, so that the obstacle position information in the map can be updated. The whole of steps S31 to S33 may be referred to as a leading edge search algorithm for searching an imperceptible area existing in a room and updating map information.
In the embodiment, the front edge search algorithm is used for searching and updating the unseen areas in the room, so that the situation that the front obstacle of the sweeping robot is known in the sweeping process is ensured, and the collision situation caused by the limited view angle of the sweeping robot is avoided.
Further, on the basis of the above embodiments of the control method of the sweeping robot, a third embodiment of the control method of the sweeping robot is provided, in the third embodiment,
step S33 includes:
step B1, acquiring a first posture of the radar relative to the initial environment map;
the pose refers to a position and a posture, and the posture of the radar generally comprises a direction angle and a downward inclination angle of the radar. The sweeping robot detects surrounding environment information by using laser emitted by the radar, so that the first pose of the radar relative to the initial environment map can be acquired according to laser data information, and the pose of the sweeping robot cannot be acquired directly through laser data.
Wherein, step B1 includes:
step B11, acquiring a point cloud and an initial environment map which are obtained by scanning of the sweeping robot;
the point cloud is a point data set of the product appearance surface obtained by the measuring instrument. When a laser beam irradiates the surface of an object, the reflected laser beam carries information such as direction, distance and the like. When the laser beam is scanned along a certain track, the reflected laser point information is recorded while scanning, and when the scanning is extremely fine, a large number of laser points can be obtained, so that a laser point cloud can be formed. The three-dimensional coordinates of each point on the surface of the barrier and the laser reflection intensity can be obtained through the laser point cloud. The initial environment map is an environment map formed by the sweeping robot after the radar is used for initially scanning the environment, and includes position information of obstacles in the current environment.
Step B12, aligning the point cloud and the initial environment map according to a preset algorithm to obtain a first posture of the radar relative to the initial environment map;
the preset algorithm can be an iterative closest point algorithm or a related matching algorithm, and aims to align laser point cloud obtained by scanning the radar with the initial environment map, namely to judge which point in the laser point cloud is the same as which point in the initial environment map, so that the first attitude of the radar relative to the initial environment map, namely what position of the radar in the map at the moment and what corresponding radar attitude are can be obtained by using the corresponding point cloud and the initial environment map.
Step B2, acquiring a third posture of the sweeping robot relative to the initial environment map according to the first posture and a second posture of the radar relative to the sweeping robot;
after the first pose of the radar is obtained, a second pose of the radar on the robot for sweeping is obtained, and the second pose is set and known after production is completed because the robot for sweeping is generated according to the uniform requirement on the production line in the production process. Therefore, the third pose of the sweeping robot can be known according to the first pose of the radar and the second pose of the radar relative to the sweeping robot.
Step B3, updating the initial environment map based on Bayes principle by using the third posture and the scanning result of the radar;
after the third posture information of the sweeping robot is obtained, the scanning result of the radar is utilized to obtain the position information of each obstacle in the surrounding environment, namely the distance, the angle and the like between the obstacle and the current sweeping robot, and meanwhile, the information is utilized to construct the occupation grid map. In the occupancy grid map, each grid in the grid map has a corresponding probability, the probability is used for representing the probability that the grid is occupied (namely, an obstacle exists), and the higher the probability value is, the higher the possibility that the grid is occupied (namely, the obstacle exists) is. In the occupancy grid map, for one point, we denote the probability that it is an idle state by p (s ═ 1) and the probability that it is an occupied state by p (s ═ 0), although the sum of the two is 1. And the ratio of the two is introduced as the state of point odd(s) ═ p (s ═ 1)/p (s ═ 0). After a new measurement value is obtained by using the radar, a new occupation state in the grid can be judged by using the new measurement value, and new probability information of each grid can be calculated according to the new occupation state and the map can be updated by using the Bayesian principle.
Steps B1 to B3 in this embodiment form an SLAM algorithm as a whole, and the SLAM algorithm is not only used for the exploration process of the non-sensing area, but also used for the cleaning process of the sweeping robot.
In the embodiment, the positioning of the sweeping robot and the updating of the map are completed through the SLAM algorithm, and meanwhile, the result of updating the map information is more accurate by utilizing probability information in the grid and the Bayesian principle.
Further, on the basis of the above embodiments of the control method of the sweeping robot, a fourth embodiment of the control method of the sweeping robot is provided, in the fourth embodiment,
step B3 includes:
step B31, dividing the initial environment map into grid maps;
for a two-dimensional map, after the length and width of a grid are set, the original environment map can be divided into grid maps, for a three-dimensional map, height information needs to be added, and the initial environment map can be divided into corresponding grid maps in a rasterization mode.
Step B32, acquiring position information of the obstacle according to the third posture and the scanning result of the radar;
according to the scanning result obtained by the radar, the information such as the distance, the angle and the like between the obstacle and the sweeping robot can be known, and according to the third pose of the sweeping robot, the obstacle can be known to be positioned in which grid in the grid map, and therefore the new occupation state in each grid can be obtained.
Step B33, updating the grid probability of each grid point in the grid map based on the Bayesian principle according to the position information;
for each grid, after a new measurement is acquired, we need to update its state. Assuming that the state of this point before the measurement comes is odd(s), we shall update it as: odd (s | z) ═ p (s ═ 1| z)/p (s ═ 0| z). This expression is similar to conditional probability, representing the state of s under the condition that z occurs. According to the bayes principle, Odd (s | z) ═ p (z | s ═ 1)/p (z | s ═ 0) · Odd(s) can be obtained, and logOdd(s) is logarithmically known, logOdd (s | z) ═ log (p (z | s ═ 1)/p (z | s ═ 1)) + logOdd(s), wherein only log (p (z | s ═ 1)/p (z | s ═ 1)) contains measured values, the ratio is called a model of the measured values, and is recorded as lomeas, and only two models of the measured values are constant values. If we use logOdd(s) to represent the state s of the trellis, the update rule can therefore be further simplified as: s+＝S-+ lomeas, wherein S+And S-Representing the state of s after and before the measurement, respectively. And the initial state of each point is 0. The new probability value of each grid after the measurement value is obtained can be updated through the above updating rule. The value of the model for the measured value is set in advance. A larger value for a point state indicates a more certain state that it is occupied, and conversely a smaller value indicates a more certain state that it is unoccupied.
In the embodiment, probability updating is performed on each grid information in the grid map through the Bayesian principle, so that the possibility that obstacles exist in each grid is represented, and route planning in the subsequent cleaning process is facilitated.
Further, on the basis of the above embodiments of the control method of the sweeping robot, a fifth embodiment of the control method of the sweeping robot is provided, in the fifth embodiment,
step S40 includes:
step C1, obtaining the edge boundary line with the nearest distance as the initial cleaning line;
and after the area exploration is finished, namely after no area which is not sensed exists, controlling the sweeping robot to sweep the current area. And simultaneously acquiring an edge cleaning line which is closest to the current position of the cleaning robot from the initial environment map information of the area. The room boundary line is taken as the initial cleaning line.
Step C2, controlling the sweeping robot to move to the initial sweeping point of the initial sweeping line;
after the edge cleaning line closest to the current position of the sweeping robot is determined as the initial cleaning line, the boundary point closest to the current position of the sweeping robot is selected from the initial cleaning lines as the initial cleaning point. And controlling the sweeping robot to move to the initial sweeping point and starting sweeping.
Step C3, cleaning the first area according to a preset route planning method from the initial cleaning point and updating the initial environment map according to the SLAM algorithm in the cleaning process;
the preset route planning method can be a rolling planning algorithm, an artificial potential field method and the like, and the sweeping robot is controlled by the preset route planning algorithm to complete the sweeping work of the first area in an I-shaped and edgewise mode. During the cleaning process, the initial environment map needs to be updated according to the SLAM algorithm, because new obstacles may appear during the cleaning process or the existing obstacle information is updated by using the scanning result during the cleaning process.
In the embodiment, the cleaning efficiency can be improved by controlling the sweeping robot to complete the cleaning of the room in an I-shaped and edgewise manner.
Further, on the basis of the above embodiments of the control method of the sweeping robot, a sixth embodiment of the control method of the sweeping robot is provided, in the sixth embodiment,
after step S40, the method further includes:
step D1, after the first area is cleaned, judging whether a second unaware area exists in the initial environment map;
step D2, if a second unaware area exists, controlling the sweeping robot to explore the second unaware area according to the preset front edge exploration algorithm and dividing the second area according to the exploration result;
step D3, if a second unaware area does not exist in the second area, controlling the sweeping robot to sweep the second area;
and after the cleaning work of the first area is finished, selecting a second unseen area from the initial environment map again, searching the second unseen area and dividing the second area, wherein the cleaning process of the second area is the same as that of the first area, if the unseen area exists, whether the searching process of the unseen area is finished or not through a front-edge searching algorithm and the map information is updated, and if the unseen area does not exist, controlling the sweeping robot to clean the second area.
After the step D4, the method further includes:
step D5, if all the second areas are completely cleaned, stopping the cleaning work of the cleaning robot;
and stopping the cleaning work of the sweeping robot when the cleaning work of the second area is finished, namely all rooms in the current map are cleaned. Meanwhile, in the process of cleaning all the areas, the obstacles in the cleaning areas can be identified and detected, if the obstacles are carpets or blankets, and meanwhile, if the sweeping robot is in the floor mopping mode, the blankets or the blankets cannot be cleaned, so that after the sweeping robot cleans all the areas, the identified carpets and blanket areas need to be subjected to supplementary sweeping.
In this embodiment, the cleaning of all the areas in the initial environment map is completed in sequence, and when the cleaning of all the areas is completed, the cleaning of the sweeping robot is completed.
Further, on the basis of the above embodiments of the control method of the sweeping robot, a seventh embodiment of the control method of the sweeping robot is provided, in which,
the control method of the sweeping robot further comprises the following steps:
step E, outputting fault alarm information when fault information is detected;
when the sweeping robot breaks down, if the sweeping robot collides with an obstacle in the sweeping process and cannot move, and the sweeping task cannot be completed due to the foreign matter blocking main sweeping device in the sweeping process, corresponding fault alarm information such as alarm sound or flashing light can be generated.
In this embodiment, when the floor sweeping robot encounters a fault, fault alarm information is generated in time so that a user can process the fault alarm information in time.
In addition, referring to fig. 8, an embodiment of the present application further provides a control device for a sweeping robot, where the control device for the sweeping robot includes:
the acquisition module is used for acquiring an initial environment map through laser data information of the radar;
the first judging module is used for judging whether a first non-perception area exists according to the initial environment map;
the first exploration module is used for controlling the sweeping robot to explore a first unaware area according to a preset front edge exploration algorithm to update the initial environment map and divide the first area according to an exploration result if the first unaware area exists;
the first cleaning module is used for controlling the sweeping robot to clean the first area in a cleaning mode when the first area does not have a first undetected area.
Optionally, the first exploration module comprises:
a first obtaining unit, configured to obtain a specified exploration boundary point of the first unaware area;
the moving unit is used for controlling the sweeping robot to move to the specified exploration boundary point;
and the updating unit is used for updating the initial environment map at the specified exploration boundary point through a SLAM algorithm.
Optionally, the first obtaining unit includes:
the first acquisition subunit is used for acquiring each boundary point to be explored of the first unaware area;
the computing subunit is used for computing the information gain of each boundary point to be explored;
and the selection subunit is used for selecting the boundary point to be searched with the largest information gain as the specified search boundary point.
Optionally, the updating unit includes:
the second acquisition subunit is used for acquiring a first attitude of the radar relative to the initial environment map;
the third acquiring subunit is configured to acquire a third pose of the sweeping robot relative to the initial environment map according to the first pose and a second pose of the radar relative to the sweeping robot;
and the updating subunit is used for updating the initial environment map based on the Bayesian principle by using the third pose and the scanning result of the radar.
Optionally, the second obtaining subunit includes:
the third acquisition subunit is used for acquiring point cloud obtained by radar scanning and an initial environment map;
and the alignment subunit is used for aligning the point cloud and the initial environment map according to a preset algorithm so as to obtain a first posture of the radar relative to the initial environment map.
Optionally, the update subunit includes:
a dividing subunit, which divides the initial environment map into grid maps;
the fourth acquisition subunit is used for acquiring the position information of the obstacle according to the third posture and the scanning result of the radar;
and the second updating subunit is used for updating the grid probability of each grid point in the grid map based on a Bayesian principle according to the position information.
Optionally, the sweeping module comprises:
the second acquisition unit is used for acquiring the nearest edge cleaning line as an initial cleaning line;
the control unit is used for controlling the sweeping robot to move to the starting point of the starting sweeping line;
and the cleaning unit is used for cleaning the first area from the initial cleaning point according to a preset route planning method and updating the initial environment map according to an SLAM algorithm in the cleaning process.
Optionally, the control device of the sweeping robot further includes:
the second judging module is used for judging whether a second unseen area exists in the initial environment map or not after the first area is cleaned;
the second exploration module is used for controlling the sweeping robot to explore a second unseen area according to the preset front edge exploration algorithm and dividing the second area according to the exploration result if the second unseen area exists;
and the second cleaning unit is used for controlling the sweeping robot to clean the second area in a cleaning mode if the second area does not have a second undetected area.
Optionally, the control device of the sweeping robot further includes:
and the stopping module is used for stopping the cleaning work of the sweeping robot if all the second areas are cleaned.
Optionally, the control device of the sweeping robot further includes:
and the output module is used for outputting fault alarm information when the fault information is detected.
The specific implementation of the readable storage medium (i.e., the computer readable storage medium) of the present application is basically the same as the embodiments of the control method of the sweeping robot, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a robot of sweeping floor, its characterized in that, the robot of sweeping floor includes casing and radar, the radar set up in inside the casing, set up the confession on the casing the light-emitting area that radar detection signal passes through.
2. The sweeping robot of claim 1,
the radar is a single-line laser radar rotating by 360 degrees, the light emitting area is a slit for laser emitted by the laser radar to pass through, the slit is arranged along the direction of the laser rotation deviation, and the radar comprises a single-point laser emitting device and a signal receiving device.
3. The sweeping robot of claim 1,
the radar is a solid-state radar with a limited field angle, the solid-state radars are installed inside a shell of the sweeping robot in a combined mode, and the radar comprises a light source emitting device, a light modulation device and a signal receiving device.
4. A control method of a sweeping robot, which is applied to the sweeping robot according to any one of claims 1 to 3, and comprises the following steps:
acquiring an initial environment map through laser data information of the radar;
judging whether a first unaware area exists according to the initial environment map;
if a first unaware area exists, controlling the sweeping robot to explore the first unaware area according to a preset front edge exploration algorithm so as to update the initial environment map and divide the first area according to an exploration result;
and when a first unseen area does not exist in the first area, controlling the sweeping robot to sweep the first area.
5. The method of claim 4, wherein the step of controlling the sweeping robot to explore the first unaware area according to a preset leading edge exploration algorithm to update the initial environment map comprises:
acquiring a specified exploration boundary point of the first unaware area;
controlling the sweeping robot to move to the specified exploration boundary point;
and updating the initial environment map through a SLAM algorithm at the specified exploration boundary point.
6. The method of claim 5, wherein the step of obtaining the specified exploration boundary point of the first unaware area comprises:
acquiring boundary points to be explored of the first unaware area;
calculating the information gain of each boundary point to be explored;
and selecting the boundary point to be explored with the maximum information gain as the specified exploration boundary point.
7. The method of claim 5, wherein the step of updating the initial environment map at the designated exploration boundary point via a SLAM algorithm comprises:
acquiring a first attitude of the radar relative to the initial environment map;
acquiring a third pose of the sweeping robot relative to the initial environment map according to the first pose and a second pose of the radar relative to the sweeping robot;
and updating the initial environment map by using the third posture and the scanning result of the radar based on a Bayesian principle.
8. The method of claim 7, wherein the step of obtaining the first pose of the radar relative to the initial environmental map comprises:
acquiring point cloud obtained by scanning the radar and an initial environment map;
and aligning the point cloud and the initial environment map according to a preset algorithm to obtain a first posture of the radar relative to the initial environment map.
9. The method of claim 7, wherein the step of updating the initial environment map based on Bayesian principles using the third pose and the scan result of the radar comprises:
dividing the initial environment map into a grid map;
acquiring position information of the obstacle according to the third posture and the scanning result of the radar;
and updating the grid probability of each grid point in the grid map based on a Bayesian principle according to the position information.
10. The method of claim 4, wherein the step of controlling the sweeping robot to sweep the first area comprises:
acquiring an edge cleaning line closest to the edge cleaning line as an initial cleaning line;
controlling the sweeping robot to move to an initial sweeping point of the initial sweeping line;
and cleaning the first area from the initial cleaning point according to a preset route planning method and updating the initial environment map according to a SLAM algorithm in the cleaning process.
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| CN202010874476.3A CN112051847A (en) | 2020-08-26 | 2020-08-26 | Sweeping robot, control method and device of sweeping robot and readable medium |
| PCT/CN2020/115671 WO2022041343A1 (en) | 2020-08-26 | 2020-09-16 | Robotic vacuum cleaner, control method and device for robotic vacuum cleaner, and computer-readable storage medium |
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| CN112790669A (en) * | 2020-12-30 | 2021-05-14 | 北京奇虎科技有限公司 | Sweeping method and device of sweeper and storage medium |
| WO2022133697A1 (en) * | 2020-12-22 | 2022-06-30 | 北京洛必德科技有限公司 | Mobile robot map construction method and apparatus, and computer device and storage medium |
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| CN116182840B (en) * | 2023-04-28 | 2023-07-25 | 科大讯飞股份有限公司 | Map construction method, device, equipment and storage medium |
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| DE102015006014A1 (en) * | 2015-05-13 | 2016-11-17 | Universität Bielefeld | Soil cultivation device and method for its navigation and swarm of tillage equipment and methods for their joint navigation |
| CN107121142B (en) * | 2016-12-30 | 2019-03-19 | 深圳市杉川机器人有限公司 | The topological map creation method and air navigation aid of mobile robot |
| CN209770256U (en) * | 2018-07-09 | 2019-12-13 | 广州艾若博机器人科技有限公司 | floor sweeping robot |
| CN110870719A (en) * | 2018-09-04 | 2020-03-10 | 北京雷动云合智能技术有限公司 | Laser radar is located inside robot of sweeping floor |
| CN110531760B (en) * | 2019-08-16 | 2022-09-06 | 广东工业大学 | Boundary exploration autonomous mapping method based on curve fitting and target point neighborhood planning |
| CN111466835A (en) * | 2020-03-31 | 2020-07-31 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
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| WO2022133697A1 (en) * | 2020-12-22 | 2022-06-30 | 北京洛必德科技有限公司 | Mobile robot map construction method and apparatus, and computer device and storage medium |
| CN112790669A (en) * | 2020-12-30 | 2021-05-14 | 北京奇虎科技有限公司 | Sweeping method and device of sweeper and storage medium |
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