CN109507995B - Management system of robot map and robot - Google Patents
Management system of robot map and robot Download PDFInfo
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- CN109507995B CN109507995B CN201710829428.0A CN201710829428A CN109507995B CN 109507995 B CN109507995 B CN 109507995B CN 201710829428 A CN201710829428 A CN 201710829428A CN 109507995 B CN109507995 B CN 109507995B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention discloses a robot map management system and a robot, wherein the system comprises: the historical map library module is used for acquiring and storing a map of the environment; the measuring module is used for acquiring a measuring signal of the robot to the current environment; the mapping and positioning module is used for establishing a first map of the robot in the current environment and calculating pose information of the robot in the first map; the matching judgment module is used for judging whether a map matched with the first map exists in the historical map library or not and outputting a matched map number; and the map updating module is used for updating and/or deleting the historical map in the historical map library and/or adding a new map to the historical map library. The system can keep the effectiveness of the historical map of the robot, effectively improves the robustness of the map building and positioning algorithm of the mobile robot, thereby increasing the stability and richness of the map, increasing more intelligent control operations of the robot based on the map and improving the user experience.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a management system of a robot map and a robot.
Background
At present, the mapping and positioning algorithms of mobile robots often result in insufficient robustness, so that the robots are updated in a mode of frequently reconstructing maps or incrementally constructing maps, but the updated maps are generated, and the operation relative to the original maps is also invalid along with the change of the maps. For example, if the map of the sweeping robot is changed, the last incomplete sweeping record will be invalid, and the sweeping machine cannot perform tasks such as breakpoint continuous sweeping, so that the working efficiency of the sweeping machine is reduced.
In addition, the robot may often work in different environments, or a user performs a custom operation of task division on a map, the map needs to be managed, the environment where the mobile robot is located may also be changed, the map needs to be updated continuously, but the map needs to be updated on the premise that a history record can be effectively kept, and the prior art needs to be improved.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, one objective of the present invention is to provide a robot map management system, which can effectively improve the robustness of the mapping and positioning algorithms of the mobile robot, and is simple and convenient.
Another object of the invention is to propose a robot.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a management system for a robot map, including: the historical map library module is used for acquiring and storing maps of environments, wherein different environments correspond to different maps to obtain a historical map library; the system comprises a measuring module, a processing module and a processing module, wherein the measuring module is used for acquiring a measuring signal of a robot to a current environment, and the measuring signal comprises distance information of an obstacle and the robot in the current environment and/or image information of an environment observed by the robot; the mapping and positioning module is used for establishing a first map of the robot in the current environment and calculating pose information of the robot in the first map; the matching judgment module is used for judging whether a map matched with the first map exists in the historical map library or not, wherein when the matched map exists, a matched map number is output; and the map updating module is used for updating and/or deleting the historical map in the historical map library and/or adding a new map to the historical map library.
The management system of the robot map provided by the embodiment of the invention can keep the effectiveness of the historical map of the robot and effectively improve the robustness of the mapping and positioning algorithm of the mobile robot, thereby increasing the stability and richness of the map, increasing more intelligent control operations of the robot based on the map, improving the user experience, and being simple and convenient.
In addition, the management method of the map according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, when the matching judgment module outputs the matched map number, the mapping and positioning module imports a history map with a corresponding number to replace the corresponding first map, and updates the pose information of the robot.
Further, in an embodiment of the present invention, when the historical map is imported, if a difference between the original first map and the historical map is greater than a preset threshold, the original first map and the historical map are fused to form a new first map.
Further, in an embodiment of the present invention, the method further includes: the statistical module is used for counting the historical use frequency and the historical use time of the historical map in the historical map library, so that the map updating module obtains a use threshold according to the historical use frequency and the historical use time to reserve or delete according to the use threshold; and/or the merging module is used for calculating whether the historical maps in the historical map library have local same areas or not, and merging the maps of the same areas when the proportion of the whole map of the same areas exceeds a preset proportion.
Further, in an embodiment of the present invention, the matching determining module includes: the first matching judgment unit is used for obtaining the pose information of the robot in the historical map according to the measurement signal and judging matching when the pose information in the historical map meets a first preset condition; and/or a second matching judgment unit, configured to acquire pose information of the first map in the history map, and determine matching when the pose information in the history map satisfies a second preset condition; and/or a third matching judgment unit, configured to obtain similarity between the first map and the historical map, judge matching when the similarity satisfies a third preset condition, and calculate an affine transformation matrix to obtain pose information of the robot in the historical map.
Further, in an embodiment of the present invention, when the matching determining module determines that there is no matching historical map, the mapping and positioning module continues to establish the first map of the current environment, and when the robot moves, the updated first map is used to determine whether there is a matching historical map; when the first map exceeds a preset map size threshold and no matched historical map exists in the historical map library, the first map is considered as a new map, and the map updating module adds the first map to the historical map library.
In an embodiment of the present invention, when the matching judgment module outputs the matched map number, the mapping and positioning module imports a history map with a corresponding number, and imports map attribute information of the map with the corresponding number to assist in controlling a working mode of the robot. Further, in an embodiment of the present invention, the method further includes: and the uploading module is used for uploading the historical map in the historical map library to a cloud server.
Further, in an embodiment of the present invention, the historical map library module further includes: the map marking module is used for recording attribute information of a map; wherein the attribute information includes one or more of map area division information, historical work data, and user interaction data.
In order to achieve the above object, another embodiment of the present invention provides a robot including the above robot map management system. The robot can keep the validity of the historical map of the robot, and can effectively improve the robustness of the map building and positioning algorithm of the mobile robot, thereby increasing the stability and richness of the map, increasing more robot intelligent control operations based on the map, improving the user experience, and being simple and easy to realize.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a management system of a robot map according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a management system of a robot map according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A management system of a robot map and a robot proposed according to an embodiment of the present invention will be described below with reference to the accompanying drawings, and first, a management system of a robot map proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a management system of a robot map according to an embodiment of the present invention.
As shown in fig. 1, the management system 10 includes: the map database comprises a historical map library module 100, a measurement module 200, a map building and positioning module 300, a matching judgment module 400 and a map updating module 500.
The historical map library module 100 is configured to obtain and store maps of environments, where different environments correspond to different maps to obtain a historical map library. The measurement module 200 is configured to obtain a measurement signal of the robot for a current environment, where the measurement signal includes information of a distance between an obstacle and the robot in the current environment and/or image information of an environment observed by the robot. The mapping and positioning module 300 is used for establishing a first map of the robot in the current environment and calculating pose information of the robot in the first map. The matching judgment module 400 is configured to judge whether there is a map matching the first map in the historical map library, where when there is a matching map, a matching map number is output. The map update module 500 is used to update and/or delete a historical map in the historical map library, and/or add a new map to the historical map library. The management system 10 of the embodiment of the invention can keep the effectiveness of the historical map of the robot and effectively improve the robustness of the mapping and positioning algorithm of the mobile robot, thereby increasing the stability and richness of the map, increasing more intelligent control operations of the robot based on the map and improving the user experience.
It will be appreciated that there is first a map, for example a combination of single or multiple sensors such as lidar, depth cameras, infrared ranging, ultrasound, IMU, odometer, etc. may be mounted on the mobile robot to enable the input data sources for the mapping and positioning algorithms. The system comprises a map, a robot controller and a robot controller, wherein the map records position information of all environmental obstacles, an area where the robot can move without obstacles, and an area where the unknown robot is not searched. It should be noted that the map of the software virtual wall may be a partially incomplete map or a complete map, and has a certain coordinate system reference, and the map has enough obstacle features so that the map in the later use process can still be consistent with the coordinate system of the original map after being updated.
Furthermore, after a fixed map is obtained, a user can divide areas on the map to make different work plans for the robot, and historical data can be recorded, so that the robot can make different tasks more intelligently made for different places by analyzing the environment condition and the work record of each area in the map. For example, if the robot cleaner is used for sweeping a floor, historical cleaning records can be effectively recorded, and when cleaning is not finished, the robot cleaner can continue to return to finish the unfinished cleaning task regardless of the situations (such as power failure, temporary tasks, return after environment replacement and the like).
It should be noted that, in the process of creating the map, the positioning algorithm of the robot may fail, for example, the sensor is abnormal due to collision, the robot is manually moved, errors are accumulated, and the like, but the embodiment of the present invention may detect that the position may be lost through the preset algorithm, and then reposition and retrieve the position according to the preset repositioning algorithm, which is described in detail below.
In an embodiment of the present invention, the management system 10 of the embodiment of the present invention further includes: a statistics module and/or a merging module. The statistical module is used for counting the historical use frequency and the historical use time of the historical map in the historical map library, so that the map updating module obtains the use threshold according to the historical use frequency and the historical use time and retains or deletes the map according to the use threshold. The merging module is used for calculating whether the historical maps in the historical map library have local identical regions or not, and merging the maps of the identical regions when the proportion of the whole map of the identical regions exceeds a preset proportion.
It can be understood that once the historical map library is used less frequently and used for a shorter time, the map library can be determined to be invalid, the map library can be selected to be deleted, and if multiple historical maps are similar or intersect, the multiple historical maps can be combined, so that the rationality and the integrity of the historical map library are improved, and the working efficiency is improved.
Further, in an embodiment of the present invention, the matching judgment module includes a first matching judgment unit, a second matching judgment unit, and a first matching judgment unit. The first matching judgment unit is used for obtaining pose information of the robot in a historical map according to the measurement signal, and judging matching when the pose information in the historical map meets a first preset condition; and/or a second matching judgment unit, configured to acquire pose information of the first map in the history map, and judge matching when the pose information in the history map satisfies a second preset condition; and/or the third matching judgment unit is used for acquiring the similarity between the first map and the historical map, judging matching when the similarity meets a third preset condition, and calculating an affine transformation matrix to obtain the pose information of the robot in the historical map.
For example, the pose of the robot in the historical map is calculated by using sensor data of a measuring module and a preset positioning matching algorithm, when the similarity between information measured by a sensor and the information at the pose calculated in the map is greater than a preset first threshold value, the information is judged to be matched with the map, and the calculated pose is the pose of the robot in the historical map. And/or calculating the pose of the first map in the historical map by using the data of the first map and a preset positioning matching algorithm, judging that the pose of the robot is matched with the changed map when the similarity of the first map and a local map at the pose calculated in the map is greater than a preset second threshold, and calculating the pose of the robot in the historical map according to the pose of the robot in the first map and the pose of the first map in the historical map. And/or calculating the similarity between the first map and the historical map by using the data of the first map and a preset feature matching algorithm, judging that the first map is matched with the map when the similarity is greater than a preset 3 rd threshold value, and calculating an affine transformation matrix to obtain the pose of the robot in the historical map.
It should be noted that the preset values of the embodiments of the present invention can be set by those skilled in the art according to actual situations.
Further, in an embodiment of the present invention, when the matching determining module determines that there is no matching historical map, the mapping and positioning module continues to establish the first map of the current environment, and when the robot moves, the updated first map is used to determine whether there is a matching historical map; when the first map exceeds a preset map size threshold and no matched historical map exists in the historical map library, the first map is considered as a new map, and the map updating module adds the first map to the historical map library.
It can be understood that, when the matching is unsuccessful, the first map is expanded continuously until the first map meets the condition of being stored in the historical map library, and then the first map is added to the historical map library to meet the requirement later.
In one embodiment of the invention, when the matching judgment module outputs the matched map number, the map building and positioning module imports the historical map with the corresponding number and imports the map attribute information of the map with the corresponding number so as to assist in controlling the working mode of the robot.
Optionally, in an embodiment of the present invention, the historical map library module further includes: and the map marking module is used for recording the attribute information of the map. The attribute information may include one or more of map area division information, historical work data, and user interaction data, which is not limited in this respect.
Further, in an embodiment of the present invention, if the matching judgment module 400 outputs a matching map number, the mapping location module 300 imports a history map corresponding to the number to replace the corresponding first map, and updates the pose information of the robot.
It can be understood that if the positions of some maps are similar, the relocation may have wrong positions, and a multiple relocation manner may be adopted, so that when the robot moves according to the result of the relocation and moves to another place different from the previous environment and having a record in the history map, the location is still correct, the relocation is considered to be successful, and the subgraph established in the relocation process is added to the history map in a certain method for updating.
In an embodiment of the present invention, when importing a historical map, if a difference between an original first map and the historical map is greater than a preset threshold, the original first map and the historical map are fused to form a new first map.
It can be understood that when the environment of the robot changes in a small range, the positioning algorithm can still calculate the position of the robot, at this time, the map is updated in a time and space probability updating manner for the environment of the robot, and when the environment of the robot changes in a large range, if the environment is changed or the environment is set to move in a large range, the original map is stored, and the map is rebuilt.
After the complete map is to be built, the historical map is matched with the newly built map to obtain the similarity. If the similarity is higher than a certain threshold value, the map is considered to be the former map, and the map is updated only because part of furniture is moved; if the similarity is lower than a certain threshold value, the environment is considered to be changed, a new map is replaced to be the current map, and a historical map is stored; if the similarity is between the two thresholds, the two maps are stored, and the map building, updating and similarity calculation are carried out for multiple times to confirm whether the environment is changed. Each map corresponds to a historical work and interaction data, thus confirming whether replacement is prudent. It should be noted that the threshold may be set according to actual situations.
It will be appreciated that as shown in figure 2, the robot may store a plurality of historical maps, such as map 1, map 2 and map 3, which are matched to determine which historical environment the robot is in or whether it is in a new environment when the robot is changed to a new environment. The method is similar to a repositioning method, which environment the robot is in is determined after multiple times of confirmation, corresponding historical work and interaction data are called out, a subgraph is established and relevant data are recorded in the multiple confirmation process, and when a map to which the robot belongs is determined, the data of the subgraph and the data of the historical map are merged.
Further, in an embodiment of the present invention, the management system 10 of the embodiment of the present invention further includes: and an uploading module. The uploading module is used for uploading the historical map in the historical map library to the cloud server.
That is, in order to reduce the storage space, useful maps are stored by a certain method, such as calculating a threshold value by weighting according to the history use frequency and the history use time, and if the threshold value exceeds a certain threshold value, it is considered that the map is an old map which is unlikely to need to be operated, and the map is deleted. Meanwhile, the user can also reserve and delete the map in a user-defined manner, if the user wants to store more maps, the map can be uploaded to the cloud server, and the map can be downloaded when the map needs to be called.
According to the management system of the robot map, disclosed by the embodiment of the invention, the robot can record and switch maps of a plurality of scenes, the map can be updated on the basis of keeping historical data, the effectiveness of the historical map of the robot can be kept, and the robustness of the mapping and positioning algorithm of the mobile robot can be effectively improved, so that the stability and the richness of the map are increased, more intelligent control operations of the robot based on the map can be increased, the user experience is improved, and the management system is simple and convenient.
In addition, the embodiment of the invention also provides a robot, which comprises the management system of the robot map. The robot can record and switch maps of a plurality of scenes, can update the maps on the basis of keeping historical data, can keep the validity of the historical maps of the robot, can effectively improve the robustness of mapping and positioning algorithms of the mobile robot, thereby increasing the stability and richness of the maps, increasing more intelligent control operations of the robot based on the maps, improving the user experience, and being simple and convenient.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A management system for a robot map, comprising: the historical map library module is used for acquiring and storing maps of environments, wherein different environments correspond to different maps to obtain a historical map library;
the system comprises a measuring module, a processing module and a processing module, wherein the measuring module is used for acquiring a measuring signal of a robot to a current environment, and the measuring signal comprises distance information of an obstacle and the robot in the current environment and/or image information of an environment observed by the robot;
the mapping and positioning module is used for establishing a first map of the robot in the current environment and calculating pose information of the robot in the first map;
the matching judgment module is used for judging whether a map matched with the first map exists in the historical map library or not, wherein when the matched map exists, a matched map number is output; and
the map updating module is used for updating and/or deleting the historical map in the historical map library and/or adding a new map to the historical map library;
when the matching judgment module outputs the matched map number, the map building and positioning module imports a historical map with a corresponding number to replace a corresponding first map, and updates the pose information of the robot.
2. The system for managing a map for a robot according to claim 1, wherein when the historical map is imported, if a difference between an original first map and the historical map is greater than a preset threshold value, the original first map and the historical map are merged to form a new first map.
3. The management system of a robot map according to claim 1, further comprising:
the statistical module is used for counting the historical use frequency and the historical use time of the historical map in the historical map library, so that the map updating module obtains a use threshold according to the historical use frequency and the historical use time to reserve or delete according to the use threshold; and/or
And the merging module is used for calculating whether the historical maps in the historical map library have local same areas or not, and merging the maps of the same areas when the proportion of the whole map of the same areas exceeds a preset proportion.
4. The management system of a robot map according to claim 1, the matching judgment module comprising:
the first matching judgment unit is used for obtaining the pose information of the robot in the historical map according to the measurement signal and judging matching when the pose information in the historical map meets a first preset condition; and/or
The second matching judgment unit is used for acquiring the pose information of the first map in the historical map and judging matching when the pose information in the historical map meets a second preset condition; and/or
And the third matching judgment unit is used for acquiring the similarity between the first map and the historical map, judging matching when the similarity meets a third preset condition, and calculating an affine transformation matrix to obtain the pose information of the robot in the historical map.
5. The system for managing a map of a robot according to claim 1, wherein the map creation positioning module continues to create the first map of the current environment when the matching judgment module judges that there is no matching historical map, and judges whether there is a matching historical map using the updated first map when the robot moves; when the first map exceeds a preset map size threshold and no matched historical map exists in the historical map library, the first map is considered as a new map, and the map updating module adds the first map to the historical map library.
6. The system for managing a map for a robot according to claim 5, wherein when the matching determination module outputs the matched map number, the map creation positioning module imports a history map of a corresponding number and imports map attribute information of the history map of the corresponding number to assist in controlling an operation mode of a robot.
7. The management system of a robot map according to claim 1, further comprising:
and the uploading module is used for uploading the historical map in the historical map library to a cloud server.
8. The management system of a robot map according to claim 1, the historical map library module further comprising: the map marking module is used for recording attribute information of a map;
wherein the attribute information includes one or more of map area division information, historical work data, and user interaction data.
9. A robot, comprising:
a management system of a robot map according to any one of claims 1 to 8.
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| CN110174892B (en) * | 2019-04-08 | 2022-07-22 | 阿波罗智能技术(北京)有限公司 | Vehicle orientation processing method, device, equipment and computer readable storage medium |
| CN109974722B (en) | 2019-04-12 | 2020-09-15 | 珠海市一微半导体有限公司 | Map updating control method and map updating control system of visual robot |
| CN110000786B (en) * | 2019-04-12 | 2020-09-01 | 珠海市一微半导体有限公司 | Historical map utilization method based on visual robot |
| CN110108288A (en) * | 2019-05-27 | 2019-08-09 | 北京史河科技有限公司 | A kind of scene map constructing method and device, scene digital map navigation method and device |
| CN111158374A (en) * | 2020-01-10 | 2020-05-15 | 惠州拓邦电气技术有限公司 | Repositioning method, repositioning system, mobile robot and storage medium |
| CN111426312B (en) * | 2020-03-31 | 2021-10-29 | 上海擎朗智能科技有限公司 | Method, device and equipment for updating positioning map and storage medium |
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| CN111536964B (en) * | 2020-07-09 | 2020-11-06 | 浙江大华技术股份有限公司 | Robot positioning method and device, and storage medium |
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| CN113656418B (en) * | 2021-07-27 | 2023-08-22 | 追觅创新科技(苏州)有限公司 | Semantic map storage method and device, storage medium and electronic device |
| CN114081396B (en) * | 2021-11-30 | 2023-04-18 | 深圳Tcl新技术有限公司 | Map data reporting method and device of sweeper, storage medium and electronic equipment |
| CN115089077B (en) * | 2022-07-29 | 2023-05-16 | 云鲸智能(深圳)有限公司 | Control method of cleaning robot, cleaning 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: 518055, 16, B1 building, Nanshan Zhiyuan 1001, Taoyuan Road, Nanshan District, Shenzhen, Guangdong. Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |