Map overlapping detection method

The invention relates to a map overlapping detection method, and relates to the technical field of map processing. According to the method, the first local map of the cleaning robot in the moving process is constructed; in the construction process of the first local map, the newly added area of the first local map and the position change distance of the cleaning robot in the first local map are determined; and based on the newly added area and the position change distance, detecting whether there is an overlapped map in the first local map. According to the method, the calculated amount can be small according to the area change condition of the map constructed by the cleaning robot and the pose change condition of the cleaning robot, and the overlay map generated in the map can be timely and rapidly detected in the working process of the robot. 本公开涉及一种地图叠图检测方法，涉及地图处理技术领域。本公开通过构建清洁机器人在移动过程中的第一局部地图；在所述第一局部地图的构建过程中，确定所述第一局部地图的新增面积以及所述清洁机器人在所述第一局部地图中的位置变动距离；基于所述新增面积以及所述位置变动距离，检测所述第一局部地图中是否存在叠图。可以根据清洁机器人构建的地图的面积变化