CN111449571B - Cleaning method, device and equipment based on positioning system and computer readable medium - Google Patents
Cleaning method, device and equipment based on positioning system and computer readable medium Download PDFInfo
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- CN111449571B CN111449571B CN202010158236.3A CN202010158236A CN111449571B CN 111449571 B CN111449571 B CN 111449571B CN 202010158236 A CN202010158236 A CN 202010158236A CN 111449571 B CN111449571 B CN 111449571B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The application relates to a cleaning method, a cleaning device, cleaning equipment and a computer readable medium based on a positioning system. The method comprises the following steps: the method comprises the steps that a positioning system is utilized to obtain a region to be cleaned, the region to be cleaned is divided into a plurality of sub-regions to be cleaned, in the process that a sweeping robot cleans the region to be cleaned according to a preset mode, the cleaning times of each sub-region in the region to be cleaned by the sweeping robot are recorded, and the sweeping robot is controlled to perform secondary cleaning on a target sub-region under the condition that the sweeping robot cleans the region to be cleaned according to the preset mode. The problem of robot that sweeps floor neglected to sweep and repeatedly sweep has effectively been solved in this application, has compensatied the not enough of path planning algorithm, has effectively promoted robot's that sweeps floor cleaning efficiency.
Description
Technical Field
The present application relates to the field of sweeping robots, and in particular, to a sweeping method, a sweeping device, a sweeping apparatus, and a computer-readable medium based on a positioning system.
Background
With the rapid development of artificial intelligence technology and the rapid improvement of the living standard of people at present, the floor sweeping robot is rapidly popularized to each household as a sharp tool for improving the quality of life. The sweeping robot can efficiently and quickly sweep the ground by virtue of a small body type and an excellent sweeping system, and on one hand, the sweeping robot is provided with a powerful dust absorption fan, and on the other hand, the sweeping robot has a very intelligent sweeping algorithm.
At present, cleaning algorithms applied to sweeping robots in related technologies are roughly divided into two types, namely a random coverage algorithm and a path planning algorithm, wherein the cleaning efficiency of the path planning algorithm is obviously higher than that of the random coverage algorithm. The path planning algorithm plans the cleaning path by depending on a mature positioning system such as an image displacement positioning system, a laser radar triangular ranging system and the like, and after the sweeping robot performs the first cleaning operation according to the path planning algorithm, part of areas are always subjected to missed cleaning due to obstacles, rugged topography and the like, secondary covering cleaning is required, and the secondary covering cleaning not only can still be subjected to missed cleaning, but also can cause large-area repeated cleaning, so that the cleaning efficiency is reduced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The application provides a cleaning method, a cleaning device, cleaning equipment and a computer readable medium based on a positioning system, which aim to solve the technical problems of 'missing cleaning and repeated cleaning'.
In a first aspect, the present application provides a cleaning method based on a positioning system, including: acquiring an area to be cleaned by using a positioning system, wherein the positioning system is arranged in the sweeping robot; dividing a region to be cleaned into a plurality of sub-regions to be cleaned; in the process that the sweeping robot sweeps the area to be swept according to a preset mode, the sweeping times of each sub-area in the area to be swept by the sweeping robot are recorded; and under the condition that the sweeping robot cleans the area to be cleaned in a preset mode, controlling the sweeping robot to perform secondary cleaning on the target subarea, wherein the target subarea is a subarea in which the cleaning times recorded in the area to be cleaned are smaller than a preset threshold value.
Optionally, dividing the area to be cleaned into a plurality of sub-areas to be cleaned comprises: taking a starting point of a cleaning route generated by path planning as a coordinate origin; and based on the origin of coordinates, dividing the region to be cleaned into a plurality of sub-regions according to the target unit area, and establishing a two-dimensional coordinate system based on the region to be cleaned.
Optionally, in the process that the sweeping robot sweeps the to-be-swept area according to the preset mode, recording the sweeping times of each sub-area in the to-be-swept area by the sweeping robot includes: and under the condition that the sweeping robot sweeps to the current sub-area according to the sweeping route generated by the path planning, recording a coordinate staining value corresponding to the current sub-area, wherein the coordinate staining value represents the sweeping times of the sweeping robot on the current sub-area, and the current sub-area corresponds to the unique coordinate in the two-dimensional coordinate system.
Optionally, when the sweeping robot sweeps to the current sub-area according to the sweeping route generated by the path planning, recording the coordinate staining value corresponding to the current sub-area includes: acquiring a coordinate dyeing value of a current subregion; and adding 1 to the coordinate staining value to represent that the sweeping robot sweeps the current subarea once.
Optionally, when the sweeping robot has swept the area to be swept in a preset manner, controlling the sweeping robot to perform secondary sweeping on the target sub-area includes: generating a secondary cleaning route by utilizing path planning, wherein the secondary cleaning route comprises a subarea with a coordinate dyeing value smaller than a preset threshold value; and controlling the sweeping robot to carry out sweeping work according to the secondary sweeping route.
Optionally, when the robot cleaner cleans the area to be cleaned in a preset manner, the robot cleaner bypasses the obstacle in the following manner: acquiring coordinates in a two-dimensional coordinate system corresponding to the area where the obstacle is located; according to a preset mode, canceling navigation of a coordinate corresponding to an area where the obstacle is located, and positioning the coordinate at a target coordinate, wherein the target coordinate is a next coordinate to be traveled to by the sweeping robot after passing through the coordinate corresponding to the area where the obstacle is located according to the preset mode; and controlling the sweeping robot to run to the target coordinate, and continuing to sweep according to a preset mode.
Optionally, in the process that the sweeping robot sweeps the to-be-swept area according to the preset mode, recording the sweeping times of each sub-area in the to-be-swept area by the sweeping robot further includes: and under the condition that the time of staying in the current sub-area in the process of sweeping the area to be swept by the sweeping robot according to the preset mode is more than or equal to the preset time, recording the sweeping times of the sweeping robot on the current sub-area.
In a second aspect, the present application provides a sweeping device based on a positioning system, comprising: the cleaning robot comprises a to-be-cleaned area acquisition module, a cleaning module and a cleaning module, wherein the to-be-cleaned area acquisition module is used for acquiring a to-be-cleaned area by utilizing a positioning system, and the positioning system is arranged in the sweeping robot; the area dividing module is used for dividing the area to be cleaned into a plurality of sub-areas to be cleaned; the sweeping counting module is used for recording the sweeping times of each sub-area in the area to be swept by the sweeping robot in the process that the sweeping robot sweeps the area to be swept according to a preset mode; and the secondary cleaning module is used for controlling the sweeping robot to perform secondary cleaning on the target sub-region under the condition that the sweeping robot cleans the region to be cleaned in a preset mode, wherein the target sub-region is a sub-region of which the cleaning times recorded in the region to be cleaned is smaller than a preset threshold value.
In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and the processor implements the steps of any one of the above methods when executing the computer program.
In a fourth aspect, the present application also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform any of the methods of the first aspect.
Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the method, the sweeping times of each sub-region are recorded in the sweeping process of the sweeping robot according to the path planning scheme, coordinate dyeing is adopted, the sweeping robot is controlled to carry out secondary sweeping on the sub-region of which the coordinate dyeing value is smaller than the preset threshold value according to the preset mode under the condition that the sweeping robot sweeps the region to be swept, the problems that the sweeping robot is missed to sweep and is repeatedly swept are effectively solved, the defects of the path planning algorithm are overcome, and the sweeping efficiency of the sweeping robot is effectively improved.
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 technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without any creative effort.
Fig. 1 is a schematic diagram of an alternative hardware environment of a cleaning method based on a positioning system according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative location based system cleaning method according to an embodiment of the present application;
fig. 3 is a block diagram of an alternative cleaning apparatus based on a positioning system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
According to an aspect of embodiments of the present application, embodiments of a cleaning method based on a positioning system are provided.
Alternatively, in the embodiment of the present application, the method described above may be applied to a hardware environment formed by the terminal 101 and the server 103 as shown in fig. 1. As shown in fig. 1, a server 103 is connected to a terminal 101 through a network, which may be used to provide services for the terminal or a client installed on the terminal, and a database 105 may be provided on the server or separately from the server, and is used to provide data storage services for the server 103, and the network includes but is not limited to: wide area network, metropolitan area network or local area network, the terminal 101 includes but is not limited to an intelligent sweeping robot, etc.
A cleaning method based on a positioning system in the embodiment of the present application may be executed by the server 103, as shown in fig. 2, the method may include the following steps:
step S202, acquiring an area to be cleaned by using a positioning system, wherein the positioning system is arranged in the sweeping robot;
step S204, dividing the area to be cleaned into a plurality of sub-areas to be cleaned;
step S206, recording the cleaning times of each sub-area in the area to be cleaned by the sweeping robot in the process that the sweeping robot cleans the area to be cleaned in a preset mode;
and S208, controlling the sweeping robot to carry out secondary sweeping on the target sub-area under the condition that the sweeping robot sweeps the area to be swept in a preset mode, wherein the target sub-area is a sub-area of which the sweeping times recorded in the area to be swept is smaller than a preset threshold value.
In the related art, the cleaning schemes of the sweeping robot mostly adopt a path planning algorithm, but the path planning algorithm also has defects, and the sweeping robot cannot cover all cleanable areas when the terrain is rugged, such as changes of upper and lower floors, stairs and unrecorded obstacles appear, or can repeatedly clean a large area when secondary covering cleaning is carried out, so that the cleaning efficiency is greatly reduced.
In the embodiment of the application, the map of the area to be cleaned can be acquired in advance through the positioning system arranged in the sweeping robot, the whole area can be scanned through the sweeping robot, and the complete area to be cleaned is obtained through image synthesis. After the area to be cleaned is obtained, the area to be cleaned can be divided by taking the diameter of the sweeping robot as a unit length, the area occupied by the sweeping robot can be taken as a unit area to divide the area to be cleaned into a plurality of sub-areas to be cleaned, and then the sweeping work is carried out by depending on a preset mode, namely a sweeping route determined by a path planning algorithm. In the process that the cleaning robot cleans the to-be-cleaned area according to the preset mode, the cleaning times of the sub-area are updated and recorded every time the sub-area passes through the to-be-cleaned sub-area. And under the condition that the sweeping robot cleans the area to be cleaned in a preset mode, selecting the sub-area, recorded in the area to be cleaned, of which the cleaning frequency is smaller than a preset threshold, and replanning the sub-area, of which the cleaning frequency is smaller than the preset threshold, to perform secondary cleaning.
Optionally, dividing the area to be cleaned into a plurality of sub-areas to be cleaned comprises: taking a starting point of a cleaning route generated by path planning as a coordinate origin; and based on the origin of coordinates, dividing the region to be cleaned into a plurality of sub-regions according to the target unit area, and establishing a two-dimensional coordinate system based on the region to be cleaned.
In the embodiment of the application, a starting point of a cleaning route generated according to path planning can be designated as a coordinate origin to establish a two-dimensional coordinate system based on the area to be cleaned, and positions such as a corner and the like can be used as the coordinate origin to establish the two-dimensional coordinate system. The area to be cleaned can be divided by taking the diameter of the sweeping robot as a unit length, and the area to be cleaned can be divided into a plurality of sub-areas to be cleaned by taking the floor area of the sweeping robot as a unit area, wherein each sub-area corresponds to a unique coordinate in the two-dimensional coordinate system, and the sweeping robot passes through one sub-area every time in the sweeping process and is mapped in the two-dimensional coordinate system to pass through one unique coordinate. Therefore, the statistics of the sweeping times of each subarea to be swept can be more efficient, and the result can be visually displayed in a coordinate dyeing mode.
Optionally, in the process that the sweeping robot sweeps the to-be-swept area according to the preset mode, recording the sweeping times of each sub-area in the to-be-swept area by the sweeping robot includes: and under the condition that the sweeping robot sweeps to the current sub-area according to the sweeping route generated by the path planning, recording a coordinate staining value corresponding to the current sub-area, wherein the coordinate staining value represents the sweeping times of the sweeping robot on the current sub-area, and the current sub-area corresponds to the unique coordinate in the two-dimensional coordinate system.
In the embodiment of the application, each coordinate in the two-dimensional coordinate system can correspond to a coordinate staining value, the coordinate staining value reflects the number of times of cleaning the subregion, the lower the coordinate staining value is, the lighter the color is under the visual color display, conversely, the higher the coordinate staining value is, the darker the color is under the visual color display, the number of times of cleaning the subregion is visually represented by the color depth reflected by the coordinate staining value, the sweeping robot can know whether the subregion corresponding to each coordinate is normally cleaned or has the condition of missing sweeping or repeated sweeping through the color depth of each coordinate on the two-dimensional coordinate system after finishing the cleaning of the region to be cleaned according to a preset mode.
Optionally, when the sweeping robot sweeps to the current sub-area according to the sweeping route generated by the path planning, recording the coordinate staining value corresponding to the current sub-area includes: acquiring a coordinate dyeing value of a current subregion; and adding 1 to the coordinate staining value to represent that the sweeping robot sweeps the current subarea once.
In the embodiment of the application, when the sweeping robot does not start sweeping, the coordinate dyeing values of all the coordinates are 0, and the sub-area corresponding to the coordinates is represented to be not swept. After the sweeping robot starts to work, after each sub-area to be swept is swept, 1 is added to the coordinate dyeing value of the coordinate corresponding to the sub-area to indicate that the sweeping robot has swept the sub-area once, the sweeping robot may pass through one sub-area for many times, namely, one sub-area is swept for many times, the coordinate dyeing value of the sub-area is increased along with the sweeping frequency, and the visual color is displayed more deeply.
Optionally, when the sweeping robot has swept the area to be swept in a preset manner, controlling the sweeping robot to perform secondary sweeping on the target sub-area includes: generating a secondary cleaning route by utilizing path planning, wherein the secondary cleaning route comprises a subarea with a coordinate dyeing value smaller than a preset threshold value; and controlling the sweeping robot to carry out sweeping work according to the secondary sweeping route.
In the embodiment of the application, after the sweeping robot finishes sweeping according to a preset mode, namely a sweeping route generated by path planning, the sweeping times of the sub-area corresponding to each coordinate can be recorded on a two-dimensional coordinate system, and the sweeping times are determined by coordinate dyeing values stored in each coordinate. The coordinate staining value of 1 may be set as a preset threshold, that is, if the coordinate staining value is 1, it indicates that the corresponding sub-area has been cleaned for 1 time, and it is considered as normal cleaning, if the coordinate staining value is 0, it indicates that the corresponding sub-area has not been cleaned, and it belongs to missed cleaning, and if the coordinate staining value is greater than 1, it indicates that the corresponding sub-area has been cleaned for many times, and it belongs to repeated cleaning. According to the embodiment of the application, the coordinate with the dyeing value of 0, namely the sub-area which is not scanned, can be selected, the path planning is carried out again, and the shortest cleaning route covers the sub-area which is not scanned to carry out secondary cleaning.
Optionally, when the robot cleaner cleans the area to be cleaned in a preset manner, the robot cleaner bypasses the obstacle in the following manner: acquiring coordinates in a two-dimensional coordinate system corresponding to the area where the obstacle is located; according to a preset mode, canceling navigation of a coordinate corresponding to an area where the obstacle is located, and positioning the coordinate at a target coordinate, wherein the target coordinate is a next coordinate to be traveled to by the sweeping robot after passing through the coordinate corresponding to the area where the obstacle is located according to the preset mode; and controlling the sweeping robot to run to the target coordinate, and continuing to sweep according to a preset mode.
In the embodiment of the application, when the sweeping robot performs sweeping work according to the sweeping route generated by the path planning, if an unrecorded obstacle exists on the sweeping route, the sweeping route can be adjusted, that is, the sweeping route is directly positioned to the next sub-area, and the sweeping robot continues to perform sweeping according to the original sweeping route when navigating to the sub-area.
Optionally, in the process that the sweeping robot sweeps the to-be-swept area according to the preset mode, recording the sweeping times of each sub-area in the to-be-swept area by the sweeping robot further includes: and under the condition that the time of staying in the current sub-area in the process of sweeping the area to be swept by the sweeping robot according to the preset mode is more than or equal to the preset time, recording the sweeping times of the sweeping robot on the current sub-area.
In the embodiment of the application, the number of times of sweeping can be recorded when the sweeping robot passes through the sub-area to be swept, and the time of the sweeping robot staying in the sub-area to be swept can also be used as a recording standard. The number of sweeps can be recorded as a preset time, typically 5 seconds of dwell in one sub-area.
According to the method, the sweeping times of each sub-region are recorded in the sweeping process of the sweeping robot according to the path planning scheme, coordinate dyeing is adopted, the sweeping robot is controlled to carry out secondary sweeping on the sub-region of which the coordinate dyeing value is smaller than the preset threshold value according to the preset mode under the condition that the sweeping robot sweeps the region to be swept, the problems that the sweeping robot is missed to sweep and is repeatedly swept are effectively solved, the defects of the path planning algorithm are overcome, and the sweeping efficiency of the sweeping robot is effectively improved.
According to another aspect of the embodiments of the present application, as shown in fig. 3, there is provided a cleaning apparatus based on a positioning system, including: a to-be-cleaned area acquisition module 301, configured to acquire an area to be cleaned by using a positioning system, where the positioning system is disposed in the sweeping robot; the area dividing module 303 is configured to divide an area to be cleaned into a plurality of sub-areas to be cleaned; the cleaning counting module 305 is configured to record the cleaning times of each sub-area in the area to be cleaned by the sweeping robot in the process that the sweeping robot cleans the area to be cleaned in a preset manner; and a secondary cleaning module 307, configured to control the sweeping robot to perform secondary cleaning on the target sub-region when the sweeping robot has cleaned the region to be cleaned in the preset manner, where the target sub-region is a sub-region in which the number of times of cleaning recorded in the region to be cleaned is smaller than a preset threshold.
It should be noted that the area to be cleaned acquiring module 301 in this embodiment may be configured to execute step S202 in this embodiment, the area dividing module 303 in this embodiment may be configured to execute step S204 in this embodiment, the cleaning counting module 305 in this embodiment may be configured to execute step S206 in this embodiment, and the secondary cleaning module 307 in this embodiment may be configured to execute step S208 in this embodiment.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may operate in a hardware environment as shown in fig. 1, and may be implemented by software or hardware.
Optionally, the cleaning device based on the positioning system further includes: the origin point fixed point module is used for taking the starting point of the cleaning route generated by path planning as a coordinate origin point; and the coordinate system establishing module is used for dividing the area to be cleaned into a plurality of sub-areas according to the target unit area based on the origin of coordinates, and establishing a two-dimensional coordinate system based on the area to be cleaned.
Optionally, the cleaning device based on the positioning system further includes: and the coordinate staining value recording module is used for recording a coordinate staining value corresponding to the current sub-area under the condition that the sweeping robot sweeps to the current sub-area according to a sweeping route generated by the path planning, wherein the coordinate staining value represents the number of times of sweeping the current sub-area by the sweeping robot, and the current sub-area corresponds to the unique coordinate in the two-dimensional coordinate system.
Optionally, the cleaning device based on the positioning system further includes: the acquisition module is used for acquiring the coordinate dyeing value of the current sub-area; and the counting module is used for adding 1 to the coordinate dyeing value so as to represent that the sweeping robot sweeps the current sub-area once.
Optionally, the cleaning device based on the positioning system further includes: the route generating module is used for generating a secondary cleaning route by utilizing route planning, wherein the secondary cleaning route comprises a subarea of which the coordinate dyeing value is smaller than a preset threshold value; and the cleaning control module is used for controlling the sweeping robot to carry out cleaning work according to a secondary cleaning route.
Optionally, the cleaning device based on the positioning system further includes: the obstacle coordinate acquisition module is used for acquiring coordinates in a two-dimensional coordinate system corresponding to the area where the obstacle is located; the repositioning module is used for canceling navigation of coordinates corresponding to the area where the obstacle is located according to a preset mode and positioning the coordinates at a target coordinate, wherein the target coordinate is a next coordinate to be traveled to after the sweeping robot passes through the coordinates corresponding to the area where the obstacle is located according to the preset mode; and the navigation module is used for controlling the sweeping robot to travel to the target coordinate and continue to sweep in a preset mode.
Optionally, the cleaning device based on the positioning system further includes: and the time counting module is used for recording the cleaning times of the sweeping robot on the current sub-area under the condition that the time of staying in the current sub-area is more than or equal to the preset time in the process of sweeping the area to be cleaned by the sweeping robot according to the preset mode.
There is also provided, in accordance with yet another aspect of the embodiments of the present application, a computer device, including a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the steps when executing the computer program.
The memory and the processor in the computer device communicate with each other through a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
There is also provided, in accordance with yet another aspect of an embodiment of the present application, a computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform any of the methods described above.
When the embodiments of the present application are specifically implemented, reference may be made to the above embodiments, and corresponding technical effects are achieved.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk. It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A cleaning method based on a positioning system is characterized by comprising the following steps:
acquiring an area to be cleaned by using a positioning system, wherein the positioning system is arranged in the sweeping robot;
dividing the area to be cleaned into a plurality of sub-areas to be cleaned;
in the process that the sweeping robot sweeps the area to be swept according to a preset mode, recording the sweeping times of each sub-area in the area to be swept by the sweeping robot;
controlling the sweeping robot to carry out secondary sweeping on a target subregion under the condition that the sweeping robot sweeps the region to be swept in the preset mode, wherein the target subregion is a subregion, the sweeping times of which are recorded in the region to be swept are smaller than a preset threshold value;
the robot of sweeping the floor according to predetermineeing the in-process in the region of waiting to clean, the record the robot of sweeping the floor to wait to clean the number of times of cleaning of every subregion in the region still includes: and recording the cleaning times of the sweeping robot on the current sub-area under the condition that the time of staying in the current sub-area in the process of cleaning the area to be cleaned by the sweeping robot in the preset mode is more than or equal to the preset time.
2. The method of claim 1, wherein dividing the area to be swept into a plurality of sub-areas to be swept comprises:
taking a starting point of a cleaning route generated by path planning as a coordinate origin;
and dividing the region to be cleaned into a plurality of sub-regions according to the target unit area based on the origin of coordinates, and establishing a two-dimensional coordinate system based on the region to be cleaned.
3. The method of claim 2, wherein the recording the number of times of sweeping of each sub-area in the area to be swept by the sweeping robot in the process of sweeping the area to be swept by the sweeping robot in a preset manner comprises:
and recording a coordinate staining value corresponding to the current sub-area under the condition that the sweeping robot sweeps to the current sub-area according to the sweeping route generated by the path planning, wherein the coordinate staining value represents the sweeping times of the sweeping robot on the current sub-area, and the current sub-area corresponds to the unique coordinate in the two-dimensional coordinate system.
4. The method of claim 3, wherein in a case that the sweeping robot sweeps to a current sub-area according to the sweeping route generated by the sweeping robot according to the path planning, recording the coordinate staining value corresponding to the current sub-area comprises:
acquiring the coordinate dyeing value of the current subregion;
and adding 1 to the coordinate staining value to represent that the sweeping robot sweeps the current sub-area once.
5. The method according to claim 3, wherein in the case that the sweeping robot has swept the area to be swept in the preset manner, controlling the sweeping robot to perform secondary sweeping on a target sub-area comprises:
generating a secondary cleaning route by utilizing path planning, wherein the secondary cleaning route comprises a subarea of which the coordinate dyeing value is smaller than the preset threshold value;
and controlling the sweeping robot to carry out sweeping work according to the secondary sweeping route.
6. The method of claim 2, wherein in the event that an obstacle occurs while the sweeping robot is sweeping the area to be swept in the preset manner, further comprising bypassing the obstacle as follows:
acquiring coordinates in the two-dimensional coordinate system corresponding to the area where the obstacle is located;
according to the preset mode, canceling navigation of the coordinate corresponding to the area where the obstacle is located, and positioning the coordinate at a target coordinate, wherein the target coordinate is a next coordinate to be traveled by the sweeping robot after passing through the coordinate corresponding to the area where the obstacle is located according to the preset mode;
and controlling the sweeping robot to run to the target coordinate, and continuing to sweep according to the preset mode.
7. A cleaning device based on a positioning system is characterized by comprising:
the cleaning robot comprises a to-be-cleaned area acquisition module, a cleaning module and a cleaning module, wherein the to-be-cleaned area acquisition module is used for acquiring a to-be-cleaned area by utilizing a positioning system, and the positioning system is arranged in the sweeping robot;
the area dividing module is used for dividing the area to be cleaned into a plurality of sub-areas to be cleaned;
the sweeping counting module is used for recording the sweeping times of the sweeping robot on each subarea in the area to be swept in the process that the sweeping robot sweeps the area to be swept in a preset mode;
the secondary cleaning module is used for controlling the sweeping robot to perform secondary cleaning on a target sub-area under the condition that the sweeping robot cleans the area to be cleaned according to the preset mode, wherein the target sub-area is a sub-area of which the cleaning frequency recorded in the area to be cleaned is smaller than a preset threshold value;
the cleaning counting module is further used for: and recording the cleaning times of the sweeping robot on the current sub-area under the condition that the time of staying in the current sub-area in the process of cleaning the area to be cleaned by the sweeping robot in the preset mode is more than or equal to the preset time.
8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 6.
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| CN112069283A (en) * | 2020-09-14 | 2020-12-11 | 小狗电器互联网科技（北京）股份有限公司 | Sweeping area de-weighting method and device for sweeper, computer equipment and storage medium |
| WO2022111539A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市杉川致行科技有限公司 | Floor sweeping control method, apparatus, floor sweeping robot, and computer-readable medium |
| CN112634402A (en) * | 2020-12-30 | 2021-04-09 | 苏州三六零机器人科技有限公司 | Sweeper area setting method, sweeper area setting device, sweeper area setting equipment and computer storage medium |
| CN113180558B (en) * | 2021-04-25 | 2022-07-08 | 珠海格力电器股份有限公司 | Complex area depth operation method and device, computer equipment and storage medium |
| CN113455965B (en) * | 2021-06-30 | 2022-05-27 | 广州科语机器人有限公司 | Cleaning robot control method, cleaning robot control device, medium and cleaning robot |
| CN113876250B (en) * | 2021-09-30 | 2022-12-20 | 杭州华橙软件技术有限公司 | Equipment control method, device, storage medium and electronic device |
| CN113907649A (en) * | 2021-10-19 | 2022-01-11 | 微思机器人(深圳)有限公司 | Sweeping method and device, sweeping robot and storage medium |
| CN113974494B (en) * | 2021-11-02 | 2022-11-22 | 微思机器人(深圳)有限公司 | Route planning method and device, sweeping robot and storage medium |
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