CN112137528B - Sweeping robot sweeping area detection method, device, equipment, system and medium - Google Patents
Sweeping robot sweeping area detection method, device, equipment, system and medium Download PDFInfo
- Publication number
- CN112137528B CN112137528B CN202011027012.5A CN202011027012A CN112137528B CN 112137528 B CN112137528 B CN 112137528B CN 202011027012 A CN202011027012 A CN 202011027012A CN 112137528 B CN112137528 B CN 112137528B
- Authority
- CN
- China
- Prior art keywords
- area
- cleaning
- track
- sweeping
- edgewise
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method, a device, equipment, a system and a medium for detecting a sweeping area of a sweeping robot, wherein the method comprises the steps of controlling the sweeping robot to sweep along the edge if an edge instruction is monitored, and recording an edge sweeping track; if the edgewise cleaning track forms a closed track, determining the area of an inner area corresponding to the closed track; according to the area of the inner area, the cleaning area of the sweeping robot is determined, the maximum coverage area of the current space is detected, the area which is not swept is effectively reduced, the phenomenon of repeated cleaning is avoided, and the cleaning efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a sweeping robot sweeping area detection method, device, equipment, system and medium.
Background
With the continuous improvement of the living standard of people, the sweeping robot has more and more entered into the families of residents. Such a sweeping robot generally drives a traveling wheel provided at the bottom through a driving unit in a body, and performs a sweeping operation of a surface to be swept in a traveling process.
In general, a relatively common operation mode of a sweeping robot is a random direction sweeping mode, which means that the sweeping robot does not adopt path planning, and when the sweeping robot runs and encounters an obstacle, the sweeping robot randomly turns a certain angle to continue running and sweeping. The mode control is simple, and a sensor with high precision is not needed, so the cost is low. But some places are easy to be cleaned, while other places are cleaned repeatedly, and the cleaning efficiency is low.
Therefore, how to reduce the area of missed cleaning, avoid the phenomenon of repeated cleaning, and improve the cleaning efficiency is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment, a system and a medium for detecting a sweeping area of a sweeping robot, so as to solve the problems of more missed sweeping areas, serious repeated sweeping phenomenon and low sweeping efficiency in the prior art.
In order to solve the above problems, the present invention provides a method for detecting a cleaning area of a cleaning robot, including:
if an edgewise command is monitored, controlling the sweeping robot to carry out edgewise sweeping, and recording an edgewise sweeping track;
if the edgewise cleaning track forms a closed track, determining the area of an inner area corresponding to the closed track;
and determining the cleaning area of the sweeping robot according to the area of the inner area.
Further, in the method for detecting a cleaning area of a cleaning robot, determining the cleaning area of the cleaning robot according to the area of the internal area includes:
comparing the area of the inner region with a preset area threshold value;
if the area of the inner area is larger than a preset area threshold value, judging that the inner area is the cleaning area;
and if the area of the inner area is smaller than or equal to a preset area threshold value, judging that the inner area is not the cleaning area.
Further, in the method for detecting a cleaning area of a cleaning robot, before determining an area of an internal area corresponding to a closed trajectory if the edgewise cleaning trajectory forms the closed trajectory, the method further includes:
if the edgewise cleaning track is a non-coincident track, determining the distance between the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track;
and if the distance is smaller than or equal to a preset distance threshold value, determining that the edgewise sweeping track forms a closed track.
Further, in the method for detecting a cleaning area of a cleaning robot, after determining the cleaning area of the cleaning robot, the method further includes:
controlling the sweeping robot to continue sweeping along the edge, and determining the position relation between the current point of the sweeping track and a preset range outside the sweeping area;
and determining the type of the cleaning area according to the position relation.
Further, in the method for detecting a cleaning area of a cleaning robot, determining the type of the cleaning area according to the positional relationship includes:
if the current point of the edgewise cleaning track is located in a preset range outside the cleaning area, determining that the type of the cleaning area is a fully closed area;
and if the current point of the edgewise cleaning track is positioned outside a preset range outside the cleaning area, determining the type of the cleaning area as an opening area.
Further, the method for detecting the cleaning area of the cleaning robot further includes:
if the current point of the edgewise cleaning track is located in the preset range outside the cleaning area, controlling the sweeping robot to stop edgewise cleaning after the sweeping robot is controlled to travel to the edgewise starting position;
and if the current point of the edgewise cleaning track is positioned outside the preset range outside the cleaning area, controlling the sweeping robot to stop edgewise cleaning.
The invention also provides a detection device for the cleaning area of the sweeping robot, which comprises:
the control module is used for controlling the sweeping robot to sweep along the edge and recording a sweeping track along the edge if an edge instruction is monitored;
the determining module is used for determining the area of an inner area corresponding to a closed track if the edgewise cleaning track forms the closed track; and determining the cleaning area of the sweeping robot according to the area of the inner area.
The invention also provides detection equipment for the cleaning area of the sweeping robot, which comprises a memory and a controller;
the memory stores a computer program which, when executed by the controller, implements the steps of the method for detecting a cleaning area of the cleaning robot as described above.
The invention also provides a detection system for the cleaning area of the sweeping robot, which comprises the following components:
the controller is arranged in the sweeping robot and used for controlling the sweeping robot to sweep along the edge and recording an edge sweeping track if an edge instruction is monitored;
the remote control equipment is used for determining the area of an inner area corresponding to a closed track if the edgewise cleaning track forms the closed track; and determining the cleaning area of the sweeping robot according to the area of the inner area.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a controller, implements the steps of the method for detecting a cleaning area of a sweeping robot as described above.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
according to the method, the device, the equipment, the system and the medium for detecting the sweeping area of the sweeping robot, if the edgewise instruction is monitored, the sweeping robot is controlled to sweep edgewise, and an edgewise sweeping track is recorded; if a closed track is formed along the edge cleaning track, determining the area of an inner area corresponding to the closed track; and according to the area of the inner area corresponding to the closed track, the cleaning area of the sweeping robot is determined, the detection of the maximum coverage area of the current space is realized, the area which is not swept is effectively reduced, the phenomenon of repeated cleaning is avoided, and the cleaning efficiency is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an embodiment of a method for detecting a cleaning area of a cleaning robot according to the present invention;
fig. 2 is a schematic diagram of the sweeping robot for finding edges;
fig. 3 is a schematic structural diagram of an embodiment of a detection device for a cleaning area of a cleaning robot according to the present invention;
fig. 4 is a schematic structural diagram of an implementation of the detection system for the cleaning area of the cleaning robot of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides a method for detecting a cleaning area of a sweeping robot.
Fig. 1 is a flowchart of an embodiment of a method for detecting a cleaning area of a cleaning robot according to the present invention, and as shown in fig. 1, the method for detecting a cleaning area of a cleaning robot according to the present embodiment may specifically include the following steps:
100. if an edgewise command is monitored, controlling the sweeping robot to carry out edgewise sweeping, and recording an edgewise sweeping track;
in general, an outline formed at an edge of a certain space is a maximum coverage area of the space, and therefore, in this embodiment, in order to improve the coverage rate of the sweeping robot, when the sweeping is required, an edge instruction may be generated, so that if the edge instruction is monitored, the sweeping robot may be controlled to find an edge, so that the sweeping may be performed along the edge, and in the sweeping process, an edge sweeping track is recorded. For example, the edgewise sweeping trajectory may be formed by a plurality of trajectory points.
In practical application, if an edgewise instruction is monitored, it needs to be determined whether the edgewise instruction is sent for the first time or not. If the edgewise command is sent for the first time, the sweeping robot starts to move, resets the odometer coordinate system from when the robot moves to the edge position of the current space, starts Simultaneous positioning and Mapping (SLAM), then performs edgewise sweeping, and records the sweeping track points along the edge to form an edgewise sweeping track. If the edge command is not sent for the first time, the edge can be directly cleaned, and the cleaning track points of the edge are recorded to form an edge cleaning track.
The edge finding principle of the embodiment is as follows:
normally, the structured light is located right in front of the sweeping robot, and the structured light has a blind area of about 20cm, so that an object right in front can be detected. Fig. 2 is a schematic diagram of the sweeping robot for finding edges. As shown in fig. 2, if the direction 1 is directly ahead and the inclination angles are 50 degrees (direction 2), 60 degrees (direction 3), and 70 degrees (direction 4) to the right, the detection distance is gradually increased. The problem of the blind zone of the structured light detecting the object directly in front can be avoided by the measurement of the directions 2, 3, 4.
For example, if the distance in the direction 1 directly ahead is 20cm, the distance in the direction 2 is 20cm tan (50) ≈ 23.8cm, the distance in the direction 3 is 20cm tan (60) ≈ 34.6cm, and the distance in the direction 4 is 20cm tan (70) ≈ 54.9 cm.
The sensor real-time supervision is right ahead data, carries out filtering process to the data of sensor, and the distance that detects apart from the barrier constantly reduces, when being less than 20cm, no longer detects the distance of direction 1 this moment, detects the data of direction 2, when the data of direction 2 is less than blind area 20cm, detects the distance of direction 3, and so on. And when the data in the maximum angle direction is less than a certain threshold value, the mark is close to the object and needs to be rotated.
101. If a closed track is formed along the edge cleaning track, determining the area of an inner area corresponding to the closed track;
in this embodiment, while the edgewise cleaning trajectory is recorded, it is determined whether the edgewise cleaning trajectory forms a closed trajectory. Specifically, if the edgewise cleaning track is a misaligned track, determining the distance between the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track; and if the distance is smaller than or equal to the preset distance threshold value, determining that the edgewise sweeping track forms a closed track. In this embodiment, the distance between the entrance and the exit is preferably used as the preset distance threshold, so that it is not necessary to determine that the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track are completely overlapped, and it can be determined that the edgewise cleaning track forms a closed track, thereby effectively reducing the error of the determination result.
In practical application, although the sweeping robot forms the closed track along the edge sweeping track, since the sweeping robot may not directly walk from the edge of the space, in the process of finding the edge, the robot may find the edge of the obstacle first and walk along the edge of the obstacle, and the sweeping robot can also form the closed track along the edge sweeping track, but an internal area corresponding to the closed track is not an area to be swept, and therefore, in this embodiment, it is further necessary to determine whether the internal area corresponding to the closed track is a sweeping area.
Specifically, since the area of the general occupied space of the obstacle is not very large, in this embodiment, the area of the internal region corresponding to the closed trajectory may be determined, so as to determine whether the sweeping robot forms the closed trajectory along the edge sweeping trajectory due to the obstacle detouring behavior by using the area of the internal region corresponding to the closed trajectory.
102. And determining the cleaning area of the sweeping robot according to the area of the inner area corresponding to the closed track.
In this embodiment, the area of the internal region corresponding to the closed track may be compared with a preset area threshold, and if the area of the internal region is greater than the preset area threshold, it is determined that the internal region is a cleaning region; and if the area of the inner area is smaller than or equal to the preset area threshold value, judging that the inner area is not a cleaning area. The preset area threshold may be set according to an actual requirement, and may be set to 1 square meter, for example.
According to the detection method for the sweeping area of the sweeping robot, if the edgewise instruction is monitored, the sweeping robot is controlled to carry out edgewise sweeping, and an edgewise sweeping track is recorded; if a closed track is formed along the edge cleaning track, determining the area of an inner area corresponding to the closed track; and according to the area of the inner area corresponding to the closed track, the cleaning area of the sweeping robot is determined, the detection of the maximum coverage area of the current space is realized, the area which is not swept is effectively reduced, the phenomenon of repeated cleaning is avoided, and the cleaning efficiency is improved.
In one implementation, two adjacent rooms are typically communicated through a doorway, such as room a and room B. If the sweeping robot determines the cleaning area in the room a, the sweeping robot may enter the room B due to a doorway, and thus the cleaning area in the room B is first determined, and the route in the room a needs to be temporarily stored until the cleaning area in the room a is determined after the cleaning robot enters the room a again from the room B, which often results in low cleaning efficiency. Therefore, in order to solve the above technical problems, the present invention further provides the following technical solutions.
Specifically, after the cleaning area is determined, the sweeping robot can be controlled to continue sweeping along the edge, and the position relationship between the current point of the sweeping track along the edge and a preset range outside the cleaning area is determined; and determining the type of the cleaning area according to the position relation. In this embodiment, if the current point of the edgewise cleaning track is located outside the preset range outside the cleaning area, it indicates that the sweeping robot has traveled to the doorway, and it may be determined that the type of the cleaning area is an opening area. In order to prevent that the determined cleaning area cannot be cleaned in time after the cleaning area is determined, in this embodiment, when it is determined that the current point of the edgewise cleaning track is located outside the preset range outside the cleaning area, the sweeping robot is controlled to stop the edgewise cleaning so as to return to the determined cleaning area and then clean the determined cleaning area.
In this embodiment, if the current point of the edgewise cleaning trajectory is located inside the preset range outside the cleaning area, it is determined that the current space is a closed space, that is, the entrance and exit are in a closed state, and it can be determined that the type of the cleaning area is a fully closed area. At the moment, the sweeping robot can be controlled to stop sweeping along the edge after the sweeping robot walks to the edge starting position, so that the determined sweeping area can be swept again.
It should be noted that the method of the embodiment of the present invention may be executed by a single device, such as the sweeping robot itself, a terminal or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In the case of such a distributed scenario, one device of the multiple devices may only perform one or more steps of the method according to the embodiment of the present invention, and the multiple devices interact with each other to complete the method.
Example two
In order to solve the technical problems in the prior art, the embodiment of the invention provides a device for detecting a cleaning area of a sweeping robot.
Fig. 3 is a schematic structural diagram of an embodiment of the detection device for the cleaning area of the cleaning robot of the present invention. As shown in fig. 3, the detection device for the cleaning area of the cleaning robot of the present embodiment may include a control module 30 and a determination module 31.
The control module 30 is used for controlling the sweeping robot to sweep along the edge if the edge instruction is monitored, and recording an edge sweeping track;
a determining module 31, configured to determine, if a closed trajectory is formed along the edge cleaning trajectory, an area of an inner region corresponding to the closed trajectory; and determining the cleaning area of the sweeping robot according to the area of the inner area.
In this embodiment, the determining module 31 is further configured to determine a distance between a starting point of the edge cleaning track and a current point of the edge cleaning track if the edge cleaning track is determined to be a non-coincident track; and if the distance is smaller than or equal to the preset distance threshold value, determining that the edge cleaning track forms a closed track, and further judging whether the inner area corresponding to the closed track is a cleaning area.
Specifically, the area of the inner region may be compared to a preset area threshold; if the area of the inner area is larger than a preset area threshold value, judging that the inner area is a cleaning area; and if the area of the inner area is smaller than or equal to the preset area threshold value, judging that the inner area is not a cleaning area.
According to the detection device for the sweeping area of the sweeping robot, if the edgewise instruction is monitored, the sweeping robot is controlled to sweep edgewise, and an edgewise sweeping track is recorded; if a closed track is formed along the edge cleaning track, determining the area of an inner area corresponding to the closed track; and according to the area of the inner area corresponding to the closed track, the cleaning area of the sweeping robot is determined, the detection of the maximum coverage area of the current space is realized, the area which is not swept is effectively reduced, the phenomenon of repeated cleaning is avoided, and the cleaning efficiency is improved.
Further, in the above embodiment, after the determining module 31 determines that the internal area is the cleaning area, the control module 30 is further configured to control the sweeping robot to continue to clean along the edge, and determine a position relationship between a current point of the track along the edge and a preset range outside the cleaning area; and determining the type of the cleaning area according to the position relation.
Specifically, if the current point of the edgewise cleaning track is located outside a preset range outside the target cleaning area, determining the type of the cleaning area as an opening area, and controlling the sweeping robot to stop edgewise cleaning; and if the current point of the edgewise cleaning track is positioned in the preset range outside the target cleaning area, determining that the type of the cleaning area is a fully closed area, and controlling the sweeping robot to stop edgewise cleaning after the sweeping robot travels to the edgewise initial position.
The apparatus in the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and specific implementation schemes thereof may refer to the method described in the foregoing embodiment and relevant descriptions in the method embodiment, and have beneficial effects of the corresponding method embodiment, which are not described herein again.
EXAMPLE III
In order to solve the technical problems in the prior art, the embodiment of the invention provides a detection system for a cleaning area of a sweeping robot.
Fig. 4 is a schematic structural diagram of an implementation of the detection system for the cleaning area of the cleaning robot of the present invention, and as shown in fig. 4, the detection system for the cleaning area of the cleaning robot of the present embodiment may include a remote control device and a controller disposed in the cleaning robot. The remote control device 41 in this embodiment may include a server 411 and a terminal 412, and the controller 40 is connected to the terminal 412 through the server 411 to implement data interaction between the controller 40 and the terminal 412.
In this embodiment, the controller arranged in the sweeping robot is configured to control the sweeping robot to sweep along the edge and record an edge sweeping track if an edge instruction is monitored; the remote control equipment is used for determining the area of an inner area corresponding to a closed track if the closed track is formed along the edge cleaning track; and determining the cleaning area of the sweeping robot according to the area of the inner area.
It should be noted that, in this embodiment, the remote control device may also include only a terminal, and the terminal and the controller may be connected through bluetooth, Wireless-Fidelity (WiFi), and the like.
Example four
In order to solve the technical problems in the prior art, the embodiment of the invention provides a detection device for a cleaning area of a sweeping robot. The detection device for the cleaning area of the cleaning robot can comprise a memory and a controller, wherein the memory stores a computer program, and the computer program is executed by the controller to realize the detection method for the cleaning area of the cleaning robot in the embodiment.
EXAMPLE five
In order to solve the above technical problems in the prior art, embodiments of the present invention provide a storage medium.
The storage medium of this embodiment stores thereon a computer program, and the computer program is executed by the controller to implement the method for detecting the cleaning area of the cleaning robot in the above-mentioned embodiment.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module 32, or each unit may exist alone physically, or two or more units are integrated in one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
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 do not necessarily 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.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A method for detecting a cleaning area of a sweeping robot is characterized by comprising the following steps:
if an edgewise command is monitored, controlling the sweeping robot to carry out edgewise sweeping, and recording an edgewise sweeping track;
if the edgewise cleaning track forms a closed track, determining the area of an inner area corresponding to the closed track;
comparing the area of the inner region with a preset area threshold value;
if the area of the inner area is larger than a preset area threshold value, judging that the inner area is the cleaning area;
controlling the sweeping robot to continue sweeping along the edge, and determining the position relation between the current point of the sweeping track and a preset range outside the sweeping area;
if the current point of the edgewise cleaning track is located in a preset range outside the cleaning area, determining that the type of the cleaning area is a fully closed area, and controlling the sweeping robot to stop edgewise cleaning after the sweeping robot travels to an edgewise initial position;
if the current point of the edgewise cleaning track is positioned outside a preset range outside the cleaning area, determining the type of the cleaning area as an opening area; and controlling the sweeping robot to stop sweeping along the edge.
2. The method of detecting the cleaning area of a sweeping robot of claim 1, further comprising:
and if the area of the inner area is smaller than or equal to a preset area threshold value, judging that the inner area is not the cleaning area.
3. The method for detecting the cleaning area of the sweeping robot according to claim 1, wherein if the edgewise cleaning track forms a closed track, before determining the area of the inner area corresponding to the closed track, the method further comprises:
if the edgewise cleaning track is a non-coincident track, determining the distance between the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track;
and if the distance is smaller than or equal to a preset distance threshold value, determining that the edgewise sweeping track forms a closed track.
4. The utility model provides a detection apparatus for sweep area of robot cleans which characterized in that includes:
the control module is used for controlling the sweeping robot to sweep along the edge and recording a sweeping track along the edge if an edge instruction is monitored;
the determining module is used for determining the area of an inner area corresponding to a closed track if the edgewise cleaning track forms the closed track; comparing the area of the inner region with a preset area threshold value; if the area of the inner area is larger than a preset area threshold value, judging that the inner area is the cleaning area; controlling the sweeping robot to continue sweeping along the edge, and determining the position relation between the current point of the sweeping track and a preset range outside the sweeping area;
the control module is further configured to determine that the type of the cleaning area is a fully closed area if the current point of the edgewise cleaning track is located in a preset range outside the cleaning area, and control the sweeping robot to stop edgewise cleaning after the sweeping robot travels to an edgewise starting position; if the current point of the edgewise cleaning track is positioned outside a preset range outside the cleaning area, determining the type of the cleaning area as an opening area; and controlling the sweeping robot to stop sweeping along the edge.
5. The detection equipment for the cleaning area of the sweeping robot is characterized by comprising a memory and a controller;
the memory has stored thereon a computer program which, when executed by the controller, carries out the steps of the method for detecting a cleaning area of a sweeping robot as claimed in any one of claims 1 to 3.
6. A detection system for cleaning areas of a floor sweeping robot is characterized by comprising:
the controller is arranged in the sweeping robot and used for controlling the sweeping robot to sweep along the edge and recording an edge sweeping track if an edge instruction is monitored;
the remote control equipment is used for determining the area of an inner area corresponding to a closed track if the edgewise cleaning track forms the closed track; comparing the area of the inner region with a preset area threshold value; if the area of the inner area is larger than a preset area threshold value, judging that the inner area is the cleaning area, controlling the sweeping robot to continue sweeping along the edge, and determining the position relation between the current point of the sweeping track and a preset range outside the cleaning area; if the current point of the edgewise cleaning track is located in a preset range outside the cleaning area, determining that the type of the cleaning area is a fully closed area, and controlling the sweeping robot to stop edgewise cleaning after the sweeping robot travels to an edgewise initial position; if the current point of the edgewise cleaning track is positioned outside a preset range outside the cleaning area, determining the type of the cleaning area as an opening area; and controlling the sweeping robot to stop sweeping along the edge.
7. A storage medium on which a computer program is stored, wherein the computer program, when executed by a controller, implements the steps of the method for detecting a cleaning area of a sweeping robot according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027012.5A CN112137528B (en) | 2020-09-25 | 2020-09-25 | Sweeping robot sweeping area detection method, device, equipment, system and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027012.5A CN112137528B (en) | 2020-09-25 | 2020-09-25 | Sweeping robot sweeping area detection method, device, equipment, system and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112137528A CN112137528A (en) | 2020-12-29 |
| CN112137528B true CN112137528B (en) | 2021-12-10 |
Family
ID=73897426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011027012.5A Active CN112137528B (en) | 2020-09-25 | 2020-09-25 | Sweeping robot sweeping area detection method, device, equipment, system and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112137528B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10613541B1 (en) * | 2016-02-16 | 2020-04-07 | AI Incorporated | Surface coverage optimization method for autonomous mobile machines |
| CN105739500B (en) * | 2016-03-29 | 2020-06-30 | 海尔优家智能科技（北京）有限公司 | Interactive control method and device of intelligent sweeping robot |
| CN108604098B (en) * | 2016-11-11 | 2019-12-13 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
| CN110275515A (en) * | 2018-03-15 | 2019-09-24 | 北京智行鸿远汽车有限公司 | A method of improving closed path precision |
| CN109077672B (en) * | 2018-09-28 | 2023-03-14 | 北京奇虎科技有限公司 | Method and device for selecting block by floor sweeping robot |
| CN111214179A (en) * | 2018-11-23 | 2020-06-02 | 北京奇虎科技有限公司 | Method and device for determining cleanable area, electronic equipment and readable storage medium |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN109597420B (en) * | 2019-01-22 | 2021-06-08 | 重庆润通智能装备有限公司 | Automatic boundary closing processing system and method for intelligent mower |
-
2020
- 2020-09-25 CN CN202011027012.5A patent/CN112137528B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112137528A (en) | 2020-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11175670B2 (en) | Robot-assisted processing of a surface using a robot | |
| CN109997089B (en) | Ground processing machine and ground processing method | |
| JP6873959B2 (en) | Mobile robots and how to navigate the surface with mobile robots | |
| WO2020140860A1 (en) | Dynamic region division and region channel identification method, and cleaning robot | |
| CN108553041B (en) | Method for judging trapped robot | |
| CN111830970B (en) | Regional cleaning planning method for robot walking along edge, chip and robot | |
| CN110448241B (en) | Robot trapped detection and escaping method | |
| CN107092260B (en) | Mobile robot and method for crossing obstacle by mobile robot | |
| CN112137512B (en) | Sweeping robot sweeping area detection method, device, equipment, system and medium | |
| EP4059407A1 (en) | Cleaning control method based on dense obstacles | |
| WO2014135008A1 (en) | Edge-to-center cleaning method used by robot cleaner | |
| US11966227B2 (en) | Mapping for autonomous mobile robots | |
| CN107678429B (en) | Robot control method and chip | |
| CN111443696B (en) | Laser sweeping robot path planning method, device and chip | |
| CN110870721A (en) | Control method and device for cleaning robot, cleaning robot and storage medium | |
| KR20200070087A (en) | Autonomous Mobile Robot and Method for Driving Control the same | |
| CN112022011B (en) | Control method, equipment, system and storage medium of sweeping robot | |
| CN113475977A (en) | Robot path planning method and device and robot | |
| CN112230658A (en) | Motion control method and device of sweeping robot and sweeping robot | |
| JP4962255B2 (en) | Self-propelled device | |
| AU2022328933A1 (en) | Cleaning robot, control method and apparatus therefor, and electronic device and storage medium | |
| CN112137528B (en) | Sweeping robot sweeping area detection method, device, equipment, system and medium | |
| CN115500737A (en) | Ground medium detection method and device and cleaning equipment | |
| JP2009093514A (en) | Self-propelled apparatus and program | |
| CN115316887B (en) | Robot control method, robot, and computer-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 7-605, 6th floor, building 1, yard a, Guanghua Road, Chaoyang District, Beijing 100026 Patentee after: Beijing dog vacuum cleaner Group Co.,Ltd. Address before: 7-605, 6th floor, building 1, yard a, Guanghua Road, Chaoyang District, Beijing 100026 Patentee before: PUPPY ELECTRONIC APPLIANCES INTERNET TECHNOLOGY (BEIJING) Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |