CN112596518A - Robot cleaning path planning method and device and floor washing robot - Google Patents
Robot cleaning path planning method and device and floor washing robot Download PDFInfo
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- 238000004851 dishwashing Methods 0.000 description 10
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention is suitable for the technical field of intelligent household appliances, and provides a robot cleaning path planning method, a device and a floor cleaning robot, wherein the method comprises the following steps: acquiring area size information of an area to be cleaned; dividing the area to be cleaned into a plurality of sequentially overlapped rectangular areas according to the area size information and the preset path overlapping length; performing edge path planning in each rectangular area to obtain a first planned path; in two adjacent rectangular areas, planning and connecting the end point of the first planned path in one of the two rectangular areas and the start point of the first planned path in the other rectangular area, and generating a cleaning path covering the area to be cleaned. This application has enlarged the turning radius of machine washing robot through enlarging the width that turns to of route planning in-process machine washing robot for the area that the mop washd can be covered completely to machine washing robot's the harrow that absorbs water, avoids appearing leaking and the condition of leaking sweeping, and the cleaning performance is good.
Description
Technical Field
The invention belongs to the technical field of intelligent household appliances, and particularly relates to a robot cleaning path planning method and device and a floor cleaning robot.
Background
The floor washing machine is cleaning equipment integrating sweeping, sprinkling, floor washing, mopping and drying, has the advantages of environmental protection, energy conservation, high efficiency and the like, is widely used in various fields of society, particularly places with wide floors such as wharfs, airports, workshops, warehouses, schools, hospitals, restaurants, properties, parking lots and the like, and can improve the cleaning efficiency and save the labor cost investment by replacing manpower to clean the large-scale area.
The current floor cleaning machine on the market mainly adopts the bow-shaped path planning completion washing as shown in figure 1, the floor cleaning machine is washed by the bottom mop, and the water stain that the mop was stayed on the floor is sucked dry at the rear portion of the floor cleaning machine, however, the current floor cleaning machine is large in size, so that the distance between the mop and the water sucking rake is large, when the floor cleaning machine carries out the bow-shaped path planning, the floor cleaning machine needs to complete 180 sharp turns at the end, the water sucking rake can not completely cover the area that the mop passes through, and then the area that the floor cleaning machine washed has the sewage stain to remain, water leakage occurs, the phenomenon of leaking and sweeping, the cleaning effect is poor.
Disclosure of Invention
The embodiment of the invention provides a robot cleaning path planning method, aiming at solving the problems of water leakage and cleaning leakage of a floor cleaning robot.
The embodiment of the invention is realized in such a way that a robot cleaning path planning method comprises the following steps:
acquiring area size information of an area to be cleaned;
dividing the area to be cleaned into a plurality of sequentially overlapped rectangular areas according to the area size information and the preset path overlapping length;
performing edge path planning in each rectangular area to obtain a first planned path;
in two adjacent rectangular areas, planning and connecting the end point of the first planned path in one of the two rectangular areas and the start point of the first planned path in the other rectangular area, and generating a cleaning path covering the area to be cleaned.
In a second aspect, the present application further provides a robot cleaning path planning apparatus, including:
the information acquisition unit is used for acquiring the area size information of the area to be cleaned;
the area dividing unit is used for dividing the area to be cleaned into a plurality of sequentially overlapped rectangular areas according to the area size information and the preset path overlapping length;
the area path planning unit is used for executing edge path planning in each rectangular area to obtain a first planned path;
and the path integration unit is used for planning and connecting the end point of the first planned path in one of the two adjacent rectangular areas and the start point of the first planned path in the other one of the two rectangular areas to generate a cleaning path covering the area to be cleaned.
In a third aspect, the present application further provides a floor washing robot, which includes the robot cleaning path planning device.
The embodiment of the application obtains the regional size information of the region to be cleaned, then divide the region to be cleaned into a plurality of rectangular areas, because every rectangular area is obtained according to the regional size of the region to be cleaned and the division of predetermined route stack length, make a plurality of rectangular areas overlap in proper order, so first planning route that obtains according to the edge planning of rectangular area is used for controlling the scrubber to carry out along the rectangular area along the washing of border, when can realize the global cleaning function of the region to be cleaned, the scrubber does not need to turn round the corner in situ and carries out the bow-shaped planning route, avoid appearing leaking and the condition of leaking sweeping, the cleaning performance is good.
Drawings
FIG. 1 is a schematic diagram of a path planning for a floor washing robot provided by the prior art;
FIG. 2 is a schematic view of a basic flow of an embodiment of a robot cleaning path planning method according to the present application;
FIG. 3 is a schematic flowchart of a method for planning a cleaning path of a robot according to an embodiment of the present application, in which the length and width of an area to be cleaned are calculated;
fig. 4 is a basic flow diagram illustrating a first planned path planned by an embodiment of the robot cleaning path planning method according to the present application;
FIG. 5 is a schematic basic flow chart of a method for planning a cleaning path of a robot according to an embodiment of the present application for setting a path stacking length;
FIG. 6 is a schematic view of a basic flow of an embodiment of a method for planning a cleaning path of a robot according to the present application to acquire cleaning size information;
FIG. 7 is a block diagram of an embodiment of a robot cleaning path planning apparatus according to the present application;
fig. 8 is a schematic block diagram of an information acquisition unit according to an embodiment of the robot cleaning path planning apparatus of the present application;
fig. 9 is a schematic block diagram of a regional path planning unit according to yet another embodiment of the robot cleaning path planning apparatus of the present application;
fig. 10 is a schematic structural diagram of a module for setting a path overlapping length according to an embodiment of the robot cleaning path planning apparatus of the present application;
fig. 11 is a schematic block diagram of a dimension information obtaining unit according to an embodiment of the robot cleaning path planning apparatus of the present application;
fig. 12 is a schematic diagram of a first planned path according to an embodiment of the robot cleaning path planning method of the present application;
FIG. 13 is a schematic diagram of a cleaning path according to an embodiment of the method for planning a cleaning path of a robot of the present application;
fig. 14 is a schematic diagram of a first planned path according to another embodiment of the robot cleaning path planning method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The existing floor washing robot needs to turn around and make sharp turns when executing a bow-shaped planning path, so that the water suction rake cannot completely cover the area through which a mop passes, and the condition of water leakage and missed sweeping occurs. This application is through will waiting to clean the region and divide into a plurality of overlapping rectangular areas to planning the edge in rectangular area and being first planning route, then connecting each first planning route and generating and cleaning the route in order to cover and wait to clean the region, do not need the floor cleaning robot to turn around suddenly in the first planning route that generates moreover, can effectively avoid appearing leaking and the condition of leaking sweeping.
Example one
In some optional embodiments, please refer to fig. 2, and fig. 2 is a schematic flowchart of an embodiment of a method for planning a cleaning path of a robot according to the present application.
As shown in fig. 2, a first aspect of the present application provides a robot cleaning path planning method, which includes the following steps:
s1100, acquiring area size information of an area to be cleaned;
in implementation, the floor cleaning robot is provided with a laser radar or a camera, and scans an area to be cleaned through the laser radar or the camera to acquire area size information of the area to be cleaned, wherein the area size information includes, but is not limited to, information such as the length, the width and the shape of the area to be cleaned.
S1200, dividing the area to be cleaned into a plurality of sequentially overlapped rectangular areas according to the area size information and the preset path overlapping length;
the path overlap length is a constant that is preset by the system, and in some embodiments, the path overlap length may be set to correspond to a dish wash size of the scrubber. The method comprises the steps of dividing a region to be cleaned into a plurality of rectangular regions according to region size information and path superposition length of the region to be cleaned, wherein when the method is implemented, two adjacent rectangular regions are partially overlapped, the distance between the two adjacent rectangular regions is equal to the path superposition length, taking the length of the region to be cleaned as the length of the rectangular region, taking one fourth of the width of the region to be cleaned as the width of the rectangular region, and the path superposition length is arranged between the adjacent rectangular regions, so that the region to be cleaned is divided into a plurality of adjacent overlapped rectangular regions. In other embodiments, the width of the rectangular area may also be set, for example, one third or one half of the width of the area to be cleaned is taken as the width of the rectangular area.
S1300, performing edge path planning in each rectangular area to obtain a first planning path of a rectangle;
in the implementation, please refer to fig. 12, wherein K1 is an area to be cleaned, K1' is a rectangular area, L1 is a first planned path, taking the width and length directions of the rectangular area as the X axis and the Y axis respectively as an example, the starting point of the first planned path is the edge angle of the rectangular area, and sequentially planning a first path along the positive direction of the Y axis, a second path along the positive direction of the X axis, a third path along the negative direction of the Y axis, and a fourth path along the negative direction of the X axis, where the first path, the second path, the third path, and the fourth path form the first planned path, and the end point of the fourth path is the end point of the first planned path, where the lengths of the first path and the third path are equal to the length of the rectangular area, and the length of the second path is equal to the width of the rectangular area, the length of the fourth path is equal to the width of the rectangular area minus the path overlap length.
And S1400, in two adjacent rectangular areas, planning and connecting the end point of the first planned path in one of the two rectangular areas and the start point of the first planned path in the other rectangular area, and generating a cleaning path covering the area to be cleaned.
After a first planned path is planned and generated for each rectangular area, planning and connecting the terminal point of the first planned path of one rectangular area with the starting point of the first planned path of the other rectangular area in each two adjacent rectangular areas, and similarly, planning and connecting the terminal point of the first planned path of the other rectangular area with the starting point of the first planned path of the next rectangular area, so that the first planned paths of the rectangular areas are planned and connected in sequence to generate a cleaning path, and the cleaning path can completely cover the area to be cleaned, thereby realizing the global cleaning function of the area to be cleaned.
In practice, taking the length and width directions of the area to be cleaned as the X 'axis and the Y' axis respectively as an example, as shown in fig. 13, the floor cleaning robot acquires the length DX and the width DY of the area to be cleaned, then divides the area to be cleaned into a plurality of rectangular areas, for example, calculates half DX/2 of the length of the area to be cleaned, and when planning the cleaning path, starting from the edge of the area to be cleaned, includes the following steps:
firstly, planning along the positive direction of an axis Y', and planning to obtain a first path at the end, wherein the length of the first path is DY;
planning along the positive direction of the X' axis to generate a second path, wherein the length of the second path is DX/2+ gap, and the gap is the path overlapping length;
planning along the negative direction of the Y' axis until the end is a third path, wherein the length of the third path is DY;
planning along the negative direction of the X' axis to generate a fourth path, wherein the length of the fourth path is DX/2;
and fifthly, repeating the steps from the first step to the fourth step until the planning of the coverage area to be cleaned is finished.
The turning width of the floor cleaning robot in the path planning process is enlarged, so that the turning radius of the floor cleaning robot is enlarged, and the water absorption rake of the floor cleaning robot can completely cover the area cleaned by the mop.
This application is through acquireing the regional size information of waiting to clean the region, then will wait to clean the region and divide into a plurality of rectangle regions, because every rectangle region all is according to waiting to clean regional size and preset route stack length division and obtain, make a plurality of rectangle regions overlap in proper order, so first planning route that obtains according to the edge planning of rectangle region is used for controlling scrubber to carry out along the border along the rectangle region and washs, when can realize waiting to clean regional global cleaning function, scrubber does not need the original place to turn round and turns round and carries out bow style of calligraphy planning route, avoid appearing leaking and the condition of leaking sweeping, the cleaning performance is good.
Example two
In some alternative embodiments, please refer to fig. 3, fig. 3 is a schematic flowchart of a process of calculating the length and width of the area to be cleaned according to an embodiment of the present application.
As shown in fig. 3, the step of acquiring the area size information of the area to be cleaned includes the steps of:
s1110, acquiring an area image of an area to be cleaned;
and S1120, performing edge extraction on the area image to calculate area size information including the length and the width of the area to be cleaned.
In practice, the scrubber is provided with a camera or a video camera, the camera or the video camera collects an image of a region to be cleaned, and then performs edge detection on the image, such as Canny operator edge detection, Sobel operator edge detection, and the like, the edge detection is a basic tool in graphic image processing, computer vision, and machine vision, and is generally used for feature extraction and feature detection, and aims to detect an edge with obvious change or a discontinuous region in a digital image, so as to calculate region size information of the region to be cleaned, wherein the region size information includes the length and the width of the region to be cleaned, so that the region to be cleaned is conveniently separated, and a plurality of rectangular regions are obtained.
EXAMPLE III
In some optional embodiments, please refer to fig. 4, where fig. 4 is a schematic flowchart illustrating a first planned path planning according to an embodiment of the present application.
As shown in fig. 4, the step of performing edge path planning in each rectangular area to obtain a first planned path of a rectangle includes the following steps:
s1310, planning and generating a first edge path with the length equal to that of a first side edge along the first side edge of the rectangular area by taking one corner of the rectangular area as a starting point;
s1320, planning and generating a second edge path with the length equal to that of the second side edge along the second side edge of the area to be cleaned by taking the end point of the first edge path as a starting point;
s1330, generating a third edge path with the same length and the opposite direction as the first edge path along the third side edge of the rectangular region with the end point of the second edge path as the starting point;
and S1340, planning and generating a fourth edge path which is opposite to the second edge path along a fourth side edge of the area to be cleaned by taking the end point of the third edge path as a starting point, wherein the sum of the length of the fourth edge path and the path superposition length is equal to the length of the second edge path.
In implementation, taking the length and width directions of a rectangular region as an X axis and a Y axis respectively as an example, before a robot performs a cleaning task on a region to be cleaned, acquiring region size information of the region to be cleaned, acquiring a length DX and a width DY of the region to be cleaned, dividing the region to be cleaned into a plurality of rectangular regions, for example, calculating half DY/2 of the width of the region to be cleaned, and setting the length and width of the rectangular regions as DX and DY/2+ gap respectively, where gap represents a path overlapping length, as shown in fig. 14, where K2 is the region to be cleaned, K2' is the rectangular region, and L2 is a first planned path, and for each rectangular region, when planning the first planned path, starting from an edge of the rectangular region, the method includes the following steps:
firstly, planning along the positive direction of an X axis until the end is a first edge path, wherein the length of the first edge path is DX;
planning along the positive direction of the Y axis until the end is a second edge path, wherein the length of the second edge path is DY/2+ gap;
planning along the negative direction of the X axis until the end is a third path with the length of DX;
fourthly, planning along the negative direction of the Y axis to generate a fourth path, wherein the length of the fourth path is DY/2;
and connecting the first path, the second path, the third path and the fourth path in a planning way to generate a first planned path.
And then planning and connecting every two adjacent first planned paths, namely taking the terminal point of the previous first planned path as the starting point of the next first planned path, so that a plurality of first planned paths are sequentially connected to generate a cleaning path, the steering width of the floor cleaning robot in the path planning process is enlarged, the turning radius of the floor cleaning robot is enlarged, and the water absorption rake of the floor cleaning robot can completely cover the area cleaned by the mop cloth.
Example four
In some alternative embodiments, please refer to fig. 5, fig. 5 is a schematic flowchart illustrating a process of setting a path stacking length according to an embodiment of the present application.
As shown in fig. 5, before the step of obtaining the area size information of the area to be cleaned, the robot cleaning path planning method further includes the following steps:
s1010, acquiring cleaning size information of the robot;
and S1020, setting the path superposition length according to the cleaning size information.
The washing size information is the width of washing orbit of the floor washing robot, use the floor washing robot to wash the ground with the washing dish as an example, the washing size of robot is exactly the size of washing dish, in other embodiments, the floor washing robot can also wash the ground in the mode that the bottom set up the mop strip, the mop strip is rectangular form, when the floor washing robot removes, can drag the mop strip and wash the bottom plate, then the washing size of robot is exactly the length of mop strip, when implementing, the washing size information of robot is preserved in the built-in local database of robot, can acquire the washing size information of robot through visiting local database, then set up route stack length according to washing size information, can set up route stack length to be less than the washing size, thereby avoid the floor washing robot to appear the condition of missing the sweeping, improve the cleaning performance.
EXAMPLE five
In some alternative embodiments, please refer to fig. 6, and fig. 6 is a schematic flowchart illustrating a process of acquiring cleaning size information according to an embodiment of the present application.
As shown in fig. 6, the step of acquiring the nominal cleaning size information of the robot includes the steps of:
s1001, acquiring an image of dish washing of the robot;
s1002, calculating the size of the dish washing as the washing size information according to the image of the dish washing.
When implementing, the washing machine robot need change different washdishes according to specific environment, for example the washing machine can install the washdish that is used for respectively to wooden floor and ceramic tile floor, and different washdish sizes are also different, need update route stack length in real time according to the size of washdish to avoid appearing leaking the condition of sweeping. Specifically, the bottom of the floor washing robot is provided with a camera for collecting an image of a dish washing, then the size of the dish washing is calculated according to the image of the dish washing, for example, the size of the dish washing is measured by using OpenCV (OpenCV is a computer vision and machine learning software library) computer vision, and the size information of the dish washing is updated by using the size of the dish washing, so that different path overlapping lengths can be set according to the dish washing of different sizes, the phenomenon of missed cleaning is avoided according to the actual use requirements of the floor washing robot, and the cleaning efficiency is improved.
EXAMPLE six
In some optional embodiments, an embodiment of the present application further provides a robot cleaning path planning apparatus, please refer to fig. 7, and fig. 7 is a schematic structural diagram of a module of an embodiment of the robot cleaning path planning apparatus according to the present application.
As shown in fig. 7, the robot cleaning path planning apparatus includes:
an information obtaining unit 2100 configured to obtain area size information of an area to be cleaned;
the region dividing unit 2200 is configured to divide the region to be cleaned into a plurality of sequentially overlapped rectangular regions according to the region size information and a preset path overlapping length;
the area path planning unit 2300 is used for performing edge path planning in each rectangular area to obtain a first planned path;
the path integration unit 2400 is configured to plan and connect an end point of a first planned path in one of the two adjacent rectangular areas and a start point of the first planned path in the other of the two adjacent rectangular areas, and generate a cleaning path covering the area to be cleaned.
The information obtaining unit 2100 acquires and obtains the length and the width of an area to be cleaned, and divides rectangular areas by the area dividing unit 2200, the area path planning unit 2300 plans a first planned path for each rectangular area, and after generating the first planned path for each rectangular area, sets the starting point of the first planned path of the next rectangular area as the starting point of the first planned path of the previous rectangular area in each two adjacent rectangular areas, so as to sequentially plan and connect the first planned paths of a plurality of rectangular areas to generate a cleaning path, and in implementation, the step of cleaning the paths includes:
firstly, planning to the end along the length direction of an area to be cleaned by starting from the edge of a rectangular area to be a first path, wherein the length of the first path is equal to that of the area to be cleaned;
secondly, planning a second path along the width direction of the area to be cleaned, wherein the length of the second path is equal to the sum of half of the width of the area to be cleaned and the path superposition distance;
planning to the end along the opposite direction of the first path to be a third path, wherein the length of the third path is equal to that of the area to be cleaned;
fourthly, planning a fourth path along the direction opposite to the second path, wherein the length of the fourth path is equal to half of the width of the area to be cleaned;
and fifthly, repeating the steps from the first step to the fourth step for each rectangular area until the planning of the coverage area to be cleaned is finished.
This application is through acquireing the regional size information of waiting to clean the region, then will wait to clean the region and divide into a plurality of rectangle regions, because every rectangle region all is according to waiting to clean regional size and preset route stack length division and obtain, make a plurality of rectangle regions overlap in proper order, so first planning route that obtains according to the edge planning of rectangle region is used for controlling the scrubber to carry out along the edge along the rectangle region and washs, when can realize waiting to clean regional global cleaning function, through the turn to width of enlarging the scrubber robot among the path planning in-process, the turn radius of scrubber robot has been enlarged, make the region that the mop washd can be covered completely to the harrow that absorbs water of scrubber robot, avoid appearing leaking and the condition of sweeping, excellent in cleaning effect.
In some optional embodiments, as shown in fig. 8, the information obtaining unit 2100 of the robot cleaning path planning apparatus of the present application includes:
an image acquisition subunit 2110 for acquiring an area image of an area to be cleaned;
and the image calculating subunit 2120 is used for performing edge extraction on the area image to calculate the length and the width of the area to be cleaned.
In some optional embodiments, as shown in fig. 9, the area path planning unit 2300 of the robot cleaning path planning apparatus of the present application includes:
a first path planning subunit 2310, configured to plan and generate a first edge path having a length equal to that of a first side edge along the first side edge of the rectangular region, with a corner of the rectangular region as a starting point;
a second path planning subunit 2320, configured to plan and generate, with an end point of the first edge path as a starting point, a second edge path having a length equal to that of the second side edge along the second side edge of the area to be cleaned;
a third path planning subunit 2330, configured to generate, along a third side edge of the rectangular region, a third edge path that is equal in length to and opposite in direction to the first edge path, with an end point of the second edge path as a start point;
a fourth path planning subunit 2340, configured to generate a fourth edge path, which is opposite to the second edge path in the reverse direction, along a fourth side edge plan of the area to be cleaned, where the end point of the third edge path is used as a starting point, and the length of the fourth edge path plus the path stacking length is equal to the length of the second edge.
In some optional embodiments, as shown in fig. 10, the robot cleaning path planning apparatus of the present application further includes:
a size information acquiring unit 2010 for acquiring cleaning size information of the robot;
a superimposition length setting unit 2020 for setting the path superimposition length according to the cleaning size information.
In some optional embodiments, as shown in fig. 11, the dimension information acquiring unit 2010 of the robot cleaning path planning apparatus further includes:
an image acquiring subunit 2001 for acquiring an image of a dish wash of the robot;
a size calculating subunit 2002 for calculating the size of the wash plate as the washing size information from the image of the wash plate.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
EXAMPLE seven
In some alternative embodiments, an embodiment of the present application further provides a floor washing robot including a robot cleaning path planning apparatus as described above.
The floor cleaning robot carries out path planning on a path to be cleaned, the floor cleaning robot is provided with a camera for collecting images of an area to be cleaned, then edge detection is carried out on the images, so that the length and the width of the area to be cleaned are calculated, then path planning is carried out on the area to be cleaned, planning is carried out from the edge of the area to be cleaned along the length direction of the area to be cleaned, and planning is carried out to the end; planning along the width direction of the area to be cleaned, wherein the planning distance is half of the width of the area to be cleaned plus the path superposition length; secondly, planning to the end along the opposite direction of the length direction of the area to be cleaned; planning along the opposite direction of the width direction of the area to be cleaned, wherein the planning distance is half of the width of the area to be cleaned; and repeating the steps until the area to be cleaned is covered, and finishing planning. When the floor cleaning robot turns, the turning radius of the floor cleaning robot is enlarged by enlarging the turning width of the floor cleaning robot in the path planning process, so that the water absorption rake of the floor cleaning robot can completely cover the area cleaned by the mop.
This application is through acquireing the regional size information of waiting to clean the region, then will wait to clean the region and divide into a plurality of rectangle regions, because every rectangle region all is according to waiting to clean regional size and preset route stack length division and obtain, make a plurality of rectangle regions overlap in proper order, so first planning route that obtains according to the edge planning of rectangle region is used for controlling scrubber to carry out along the edge along the rectangle region and washs, when can realize waiting to clean regional global cleaning function, scrubber does not need the original place turn round to turn round and carries out bow style of calligraphy planning route, avoid appearing leaking and the condition of leaking sweeping, can effectively improve the cleaning performance.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot cleaning path planning method is characterized by comprising the following steps:
acquiring area size information of an area to be cleaned;
dividing the area to be cleaned into a plurality of sequentially overlapped rectangular areas according to the area size information and a preset path overlapping length;
performing edge path planning in each rectangular area to obtain a first planned path;
in two adjacent rectangular areas, planning and connecting the end point of the first planned path in one of the two rectangular areas and the start point of the first planned path in the other rectangular area, and generating a cleaning path covering the area to be cleaned.
2. The robot cleaning path planning method according to claim 1, wherein the step of acquiring area size information of the area to be cleaned includes the steps of:
acquiring an area image of the area to be cleaned;
and performing edge extraction on the area image to calculate the area size information including the length and the width of the area to be cleaned.
3. The method for planning a cleaning path of a robot according to claim 1, wherein the step of performing edge path planning in each of the rectangular areas to obtain a first planned path of a rectangle comprises the steps of:
planning and generating a first edge path with the length equal to that of a first side edge along the first side edge of the rectangular area by taking one corner of the rectangular area as a starting point;
planning and generating a second edge path with the length equal to that of a second side edge along the second side edge of the area to be cleaned by taking the end point of the first edge path as a starting point;
generating a third edge path which is equal to the first edge path in length and opposite to the first edge path along a third side edge plan of the rectangular region by taking the end point of the second edge path as a starting point;
and planning and generating a fourth edge path which is opposite to the second edge path in the reverse direction along a fourth side edge of the area to be cleaned by taking the end point of the third edge path as a starting point, wherein the length of the fourth edge path plus the path superposition length is equal to the length of the second side edge.
4. A robotic cleaning path planning method as claimed in claim 1, characterized in that, before the step of obtaining area size information of an area to be cleaned, the method further comprises the steps of:
acquiring cleaning size information of the robot;
and setting the path superposition length according to the cleaning size information.
5. The robot cleaning path planning method according to claim 4, wherein the step of acquiring nominal cleaning size information of the robot includes the steps of:
acquiring an image of a dish wash of the robot;
calculating the size of the dish washer as the washing size information according to the image of the dish washer.
6. A robotic cleaning path planning apparatus, the apparatus comprising:
the information acquisition unit is used for acquiring the area size information of the area to be cleaned;
the area dividing unit is used for dividing the area to be cleaned into a plurality of sequentially overlapped rectangular areas according to the area size information and a preset path overlapping length;
the area path planning unit is used for executing edge path planning in each rectangular area to obtain a first planned path;
and the path integration unit is used for planning and connecting the end point of the first planned path in one of the two adjacent rectangular areas and the start point of the first planned path in the other rectangular area to generate a cleaning path covering the area to be cleaned.
7. The robot cleaning path planning apparatus according to claim 6, wherein the information acquisition unit includes:
the image acquisition subunit is used for acquiring an area image of the area to be cleaned;
and the image calculating subunit is used for carrying out edge extraction on the area image and calculating the length and the width of the area to be cleaned.
8. The robot cleaning path planning apparatus according to claim 6, wherein the area path planning unit includes:
the first path planning subunit is used for planning and generating a first edge path with the length equal to that of a first side edge along the first side edge of the rectangular area by taking one corner of the rectangular area as a starting point;
the second path planning subunit is used for planning and generating a second edge path with the length equal to that of the second side edge along the second side edge of the area to be cleaned by taking the end point of the first edge path as a starting point;
a third path planning subunit, configured to generate, along a third side edge of the rectangular region, a third edge path that is equal in length to the first edge path and is opposite in direction, with an end point of the second edge path as a start point;
and the fourth path planning subunit is configured to plan and generate a fourth edge path, which is opposite to the second edge path in the reverse direction, along a fourth side edge of the to-be-cleaned area, where the end point of the third edge path is used as a starting point, and the length of the fourth edge path plus the path stacking length is equal to the length of the second edge.
9. The robotic cleaning path planning device of claim 6, further comprising:
a size information acquisition unit for acquiring cleaning size information of the robot;
and the stacking length setting unit is used for setting the path stacking length according to the cleaning size information.
10. A floor washing robot, characterized in that it comprises a robot cleaning path planning device according to any of claims 6-9.
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