CN112826373B - Cleaning method, device, equipment and storage medium of cleaning robot - Google Patents
Cleaning method, device, equipment and storage medium of cleaning robot Download PDFInfo
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- CN112826373B CN112826373B CN202110080839.0A CN202110080839A CN112826373B CN 112826373 B CN112826373 B CN 112826373B CN 202110080839 A CN202110080839 A CN 202110080839A CN 112826373 B CN112826373 B CN 112826373B
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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
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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
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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
- A47L11/4002—Installations of electric equipment
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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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- Electric Vacuum Cleaner (AREA)
Abstract
Disclosed are a cleaning method, a device, equipment and a storage medium for a cleaning robot, belonging to the technical field of intelligent robots. The method comprises the following steps: detecting the environment of the cleaning robot, and generating an environment map according to the detected environment information; determining a barrier-free area according to the environment map and cleaning, detecting short obstacles in the process of cleaning the barrier-free area, updating the environment map according to the detected short obstacle information, wherein the barrier-free area is an area with the height same as the plane height of the cleaning robot, and the height of the short obstacles is a stridable height meeting the obstacle crossing capability of the cleaning robot; and after the cleaning of the barrier-free area is finished, determining a low barrier area according to the environment map and cleaning. In the application, the barrier-free area in the environment where the robot is located is cleaned firstly, and then the low barrier area is cleaned in a centralized manner, so that the barrier-crossing mode is not required to be repeatedly executed by the robot, the cleaning efficiency of the robot is improved, and the memory consumption of the robot is reduced.
Description
Technical Field
The present disclosure relates to the field of intelligent robot technologies, and in particular, to a method, an apparatus, a device, and a storage medium for cleaning a robot.
Background
The application of artificial intelligence enables the service robot to enter the daily life of human beings. The service robot is a robot that performs autonomous or semi-autonomous service work and performs non-productive activities beneficial to human beings. The service robot can release human from heavy and boring work, and is widely applied to a plurality of fields such as cleaning, security, medical treatment and the like.
The cleaning robot is one of service robots, and can autonomously perform a floor cleaning work. In the related art, a cleaning robot senses a surrounding environment by using a sensor thereof to determine a region to be cleaned, divides the region to be cleaned into a plurality of sub-regions, and cleans the plurality of sub-regions one by one in sequence. When an obstacle is detected in a sub-area during the process of cleaning the sub-area, the cleaning robot cleans a part of the obstacle in the sub-area.
However, in the above cleaning process, if a certain obstacle simultaneously crosses a plurality of sub-areas, the cleaning robot cleans a part of the obstacle while cleaning each of the plurality of sub-areas. That is, the cleaning robot cleans a plurality of different portions of the obstacle, respectively, in the process of sequentially cleaning the plurality of sub-areas. Therefore, the cleaning robot needs to clean for many times to complete the whole cleaning of the obstacle, the cleaning efficiency is low, and the memory consumption of the cleaning robot is large.
Disclosure of Invention
The embodiment of the application provides a cleaning method, a cleaning device, cleaning equipment and a storage medium of a cleaning robot, which can improve the cleaning efficiency and reduce the memory consumption of the cleaning robot. The technical scheme is as follows:
in a first aspect, a cleaning method for a cleaning robot is provided, which is applied to the cleaning robot, and the method includes:
detecting the environment of the cleaning robot, and generating an environment map according to the detected environment information;
determining a barrier-free area according to the environment map, cleaning the barrier-free area, detecting a short obstacle in the process of cleaning the barrier-free area, and updating the environment map according to the detected short obstacle information, wherein the barrier-free area is an area with the height same as the height of a plane where the cleaning robot is located, and the height of the short obstacle is a stridable height meeting the obstacle striding capability of the cleaning robot;
after cleaning of the barrier-free area is completed, determining a low obstacle area according to the environment map, and cleaning the low obstacle area, wherein the low obstacle area is an area where the low obstacle is located.
In the application, the cleaning robot detects the environment where the cleaning robot is located, and generates an environment map according to the detected environment information. And then, the cleaning robot determines an unobstructed area according to the environment map and cleans the unobstructed area, wherein the unobstructed area is an area with the height same as the height of the plane where the cleaning robot is located. The robot detects short obstacles in the process of cleaning the barrier-free area, and updates the environment map according to the detected short obstacle information. After cleaning of the barrier-free area is completed, the cleaning robot determines a low barrier area according to the environment map and cleans the low barrier area. The mode of cleaning the barrier-free area in the environment where the robot is located and then cleaning the low barrier areas in a centralized manner does not need the robot to repeatedly execute the barrier crossing mode, so that the cleaning efficiency of the robot is improved, and the memory consumption of the robot is reduced.
Optionally, the cleaning the unobstructed area comprises:
dividing the environment map according to the attributes of grids, rooms or areas to generate at least one clean sub-area;
sequentially cleaning the non-obstacle region in each of the at least one cleaning sub-region.
Optionally, before the sequentially cleaning the non-obstacle region in each of the at least one cleaning sub-region, the method further includes:
if the at least one cleaning sub-region comprises a target cleaning sub-region meeting preset conditions, combining the target cleaning sub-region with an adjacent cleaning sub-region to generate a new cleaning sub-region.
Optionally, the cleaning the low obstacle area comprises:
if a low obstacle region exists in a plurality of cleaning sub-regions, cleaning the low obstacle region after cleaning the non-obstacle region in the plurality of cleaning sub-regions.
Optionally, the determining a short obstacle area according to the environment map includes:
one or more low obstacle regions are generated from all low obstacle boundaries in the environmental map.
Optionally, the method further comprises:
in the process of cleaning a low obstacle area, detecting the environment where the cleaning robot is located, if the detected environment information is not contained in the environment map, cleaning the low obstacle area in a edgewise cleaning mode, and updating the environment map according to the detected edge information of the low obstacle;
cleaning the one low obstacle area according to the environment map.
In a second aspect, there is provided a cleaning device for a cleaning robot, applied to the cleaning robot, the device including:
the generating module is used for detecting the environment of the cleaning robot and generating an environment map according to the detected environment information;
a first updating module, configured to determine a barrier-free area according to the environment map, clean the barrier-free area, detect a short obstacle during cleaning the barrier-free area, and update the environment map according to detected short obstacle information, where the barrier-free area is an area having a height that is the same as a height of a plane where the cleaning robot is located, and the short obstacle has a height that is a traversable height that satisfies a barrier crossing capability of the cleaning robot;
the first cleaning module is used for determining a low obstacle area according to the environment map after the cleaning of the barrier-free area is completed, and cleaning the low obstacle area, wherein the low obstacle area is the area where the low obstacle is located.
Optionally, the first updating module is configured to:
dividing the environment map according to the attributes of grids, rooms or areas to generate at least one clean sub-area;
sequentially cleaning the non-obstacle region in each of the at least one cleaning sub-region.
Optionally, the first updating module is configured to:
if the at least one cleaning sub-region comprises a target cleaning sub-region meeting preset conditions, combining the target cleaning sub-region with an adjacent cleaning sub-region to generate a new cleaning sub-region.
Optionally, the first cleaning module is to:
if a low obstacle region exists in a plurality of cleaning sub-regions, cleaning the low obstacle region after cleaning the non-obstacle region in the plurality of cleaning sub-regions.
Optionally, the low obstacle information includes a low obstacle boundary, the first cleaning module is to:
one or more low obstacle regions are generated from all low obstacle boundaries in the environmental map.
Optionally, the apparatus further comprises:
the second updating module is used for detecting the environment where the cleaning robot is located in the process of cleaning a low obstacle area, cleaning the low obstacle area in a edgewise cleaning mode if the detected environment information is not contained in the environment map, and updating the environment map according to the detected edge information of the low obstacle;
a second cleaning module to clean the one low obstacle area according to the environmental map.
In a third aspect, a computer device is provided, the computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program, when executed by the processor, implementing the cleaning method of the cleaning robot as described above.
In a fourth aspect, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the cleaning method of the cleaning robot described above.
In a fifth aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of the cleaning method of the cleaning robot described above.
It is to be understood that, for the beneficial effects of the second aspect, the third aspect, the fourth aspect and the fifth aspect, reference may be made to the description of the first aspect, and details are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a cleaning method of a cleaning robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a partition of an environment map provided by an embodiment of the present application;
FIG. 3 is a schematic sectional view of a low obstacle area according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a plurality of spaces provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of a cleaning device of a cleaning robot according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that reference to "a plurality" in this application means two or more. In the description of the present application, "/" means "or" unless otherwise stated, for example, a/B may mean a or B; "and/or" herein is only an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, for the convenience of clearly describing the technical solutions of the present application, the terms "first", "second", and the like are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.
Before explaining the embodiments of the present application in detail, an application scenario of the embodiments of the present application will be described.
The cleaning robot combines the mobile robot technology and the dust collector technology, can autonomously perform ground cleaning work, and replaces heavy manual cleaning work. A cleaning robot generally includes a drive device, a sensing system, a control system, and a cleaning system. The driving device is connected with the body of the cleaning robot and drives the cleaning robot to walk on the ground. The perception system is that the cleaning robot uses a sensor of the cleaning robot to perceive the surrounding environment in real time to obtain the environmental information. The perception system of the cleaning robot includes various types of sensors, such as: mapping positioning sensors (such as one or more of laser ranging sensors, depth cameras, gyroscopes, odometers), obstacle sensors (such as one or more of laser ranging sensors, collision sensors, infrared ranging sensors, edgewise sensors, fall sensors), identification sensors (such as object identification sensors). The control system is communicated with the perception system and used for constructing a map according to the perceived environmental information and controlling the moving track of the cleaning robot according to the map, for example: the cleaning robot senses the information of the obstacles in the moving process, and the control system controls the cleaning robot to execute obstacle avoidance actions, wherein the obstacle avoidance actions include but are not limited to backward, leftward turning, rightward turning and the like. The cleaning system may include a roller brush, a wipe, a water storage tank, etc. for cleaning the floor.
In real life, barriers such as walls, tea tables, carpets, tables, chairs, beds and the like exist in bedrooms, living rooms, hotel halls and meeting rooms waiting for clean spaces. The obstacle may be classified into a short obstacle and an obstacle that cannot be crossed, depending on whether or not the obstacle can be crossed by the cleaning robot. The height of the low obstacle is a traversable height that satisfies the obstacle crossing ability of the cleaning robot, that is, the low obstacle is an obstacle that the cleaning robot can cross and clean; the height of the non-traversable obstacle is a non-traversable height that does not satisfy the barrier crossing capability of the cleaning robot, that is, the non-traversable obstacle is an obstacle that the cleaning robot cannot clean. For example, carpets are low obstacles and tables and beds are not traversable obstacles.
When the cleaning robot encounters a short obstacle, if the short obstacle is to be cleaned, the control system of the cleaning robot can execute an obstacle crossing mode, and specifically can call an obstacle crossing program to change a driving mode of a driving device and drive the cleaning robot to cross the short obstacle from the ground so as to clean the short obstacle.
The embodiment of the application provides a cleaning method of a cleaning robot, when a space containing low obstacles is cleaned, a barrier-free area in the space is cleaned first, and after all barrier-free areas are cleaned, the low obstacle areas in the space are cleaned in a centralized manner, so that the cleaning efficiency of the cleaning robot is improved, and the memory consumption of the cleaning robot is reduced.
The cleaning method of the cleaning robot is applied to the cleaning robot, the cleaning robot can automatically complete the cleaning work of the ground, personnel do not need to participate, and the cleaning robot can be a household sweeping robot and the like.
The cleaning method of the cleaning robot provided in the embodiments of the present application is explained in detail below.
Fig. 1 is a flowchart of a cleaning method of a cleaning robot according to an embodiment of the present disclosure. Referring to fig. 1, the method includes the following steps.
Step 101: the cleaning robot detects the environment where the cleaning robot is located, and generates an environment map according to the detected environment information.
After entering the space to be cleaned, the cleaning robot can detect the environment of the cleaning robot by combining the actions of moving and/or rotating and the like through the modes of edgewise cleaning and fixed-point searching. The space to be cleaned can be an indoor environment, such as an indoor space needing to be cleaned, such as a kitchen, a toilet, a study, a bedroom, a living room, a hotel lobby, an office, a meeting room and the like.
The environment information is information capable of reflecting the environment of the space where the cleaning robot is currently located, including but not limited to obstacle information, ground attributes, and area attributes. The environmental information may be detected by the cleaning robot through its own sensor, and the sensor may include a camera, a laser radar, a collision sensor, a distance sensor, a drop sensor, etc., which is not limited in this application.
The obstacle is an object with a height different from the current plane of the cleaning robot, and can be a wall, a tea table, a carpet, a table, a chair and the like. The obstacle information is information of an object (i.e., an obstacle) having a different height from the plane on which the cleaning robot is currently located. The obstacle information may include the position, shape, material, reflectivity, size, distribution, orientation, boundary, height, etc. of the obstacle.
The ground attributes may include the texture, shape, boundary, reflectivity, size, distribution, orientation, etc. of the ground. The region attributes may include region type, region size, region shape, and the like.
The environment map is a map of a space where the cleaning robot is currently located generated by analyzing the detected environment information. The environment map includes obstacle information.
When the cleaning robot enters a space for the first time, the cleaning robot does not have a map of the space, so that the cleaning robot needs to detect the environment of the space where the cleaning robot is located by using a sensor of the cleaning robot, and generate an environment map according to detected environment information. Alternatively, when the cleaning robot enters a space again, the previously stored environment map of the space may be directly acquired. Therefore, the cleaning path of the space where the cleaning robot is located can be conveniently planned by the follow-up cleaning robot according to the environment map.
The operation of the cleaning robot detecting the environment of the space in which the cleaning robot is currently located by using its own sensor is similar to the operation of the cleaning robot detecting the environment of the space in which the cleaning robot is located in the related art, which is not described in detail in this embodiment of the present application.
For example, cleaning machines people can utilize the laser radar that self has to survey self environment of locating, and laser radar generally sets up at cleaning machines people's top, and at the during operation, laser radar carries out 360 rotations to the space transmission laser signal that locates at present through laser radar's transmitter, laser signal is reflected when meetting the barrier, thereby laser radar's receiver receives the laser signal who reflects. The laser radar analyzes the received laser signal to acquire environmental information. Of course, the cleaning robot can also detect the environment of the cleaning robot through a camera mounted on the body of the cleaning robot, specifically, an image of the space where the cleaning robot is located can be collected through the camera, and then the collected image is analyzed to obtain environment information.
The operation of the cleaning robot generating the environment map according to the detected environment information is similar to the operation of the cleaning robot generating the map according to the detected environment information in the related art, and this will not be described in detail in this embodiment of the present application.
For example, the cleaning robot may generate an environment map using SLAM (Simultaneous Localization and Mapping) technology according to the detected environment information. Of course, the cleaning robot may also generate an environment map in other ways according to the detected environment information, which is not limited in this embodiment of the present application.
It should be noted that in the embodiment of the present application, when the cleaning robot enters the space to be cleaned, the environment map may be generated by using the SLAM technology or other technologies, and when the space is cleaned, the environment map may also be updated by using the SLAM technology or other technologies, so that the generated environment map is more and more perfect.
Step 102: the cleaning robot determines a barrier-free area according to the environment map, cleans the barrier-free area, detects short obstacles in the process of cleaning the barrier-free area, and updates the environment map according to the detected short obstacle information.
The non-obstacle area is an area having the same height as the plane in which the cleaning robot is located, that is, an area in which the robot currently is located and which does not include an obstacle.
The height of the low obstacle is a traversable height which meets the obstacle crossing capability of the cleaning robot, and the traversable height which meets the obstacle crossing capability of the cleaning robot can be a height which is higher than the current plane of the cleaning robot and lower than the highest height which can be spanned by the cleaning robot in the current plane, or can be a height which is lower than the current plane of the cleaning robot and higher than the lowest height which can be spanned by the cleaning robot in the current plane. That is, the height of the low obstacle may be higher than the current plane of the cleaning robot, but lower than the highest height that the cleaning robot can span upward in the current plane, where the low obstacle is located above the current plane of the cleaning robot. Alternatively, the height of the low obstacle may be lower than the current plane of the cleaning robot, but higher than the lowest height that the cleaning robot can span downward on the current plane, where the low obstacle is located below the current plane of the cleaning robot.
In other words, a short obstacle is an obstacle that the cleaning robot can ride over and clean. For example, the low obstacle may be a carpet, a felt, a mat, or the like, and the embodiment of the present application is not limited to the type of the low obstacle. The low obstacle information may include a boundary, a position, a shape, a material, a reflectivity, a size, a distribution, an orientation, a height, and the like of the low obstacle.
The non-obstacle area is an area where the cleaning robot does not include an obstacle in the plane where the cleaning robot is currently located. The cleaning robot detects a short obstacle in the process of cleaning the barrier-free area, and updates the environment map according to the information of the detected short obstacle. That is, the cleaning robot moves continuously when cleaning the non-obstacle area of the plane where the cleaning robot is currently located, and the environment map is updated according to the information of a short obstacle when the cleaning robot encounters the short obstacle in the moving process. Therefore, the cleaning robot can continuously update the short obstacle information in the environment map in the process of cleaning the barrier-free area of the plane where the cleaning robot is located, so that the short obstacle information contained in the environment map is more and more complete.
Optionally, the cleaning robot may continuously detect the environment in the process of cleaning the unobstructed area, and update the environment map according to the detected environment information, so that the environment map is more and more improved until becoming a complete map of the space where the cleaning robot is located.
Generally, the range of the barrier-free area is relatively wide, and in order to improve the cleaning efficiency of the cleaning robot, the cleaning robot can perform partition cleaning during cleaning. Specifically, the operation of the cleaning robot to clean the unobstructed area may be: dividing an environment map according to the attributes of grids, rooms or areas to generate at least one clean sub-area; sequentially cleaning the non-obstacle area in each of the at least one cleaning sub-area.
The size of the grid may be set in advance. For example, the grid may be a 4.5m (meters) × 4.5m square area, etc. When the environment map is divided into grids, the environment map is divided into one or more regions of a fixed size, and each region is a clean sub-region.
If the environment map is divided into rooms, the area where each room is located in the environment map is used as a clean sub-area.
The region attributes include a region type, a region size, a region shape, and the like. For example, if the environment map is divided according to the area types, the environment map may be divided into a kitchen area, a living room area, a child playing area, and the like, and each area is a cleaning sub-area.
Of course, the cleaning robot may also divide the environment map according to other division criteria to generate at least one cleaning sub-area, which is not limited in this embodiment of the present application.
Further, the cleaning robot may also combine the cleaning sub-regions satisfying the preset condition to generate a new cleaning sub-region before sequentially cleaning the non-obstacle region in each of the at least one cleaning sub-region in sequence. Specifically, if the at least one cleaning sub-area includes a target cleaning sub-area satisfying a preset condition, the cleaning robot merges the target cleaning sub-area with an adjacent cleaning sub-area to generate a new cleaning sub-area.
The preset condition may be set in advance. Alternatively, the preset condition may be that the area of the cleaning sub-region is smaller than a first preset value, and the first preset value may be preset and may be set to be smaller, for example, the preset condition is that the area of the cleaning sub-region is smaller than 5m2Then the area is less than 5m2Is merged with an adjacent one of the cleaning sub-regions to generate a new cleaning sub-region. Or, the preset condition may be that the size of the cleaning sub-region is smaller than a second preset value, and the second preset value may be preset and may be set to be smaller, for example, if the preset condition is that the size of the cleaning sub-region is smaller than 2m × 2m, the cleaning sub-region with the size smaller than 2m × 2m is merged with an adjacent cleaning sub-region, so as to generate a new cleaning sub-region. Or, the preset condition may be that the area of the region where the low obstacle is located in the cleaning sub-region accounts for more than a third preset value, and the third preset value may be preset and may be set to be larger, for example, if the preset condition is that the area of the region where the low obstacle is located in the cleaning sub-region accounts for more than seventy percent of the area of the cleaning sub-region, which indicates that the low obstacle occupies most of the region in the cleaning sub-region, the cleaning sub-region may be merged with an adjacent cleaning sub-region, so as to generate a new cleaning sub-region.
When the cleaning robot sequentially cleans the non-obstacle area in each cleaning subarea in sequence, a cleaning subarea closest to the position of the cleaning robot can be selected first, the non-obstacle area in the selected cleaning subarea is cleaned, after the non-obstacle area in the cleaning subarea is cleaned, a cleaning subarea closest to the position of the cleaning robot is selected from the rest non-cleaned cleaning subareas, and then the non-obstacle area in the newly selected cleaning subarea is cleaned. This is repeated until the cleaning robot completes cleaning of the unobstructed area in each of the at least one cleaning sub-area, i.e., completes cleaning of the unobstructed area in each of the at least one cleaning sub-area, in which case cleaning of all the unobstructed areas in the environmental map is also completed.
Of course, the cleaning robot may also adopt other methods to sequentially clean the non-obstacle area in each of the at least one cleaning sub-area in sequence, which is not limited in the embodiment of the present application.
When the cleaning robot cleans the non-obstacle area in each of the at least one cleaning sub-area, the cleaning robot may clean by using a zigzag path or a zigzag path, and of course, other paths may also be used for cleaning, which is not limited in the embodiment of the present application.
For example, as shown in fig. 2, the space 1 has an obstacle (hatched in fig. 2) and an obstacle-free area. When the cleaning robot just enters the space 1, the cleaning robot is located at the point a of the space 1, the cleaning robot detects the environment of the space 1 by using its own sensor, and generates an environment map of the space 1 according to the detected environment information. Then, the cleaning robot divides the generated environment map into regions with the size of 4.5m by 4.5m, and four cleaning sub-regions (namely, a region I, a region II, a region III and a region IV) are obtained. Then, the cleaning robot sequentially cleans the non-obstacle area in each of the four cleaning sub-areas, that is, sequentially cleans the non-obstacle area in the area (i.e., the area except the shadow portion in the area), and the non-obstacle area in the area (i.e., the area except the shadow portion in the area) in the area (iii). At this time, if the cleaning robot finishes cleaning the non-obstacle areas in all the cleaning sub-areas in the environment map, the cleaning robot finishes cleaning all the non-obstacle areas in the space 1.
Step 103: after cleaning of the barrier-free area is completed, the cleaning robot determines a low obstacle area according to an environment map and cleans the low obstacle area.
The low obstacle region is a region where a low obstacle is located. In one possible case, the low obstacle area is an area having a height higher than the current plane of the cleaning robot but lower than the highest height that the cleaning robot can span in the upward direction of the current plane, and in this case, the low obstacle area is located above the current plane of the cleaning robot. In another possible case, the low obstacle area is an area having a height lower than the height of the plane on which the cleaning robot is currently located, but higher than the lowest height that the cleaning robot can span downward on the plane on which the cleaning robot is currently located, in which case the low obstacle area is located below the plane on which the cleaning robot is currently located. That is, a low obstacle region is a region that the cleaning robot can span and clean.
Since the cleaning robot detects a short obstacle in the process of cleaning the non-obstacle area and updates the environment map according to the detected short obstacle information, after the cleaning robot finishes cleaning the non-obstacle area, the environment map contains the information of the short obstacle in the environment where the cleaning robot is located, so that the low obstacle area can be determined according to the environment map and then the low obstacle area can be cleaned. The mode of cleaning the barrier-free area in the environment where the cleaning robot is located and then cleaning the low barrier areas in a centralized manner does not need the cleaning robot to repeatedly execute the barrier crossing mode, so that the cleaning efficiency of the cleaning robot is improved, and the memory consumption of the cleaning robot is reduced.
Wherein the low obstacle information contained in the environment map may include a low obstacle boundary. The operation of the cleaning robot for determining the low obstacle area according to the environment map may be: one or more low obstacle regions are generated from all low obstacle boundaries in the environmental map. Specifically, the cleaning robot may take one or more areas surrounded by all the low obstacle boundaries in the environment map as one or more low obstacle areas.
It should be noted that if there are multiple low obstacle regions, when cleaning the multiple low obstacle regions, the cleaning robot may first clean the low obstacle regions corresponding to the low obstacles completely located in the environment map, and then clean the low obstacle regions corresponding to the low obstacles partially located in the environment map.
For example, as shown in fig. 2, the space 1 includes four cleaning sub-areas, which are: region (r), region (c), and region (r), and region 201, region 202, region 203, and region 204 are four low obstacle regions. Wherein, the short obstacle corresponding to the area 201 and the short obstacle corresponding to the area 202 are both completely located in the environment map of the space 1, and the short obstacle corresponding to the area 203 and the short obstacle corresponding to the area 204 are both partially located in the environment map of the space 1. The cleaning robot may clean regions 201 and 202 first and then regions 203 and 204 when cleaning these four low obstacle regions.
When the cleaning robot cleans a low obstacle region, if the low obstacle region exists in a plurality of cleaning subareas, the low obstacle region is cleaned after cleaning an obstacle-free area in the plurality of cleaning subareas.
For example, as shown in fig. 2, the space 1 includes four cleaning sub-areas, which are: the area 201 is a low obstacle area in the space 1. Low obstacle region 201 in fig. 2 exists in region (i), region (ii), region (iii), and region (iv). When the cleaning robot cleans the low obstacle area 201, the area free from obstacles in each of the area (i), the area (ii), the area (iii), and the area (iv) may be cleaned first, and after the area free from obstacles in each of the area (i), the area (ii), the area (iii), and the area (iv) is cleaned, the low obstacle area 201 may be cleaned again.
When cleaning a low obstacle area, the cleaning robot can firstly clean along the edge of the low obstacle area and then clean by adopting a bow-shaped path. Alternatively, the cleaning robot may directly use the zigzag path to clean each of the low obstacle regions. Or, for any one low obstacle area which needs to be cleaned currently, the cleaning robot may divide the low obstacle area to obtain a cleaning sub-area corresponding to the low obstacle area, and then clean the cleaning sub-area corresponding to the low obstacle area, so that the low obstacle area can be cleaned.
The operation of the cleaning robot for dividing the low obstacle area is similar to the operation of the cleaning robot for dividing the environment map, and details are not repeated in the embodiment of the application.
Alternatively, the cleaning robot may divide the low obstacle region in a grid. For example, the cleaning robot may divide the low obstacle area by a predetermined area size (including but not limited to a size that may be 4.5m by 4.5m, etc.). As shown in fig. 3, the area 201 is a low obstacle area in the space 1, and the cleaning robot may divide the area 201 by 4.5m × 4.5m to obtain an area 301, where the area 301 is a cleaning sub-area corresponding to the area 201.
When the area size of the low obstacle region is smaller than the area size of the cleaning subarea corresponding to the low obstacle region, the low obstacle region is completely located in the cleaning subarea corresponding to the low obstacle region, and the cleaning subarea corresponding to the low obstacle region comprises the low obstacle region and other obstacle-free areas.
When the area size of the low obstacle area is equal to the area size of the cleaning subarea corresponding to the low obstacle area, the low obstacle area is the cleaning subarea corresponding to the low obstacle area, and the cleaning subarea corresponding to the low obstacle area is cleaned at the moment, namely the low obstacle area is cleaned.
When the area size of the low obstacle region is larger than the area size of the cleaning subarea corresponding to the low obstacle region, the low obstacle region is divided, at least two cleaning subareas are obtained, and the low obstacle regions in the at least two cleaning subareas can be sequentially cleaned.
It should be noted that, in the process of cleaning a short obstacle area, the cleaning robot may also use a mapping positioning sensor carried by the cleaning robot to monitor whether the cleaning path actually moved by the cleaning robot deviates from a cleaning path planned in advance. If the cleaning robot monitors that the actually moving cleaning path deviates from the pre-planned cleaning path, the cleaning robot controls the moving path of the cleaning robot to move to the position corresponding to the pre-planned cleaning path. Therefore, the cleaning robot can be ensured to accurately clean the low obstacle region according to the cleaning path planned in advance, and the problem that the cleaning robot cannot completely clean the low obstacle region due to the deviation of the path is avoided.
In some embodiments, the cleaning robot may further detect an environment in which the cleaning robot is located during cleaning of a short obstacle region, if the detected environment information is not included in the environment map, that is, if new environment information is detected, the cleaning robot cleans the short obstacle region in an edgewise cleaning manner, and updates the environment map according to the detected edge information of the short obstacle; this low obstacle area is cleaned from the environmental map.
If the environmental information detected by the cleaning robot in the process of cleaning a short obstacle area is contained in the previously generated environmental map, it is indicated that the short obstacle corresponding to the short obstacle area is completely located in the environmental map, and at this time, the cleaning robot can normally clean the short obstacle area.
If the environmental information detected by the cleaning robot in the process of cleaning a short obstacle area is not contained in the previously generated environmental map, it is indicated that the cleaning robot detects a new environment, that is, it is indicated that the short obstacle corresponding to the short obstacle area spans two spaces, one is a space being cleaned by the cleaning robot, and the other is a new space except the space. In this case, the cleaning robot needs to clean the low obstacle area in an edgewise cleaning manner, and update the low obstacle area in the environmental map according to the low obstacle edge information detected in the cleaning process. In this way, when a short obstacle spans two spaces, the cleaning robot can obtain a complete short obstacle region corresponding to the short obstacle in an edge cleaning manner, and update the complete short obstacle region into an environment map for subsequent cleaning.
For example, as shown in fig. 4, a low obstacle corresponding to low obstacle region 401 spans space 1 and space 2. After the cleaning robot obtains the environment map of the space 1, the environment map of the space 1 includes edge information of a short obstacle in the space 1 corresponding to the short obstacle region 401. Thereafter, the cleaning robot detects the environment in which it is located during the cleaning of low obstacle region 401, and at this time, the environmental information of space 2 is detected, and the environmental information of space 2 is not included in the environmental map of space 1. Therefore, the cleaning robot cleans the short obstacle area 401 in a edgewise cleaning manner, and in the cleaning process, the edge information of the short obstacle in the space 2 corresponding to the short obstacle area 401 is detected, so that the environment map of the space 1 can be updated, and the updated environment map of the space 1 has complete edge information of the short obstacle corresponding to the short obstacle area 401. In this case, the cleaning robot can clean the low obstacle region 401 in the environmental map of the space 1.
After the cleaning robot finishes cleaning a certain low obstacle area, a new map can be generated according to the detected environmental information which is not contained in the environmental map, namely the detected new environmental information, and then the cleaning can be performed according to the generated new map, namely, an obstacle-free area can be determined and cleaned according to the new map, and then the low obstacle area can be determined and cleaned according to the new map, similarly to the cleaning operation performed according to the environmental map.
For example, as shown in fig. 4, when the cleaning robot detects environmental information of the space 2 when cleaning the low obstacle area 401, it may generate a map of the space 2 based on the detected environmental information of the space 2 after cleaning the low obstacle area 401. Then, the cleaning robot may clean according to the map of the space 2, that is, may determine and clean the unobstructed area in the space 2 according to the map of the space 2, and then determine and clean the short obstacle area in the space 2 according to the map of the space 2.
Further, after cleaning is completed based on the new map generated, if an uncleaned low obstacle region exists in the environment map generated up to that time, the cleaning robot selects one low obstacle region from the uncleaned low obstacle regions and continues cleaning the selected low obstacle region.
For example, as shown in fig. 4, when the cleaning robot finishes cleaning the short obstacle area 401, the cleaning robot cleans an area in the space 2. After cleaning the area in space 2, if there is an uncleaned low obstacle area 402 in space 1, the cleaning robot continues to clean low obstacle area 402. Since the low obstacle corresponding to low obstacle region 402 spans spaces 1 and 3, the cleaning robot can clean low obstacle region 402 first and then the region in space 3, similarly to the cleaning robot cleaning low obstacle region 401 and the region in space 2.
It is noted that the cleaning robot can clean according to the cleaning method provided by the embodiment of the application every time the cleaning robot reaches one plane. That is, after the cleaning robot reaches a plane, the environmental information may be detected and an environmental map may be generated based on the environmental information, and then an unobstructed area of the plane where the cleaning robot is currently located may be determined and cleaned based on the environmental map, and then a low obstacle area of the plane where the cleaning robot is currently located may be determined and cleaned. The cleaning robot does not cross to other planes when cleaning the non-obstacle area of the current plane. When the cleaning robot cleans the low obstacle area of the current plane, the cleaning robot spans to the plane of the low obstacle area for cleaning, and the cleaning robot spans to a new plane. After reaching a new plane, the cleaning robot can continue to clean according to the cleaning method provided by the embodiment of the application. In this case, after the cleaning robot crosses from a plane to a plane where a low obstacle region of the plane is located, the low obstacle region of the original plane is a new plane non-obstacle region, and at this time, the cleaning robot cleans the non-obstacle region of the current plane where the cleaning robot is located according to the cleaning method provided by the embodiment of the present application, so that the cleaning of the low obstacle region of the original plane where the cleaning robot is located is also achieved.
For example, in a room, a tile surface is a portion of the floor of the room that is higher than the floor, and a carpet is laid on a portion of the tile surface. In this case, the cleaning robot is on the floor right after entering the room. When the cleaning robot is positioned on the ground, the ground is determined to be an unobstructed area and the tile surface is determined to be a low obstructed area, and the ground is cleaned first and then the tile surface is cleaned. The cleaning robot, when cleaning the tile surface, spans from the floor to the tile surface. When the cleaning robot is positioned on the tile surface, the tile surface is determined to be an unobstructed area and the carpet is determined to be a low obstruction area, and the tile surface is cleaned first and then the carpet is cleaned. The cleaning robot may cross from the tile surface to the carpet when cleaning the carpet. When the cleaning robot is on the carpet, the carpet is determined to be an unobstructed area and no low obstacle area is determined, and the carpet is cleaned.
In the embodiment of the application, the cleaning robot detects the environment of the cleaning robot and generates the environment map according to the detected environment information. And then, the cleaning robot determines an unobstructed area according to the environment map and cleans the unobstructed area, wherein the unobstructed area is an area with the height same as the height of the plane where the cleaning robot is located. The robot detects short obstacles in the process of cleaning the barrier-free area, and updates the environment map according to the detected short obstacle information. After cleaning of the barrier-free area is completed, the cleaning robot determines a low barrier area according to the environment map and cleans the low barrier area. The mode of cleaning the barrier-free area in the environment where the robot is located and then cleaning the low barrier areas in a centralized manner does not need the robot to repeatedly execute the barrier crossing mode, so that the cleaning efficiency of the robot is improved, and the memory consumption of the robot is reduced.
Fig. 5 is a schematic structural diagram of a cleaning device of a cleaning robot according to an embodiment of the present disclosure. The device is applied to a cleaning robot. Referring to fig. 5, the apparatus includes: a generation module 501, a first update module 502, a first cleaning module 503.
The generating module 501 is configured to detect an environment where the cleaning robot is located, and generate an environment map according to detected environment information;
a first updating module 502, configured to determine an unobstructed area according to an environment map, clean the unobstructed area, detect a short obstacle in the process of cleaning the unobstructed area, and update the environment map according to detected short obstacle information, where the unobstructed area is an area with a height that is the same as a height of a plane where the cleaning robot is located, and the short obstacle is a traversable height that satisfies obstacle crossing capability of the cleaning robot;
a first cleaning module 503, configured to determine a low obstacle area according to the environment map after completing cleaning of the non-obstacle area, and clean the low obstacle area, where the low obstacle area is located.
Optionally, the first updating module 502 is configured to:
dividing an environment map according to grid, room or region attributes to generate at least one clean sub-region;
sequentially cleaning the non-obstacle area in each of the at least one cleaning sub-area.
Optionally, the first updating module 502 is configured to:
and if at least one cleaning sub-area comprises a target cleaning sub-area meeting the preset condition, combining the target cleaning sub-area and an adjacent cleaning sub-area to generate a new cleaning sub-area.
Optionally, the first cleaning module 503 is configured to:
if a low obstacle region exists in the plurality of cleaning sub-regions, the low obstacle region is cleaned after cleaning an unobstructed region of the plurality of cleaning sub-regions.
Optionally, the first cleaning module 503 is configured to:
one or more low obstacle regions are generated from all low obstacle boundaries in the environmental map.
Optionally, the apparatus further comprises:
the second updating module is used for detecting the environment where the cleaning robot is located in the process of cleaning a low obstacle area, cleaning the low obstacle area in a edgewise cleaning mode if the detected environment information is not contained in the environment map, and updating the environment map according to the detected edge information of the low obstacle;
a second cleaning module for cleaning the low obstacle area according to an environmental map.
In the embodiment of the application, the cleaning robot detects the environment of the cleaning robot and generates the environment map according to the detected environment information. And then, the cleaning robot determines an unobstructed area according to the environment map and cleans the unobstructed area, wherein the unobstructed area is an area with the height same as the height of the plane where the cleaning robot is located. The robot detects short obstacles in the process of cleaning the barrier-free area, and updates an environment map according to the detected short obstacle information. After cleaning of the barrier-free area is completed, the cleaning robot determines a low barrier area according to the environment map and cleans the low barrier area. The mode of cleaning the barrier-free area in the environment where the robot is located and then cleaning the low barrier areas in a centralized manner does not need the robot to repeatedly execute the barrier crossing mode, so that the cleaning efficiency of the robot is improved, and the memory consumption of the robot is reduced.
It should be noted that: in the cleaning device of the cleaning robot provided in the above embodiment, only the division of the above functional modules is exemplified when cleaning, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions.
Each functional unit and module in the above embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present application.
The embodiments of the cleaning device of the cleaning robot and the cleaning method of the cleaning robot provided in the embodiments described above belong to the same concept, and for the specific working processes of the units and modules and the technical effects brought by the units and modules in the embodiments described above, reference may be made to the embodiments of the methods, and details are not described here.
Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in fig. 6, the computer device 6 includes: a processor 60, a memory 61 and a computer program 62 stored in the memory 61 and executable on the processor 60, the steps in the cleaning method of the cleaning robot in the above embodiments being implemented when the computer program 62 is executed by the processor 60.
The computer device 6 may be a cleaning robot. Those skilled in the art will appreciate that fig. 6 is merely an example of the computer device 6 and does not constitute a limitation of the computer device 6, and may include more or less components than those shown, or combine certain components, or different components, such as input output devices, network access devices, etc.
The memory 61 may in some embodiments be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. The memory 61 may also be an external storage device of the computer device 6 in other embodiments, such as a plug-in hard disk provided on the computer device 6, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 61 may also include both an internal storage unit of the computer device 6 and an external storage device. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.
An embodiment of the present application further provides a computer device, where the computer device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.
The embodiments of the present application provide a computer program product, which when run on a computer causes the computer to perform the steps of the above-described method embodiments.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. With this understanding, all or part of the processes in the method embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the method embodiments described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a photographing apparatus/terminal device, a recording medium, computer Memory, ROM (Read-Only Memory), RAM (Random Access Memory), CD-ROM (Compact Disc Read-Only Memory), magnetic tape, floppy disk, optical data storage device, etc. The computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.
It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer readable storage medium described above.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
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.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the above-described apparatus/computer device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, multiple units 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.
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.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (7)
1. A cleaning method of a cleaning robot, applied to a cleaning robot, the method comprising:
detecting the environment of the cleaning robot, and generating an environment map according to the detected environment information;
determining an obstacle-free area according to the environment map, cleaning the obstacle-free area, detecting a short obstacle in the process of cleaning the obstacle-free area, updating the environment map according to the detected short obstacle information, wherein the obstacle-free area is an area with the height same as the plane height of the cleaning robot, and the height of the short obstacle is a stridable height meeting the obstacle crossing capability of the cleaning robot;
after cleaning of the barrier-free area is completed, determining a low obstacle area according to the environment map, and cleaning the low obstacle area, wherein the low obstacle area is an area where the low obstacle is located;
the determining a low obstacle area according to the environment map and cleaning the low obstacle area comprises the following steps:
dividing the environment map according to the attributes of grids, rooms or areas to generate at least one clean sub-area;
sequentially cleaning the non-obstacle region in each of the at least one cleaning sub-region;
when the cleaning robot detects the short obstacle while cleaning the non-obstacle area, determining whether the short obstacle exists in a plurality of cleaning subareas, and if the short obstacle exists in the plurality of cleaning subareas, combining the short obstacles existing in the plurality of cleaning subareas into one cleaning subarea for cleaning.
2. The method of claim 1, wherein prior to said sequentially cleaning said unobstructed area in each of said at least one cleaning sub-area, further comprising:
if the at least one cleaning sub-region comprises a target cleaning sub-region meeting preset conditions, combining the target cleaning sub-region with an adjacent cleaning sub-region to generate a new cleaning sub-region.
3. The method of claim 1 or 2, wherein the low obstacle information includes a low obstacle boundary, the determining a low obstacle area from the environmental map comprising:
one or more low obstacle regions are generated from all low obstacle boundaries in the environmental map.
4. The method of claim 1 or 2, further comprising:
in the process of cleaning a low obstacle area, detecting the environment where the cleaning robot is located, if the detected environment information is not contained in the environment map, cleaning the low obstacle area in a edgewise cleaning mode, and updating the environment map according to the detected edge information of the low obstacle;
cleaning the one low obstacle area according to the environment map.
5. A cleaning device of a cleaning robot, applied to the cleaning robot, the device comprising:
the generating module is used for detecting the environment of the cleaning robot and generating an environment map according to the detected environment information;
a first updating module, configured to determine a barrier-free area according to the environment map, clean the barrier-free area, detect a short obstacle during cleaning the barrier-free area, and update the environment map according to detected short obstacle information, where the barrier-free area is an area having a height that is the same as a height of a plane where the cleaning robot is located, and the short obstacle has a height that is a traversable height that satisfies a barrier crossing capability of the cleaning robot;
the first cleaning module is used for determining a low obstacle area according to the environment map after the cleaning of the barrier-free area is completed, and cleaning the low obstacle area, wherein the low obstacle area is an area where the low obstacle is located;
the first update module is to:
dividing the environment map according to the attributes of grids, rooms or areas to generate at least one clean sub-area;
sequentially cleaning the non-obstacle region in each of the at least one cleaning sub-region;
when the cleaning robot detects the short obstacle while cleaning the non-obstacle area, determining whether the short obstacle exists in a plurality of cleaning subareas, and if the short obstacle exists in the plurality of cleaning subareas, combining the short obstacles existing in the plurality of cleaning subareas into one cleaning subarea for cleaning.
6. A computer device, characterized in that the computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, which computer program, when executed by the processor, implements the method according to any of claims 1 to 4.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method of any one of claims 1 to 4.
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| CN113397444B (en) * | 2021-07-02 | 2023-01-24 | 珠海格力电器股份有限公司 | Target obstacle recognition method, cleaning machine control method and processor |
| CN113741421A (en) * | 2021-07-29 | 2021-12-03 | 深圳博鹏智能科技有限公司 | Unmanned cleaning robot and path planning method thereof |
| CN113855835B (en) * | 2021-09-27 | 2023-04-07 | 丰疆智能(深圳)有限公司 | Disinfection method and device, storage medium and disinfection robot |
| CN116942035A (en) * | 2022-04-14 | 2023-10-27 | 追觅创新科技(苏州)有限公司 | Control method and device for cleaning equipment and computer readable storage medium |
| CN116067365A (en) * | 2023-04-04 | 2023-05-05 | 科大讯飞股份有限公司 | Map partitioning method, device, equipment and readable storage medium |
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