CN114587191B - Method and device for cleaning subareas of sweeper, computer equipment and storage medium - Google Patents
Method and device for cleaning subareas of sweeper, computer equipment and storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
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- 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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Abstract
The application discloses a method, a device, computer equipment and a storage medium for cleaning a subarea of a sweeper, which comprise the following steps: acquiring a cleaning range sent by a user, wherein the cleaning range is used for limiting the working range of the sweeper; according to the method, the corresponding cleaning area is divided into the cleaning range by acquiring the floor state information, and the cleaning sequence matched with the floor material information contained in the floor state information is used for cleaning in the cleaning area, so that different cleaning sequences can be intelligently matched according to the floor state of the cleaning floor, and the cleaning effect and the working efficiency of the floor sweeper are improved.
Description
Technical Field
The application relates to the field of sweeper, in particular to a method and a device for sweeping a partition of a sweeper, computer equipment and a storage medium.
Background
The sweeping machine is gradually popularized in the market at present, wherein a full coverage rate algorithm aiming at a sweeping range is a key in the algorithm technology of the sweeping machine, the sweeping efficiency and the sweeping degree of the sweeping machine are directly influenced, the user experience is very key, and an intelligent partitioning algorithm is a strategy which is gradually developed in recent years and is used for partitioning and sweeping according to rooms, so that a better sweeping effect is achieved. However, the home environment is complex and changeable, the optimum coverage effect cannot be achieved only by partitioning the room, and when the floor state in the cleaning range is changed, the existing sweeper is difficult to match with a better cleaning sequence according to the state of the floor, so that the cleaning effect of the sweeper is poor and the cleaning efficiency is reduced.
Disclosure of Invention
The application aims to provide a partition cleaning method, a partition cleaning device, computer equipment and a storage medium of a sweeper, and aims to solve the problem that the sweeper cannot conduct partition cleaning according to the floor state in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
the application provides a partition cleaning method of a sweeper, which comprises the following steps:
acquiring a cleaning range, wherein the cleaning range is used for limiting the working range of the sweeper;
acquiring floor state information of the cleaning range;
dividing the cleaning range according to the floor status information to form a cleaning area;
sequencing the cleaning sequence of the cleaning areas according to the floor state information;
and cleaning the cleaning area according to the cleaning sequence.
Further, after the cleaning area according to the cleaning sequence, the cleaning method further includes:
and after the cleaning of all the cleaning areas is completed, storing the cleaning range and the floor state information.
Further, the floor status information comprises floor material information, and the floor material information at least comprises hard material information and soft material information;
The sequencing the cleaning sequence of the cleaning areas according to the floor status information comprises the following steps:
acquiring each hard cleaning area corresponding to the hard material information and each soft cleaning area corresponding to the soft material information in the floor state information;
and planning a cleaning sequence of the sweeper based on the positions of the soft cleaning areas and the positions of the hard cleaning areas, wherein the soft cleaning areas are cleaned first and then the hard cleaning areas are cleaned.
Further, the method for cleaning the soft cleaning area comprises the following steps:
acquiring a first cleaning route matched with the soft material information;
carrying out primary cleaning on the soft cleaning area along the first cleaning route;
acquiring a second cleaning route matched with the soft material information;
and carrying out secondary cleaning on the soft cleaning area along the second cleaning route.
Further, the shape of the soft cleaning area is rectangular, and the first cleaning of the soft cleaning area along the first cleaning route includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, wherein the first long side is marked as an X axis, and the first short side is marked as a Y axis;
Establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is positioned at the origin of the rectangular coordinate system, if so, the sweeper moves towards the second long side in a straight line;
when the sweeper reaches the second long side, the sweeper rotates 90 degrees clockwise and linearly travels a first preset distance along the second long side, and then the sweeper rotates 90 degrees clockwise and linearly travels, so that the X axis is returned;
the sweeper rotates anticlockwise by 90 degrees and linearly travels a first preset distance along the X axis;
judging whether the sweeper contacts the second short side, if so, judging that the sweeper finishes the first-stage sweeping of the first sweeping route and executes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper linearly travels towards the second long side.
Further, performing a second stage of cleaning of the first cleaning path includes:
judging whether the sweeper is positioned at the intersection of the first long side and the second short side, and if so, enabling the sweeper to linearly travel towards the Y axis;
When the sweeper reaches the Y axis, the sweeper rotates 90 degrees clockwise and linearly travels a first preset distance along the Y axis, and then the sweeper rotates 90 degrees clockwise and linearly travels, so that the sweeper returns to the second short side;
the sweeper rotates anticlockwise by 90 degrees and linearly travels a first preset distance along the second short side;
judging whether the sweeper contacts with the second long side, if so, judging that the sweeper finishes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper linearly travels towards the Y axis.
Further, the shape of the soft cleaning area is rectangular, and the first cleaning of the soft cleaning area along the first cleaning route includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, wherein the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is positioned at the origin of the rectangular coordinate system, if so, enabling the sweeper to linearly travel towards the second long side, and when the sweeper reaches the second long side, enabling the sweeper to turn around in situ and linearly travel back to the X axis;
When the sweeper returns to the X axis, the sweeper rotates anticlockwise by 90 degrees and linearly travels along the X axis for a second preset distance;
judging whether the sweeper contacts the second short side, if so, judging that the sweeper finishes the first-stage sweeping of the first sweeping route and executes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper linearly travels towards the second long side.
Further, performing a second stage of cleaning of the first cleaning path includes:
judging whether the sweeper is positioned at the intersection of the second short side and the second long side, and if so, enabling the sweeper to linearly travel towards the Y axis;
when the sweeper reaches the Y axis, the sweeper turns around in situ and linearly moves back to the second short side;
when the sweeper returns to the second short side, the sweeper rotates clockwise by 90 degrees and linearly travels a second preset distance along the second short side;
judging whether the sweeper contacts with the X axis, if so, judging that the sweeper finishes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper moves towards the Y axis in a straight line.
Further, the soft cleaning area is correspondingly provided with a first side, a second side, a third side and a fourth side, wherein the first side is opposite to the second side, the third side is opposite to the fourth side, the first side is marked as an X axis, and the third side is marked as a Y axis;
establishing a rectangular coordinate system in the cleaning area according to the X axis and the Y axis;
the sweeper linearly runs from the origin of the rectangular coordinate system to the intersection of the second side and the fourth side;
the sweeper rotates 135 degrees clockwise, and linearly travels along the fourth side for a third preset distance, and then rotates 45 degrees clockwise and linearly travels on the X axis;
the sweeper rotates 135 degrees anticlockwise along the X axis, linearly travels the third preset distance along the X axis, rotates 45 degrees anticlockwise along the X axis and linearly travels the fourth side;
judging whether the sweeper reaches the intersection of the fourth side and the X axis, if so, judging that the sweeper finishes the first-stage sweeping of the second sweeping route and executes the second-stage sweeping of the second sweeping route, if not, turning to 135 degrees clockwise by the sweeper, linearly traveling along the fourth side for a third preset distance, and then clockwise turning to 45 degrees and linearly traveling on the X axis.
Further, the performing the second-stage cleaning of the second cleaning route includes:
the sweeper linearly runs from the intersection point of the fourth side and the X axis to the intersection point of the second side and the fourth side, and rotates anticlockwise by 90 degrees along the Y axis direction, linearly runs along the second side for a third preset distance, then rotates anticlockwise by 45 degrees and linearly runs on the Y axis;
the sweeper rotates 135 degrees clockwise along the Y axis, and after the sweeper linearly travels the third preset distance along the Y axis, the sweeper rotates 45 degrees clockwise along the Y axis and linearly travels to the second side;
judging whether the sweeper reaches the intersection of the second side and the third side, if so, judging that the sweeper finishes the second-stage sweeping of the second sweeping route, and if not, turning to the step of linearly driving along the second side for a third preset distance, rotating anticlockwise for 45 degrees and linearly driving on the Y axis.
The application also provides a partition cleaning device of the sweeper, which comprises:
the cleaning range acquisition unit is used for acquiring a cleaning range, and the cleaning range is used for limiting the working range of the sweeper;
An information acquisition unit for acquiring floor status information of the cleaning range, wherein the floor status information comprises floor material information;
the dividing unit is used for dividing the cleaning range according to the floor state information to form a cleaning area;
the sequencing unit is used for sequencing the cleaning sequence of the cleaning areas according to the floor state information;
and the cleaning unit is used for cleaning the cleaning area according to the cleaning sequence.
The present application also provides a storage medium, which is a computer readable storage medium, having stored thereon a computer program, which when executed implements a sweeper partition cleaning method as described above.
The application also provides computer equipment, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the partition cleaning method of the sweeper when executing the computer program.
The application has the beneficial effects that: according to the application, the corresponding cleaning area is divided into the cleaning areas by acquiring the floor status information, and the cleaning sequence matched with the floor material information contained in the floor status information is used for cleaning in the cleaning area, so that different cleaning sequences can be intelligently matched according to the floor status of the cleaned floor, and the cleaning effect and the working efficiency of the sweeper are improved.
Drawings
FIG. 1 is a method flow chart of the sweeper partition cleaning method of the present application;
FIG. 2 is a schematic view of the structure of the partition cleaning device of the sweeper of the present application;
FIG. 3 is a schematic view of a first stage cleaning path of a first cleaning path according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a second stage cleaning path of the first cleaning path according to an embodiment of the application;
FIG. 5 is a schematic view of a first stage cleaning path of a first cleaning path according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a second stage cleaning path of the first cleaning path according to an embodiment of the application;
FIG. 7 is a schematic view of a first stage cleaning path of a second cleaning path according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a second stage cleaning path of a second cleaning path according to an embodiment of the present application;
FIG. 9 is a block diagram of one embodiment of a storage medium of the present application;
FIG. 10 is a block diagram of one embodiment of a computer device of the present application;
the reference numerals in the figures are: 1-cleaning range acquisition unit, 2-information acquisition unit, 3-division unit, 4-sorting unit, 5-cleaning unit, 100-storage medium, 200-computer program, 300-computer device.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
Referring to fig. 1, the invention provides a method for cleaning a partition of a sweeper, which comprises the following steps:
s1, acquiring a cleaning range, wherein the cleaning range is used for limiting the working range of the sweeper;
s2, acquiring floor state information of the cleaning range;
s3, dividing the cleaning range according to the floor state information to form a cleaning area;
s4, sequencing the cleaning sequence of the cleaning areas according to the floor state information;
and S5, cleaning the cleaning area according to the cleaning sequence.
As described in the above step S1, the sweeper obtains a photo of a cleaning range through a built-in laser radar and a vision sensor, and sets the cleaning range of the current work according to the photo, and the sweeper automatically cleans the cleaning range.
As described in the step S2, the sweeper obtains a photo of a cleaning range through a built-in laser radar and a vision sensor, and judges the floor status information of the cleaning range according to the picture information of the floor obtained by the vision sensor, wherein the floor status information comprises floor material information, and the floor material information comprises hard material information and soft material information;
it will be appreciated that the type of the floor status information is not limited to the floor material information, and the floor status information may also include dirt information or humidity information, which the present application is not limited to.
As described in step S3, the cleaning machine divides the cleaning range according to the floor material information, specifically: the range of the floor material information being hard material information is marked as a hard cleaning area, and the range of the floor material information being soft material information is marked as a soft cleaning area;
As described in the above step S4, the sweeper sorts the cleaning sequence of the cleaning areas according to the floor status information, specifically, the sweeper generates a cleaning route of a soft cleaning area by connecting the soft cleaning area in the cleaning range according to a rule of first approaching and then separating, and then the sweeper generates a cleaning route of a hard cleaning area by connecting the hard cleaning area in the cleaning range according to a rule of first approaching and separating, thereby realizing the cleaning sequence of cleaning the hard cleaning area after cleaning the soft cleaning area;
it will be appreciated that the cleaning sequence for each zone may be set by the user himself, as the application is not limited in this regard.
As described in the above step S5, the sweeper firstly cleans the soft cleaning area along the cleaning route in the above embodiment, and then cleans the soft cleaning area along the cleaning route in the above embodiment, so as to clean the cleaning range along the cleaning sequence generated in the above embodiment, thereby preventing the driving wheels of the sweeper from being dirty when the soft cleaning area is cleaned, and causing secondary pollution when the soft cleaning area is cleaned.
According to the method, the corresponding cleaning area is divided into the cleaning areas by acquiring the floor status information, and the cleaning sequence matched with the floor material information contained in the floor status information is used for cleaning in the cleaning areas, so that different cleaning sequences can be intelligently matched according to the floor status of the cleaned floor, and the cleaning effect and the working efficiency of the sweeper are improved.
In one embodiment, after the cleaning area according to the cleaning sequence, the method includes:
and S6, after the cleaning of all the cleaning areas is completed, storing the cleaning range and floor state information.
As described in the above step S6, after the cleaning machine cleans the cleaning area in the cleaning sequence, the cleaning range and the floor status information are saved for direct loading and use when cleaning the same cleaning area next time.
In an embodiment, the floor status information includes floor material information, the floor material information includes at least hard material information and soft material information, and the step S4 includes:
s41, acquiring each hard cleaning area corresponding to the hard material information and each soft cleaning area corresponding to the soft material information in the floor state information, and planning the cleaning sequence of the sweeper based on the position of each soft cleaning area and the position of each hard cleaning area, wherein each soft cleaning area is cleaned first and then the hard cleaning area is cleaned.
As described in the above step S41, the hard cleaning area information may be a cleaning area corresponding to a wooden floor, the soft material information may be a cleaning area corresponding to a cloth floor, the sweeper acquires the hard cleaning area corresponding to the hard material information and each soft cleaning area corresponding to the soft material information, then the sweeper links each soft cleaning area within the cleaning range to generate a cleaning route for the soft cleaning area, then the sweeper links each hard cleaning area within the cleaning range to generate a cleaning route for the hard cleaning area, then the sweeper cleans along the cleaning route for the soft cleaning area, and cleans according to the cleaning route for the hard cleaning area, thereby realizing a cleaning sequence in which the hard cleaning area is cleaned after the soft cleaning area is generated, and then the sweeper cleans along the cleaning sequence.
It can be understood that when the information included in the floor status information is dirty information, the sweeper can generate a sweeping route for sweeping the clean sweeping area and then sweeping the dirty sweeping area according to the dirty sweeping area and the distance position of the clean sweeping area in the sweeping area, and start the sweeper to sweep along the sweeping route.
In addition, when the information contained in the floor status information is humidity information, the sweeper can generate a sweeping route for firstly sweeping the dry sweeping area and then sweeping the wet sweeping area according to the distance position of the wet sweeping area and the dry sweeping area in the sweeping area, and start the sweeper to sweep along the sweeping route.
In one embodiment, the method for cleaning the soft cleaning area includes:
s42, acquiring a first cleaning route matched with the soft material information, carrying out primary cleaning on the soft cleaning area along the first cleaning route, acquiring a second cleaning route matched with the soft material information, and carrying out secondary cleaning on the soft cleaning area along the second cleaning route.
As described in step S42, when the sweeper obtains a first sweeping route matching with the soft material information, and carries out primary sweeping in the soft sweeping area along the first sweeping route, and after the sweeping work of the first sweeping route is completed, the sweeper obtains a second sweeping route matching with the hard material information, and carries out secondary sweeping in the soft sweeping area along the second sweeping route, so that the sweeper firstly completes primary sweeping in the soft sweeping area according to the first sweeping route, then completes secondary sweeping in the soft sweeping area according to the second sweeping route, and the cleaning effect of the sweeper on the soft sweeping area is improved.
Referring to fig. 3, in an embodiment, the shape of the soft cleaning area is rectangular, and the first cleaning of the soft cleaning area following the first cleaning route includes:
s43, a first long side, a second long side, a first short side and a second short side are correspondingly arranged in the soft cleaning area, the first long side is marked as an X axis, the first short side is marked as a Y axis, a rectangular coordinate system is established in the soft cleaning area according to the X axis and the Y axis, whether the sweeper is positioned at the origin of the rectangular coordinate system is judged, if yes, the sweeper is driven towards the second long side in a straight line, when the sweeper reaches the second long side, the sweeper is rotated 90 degrees clockwise and driven along the second long side in a straight line for a first preset distance, then the sweeper is rotated 90 degrees clockwise and driven along the second long side in a straight line for returning to the X axis, if yes, the sweeper is judged to finish the first stage of sweeping, if yes, the sweeper is rotated 90 degrees clockwise and driven along the X axis for a first preset distance in a straight line for judging whether the sweeper is contacted with the second short side, and if yes, the sweeper is driven towards the second long side in a straight line for executing the first stage of sweeping.
As described in step S43, preferably, the first preset distance may be 30 cm, the sweeper obtains a first long side, a second long side, a first short side and a second short side of the soft sweeping area, marks the first long side as an X axis, marks the first short side as a Y axis, establishes a rectangular coordinate system in the sweeping area according to the X axis and the Y axis, when the sweeper is located at an origin of the rectangular coordinate system, the sweeper rotates clockwise for 90 degrees and linearly travels along the second long side for 30 cm, then rotates clockwise for 90 degrees and linearly travels along the X axis, and then rotates counterclockwise for 90 degrees and linearly travels along the X axis for 30 cm, judges whether the sweeper contacts the second short side, if so, the sweeper judges to finish the first-stage sweeping of the first route, and executes the first-stage sweeping of the first route, thereby controlling the first-stage sweeping of the first route; if not, turning to the step that the sweeper moves towards the second long side in a straight line,
It is understood that the length of the first preset distance may be set by the user, which is not limited by the present application.
Referring to fig. 4, in an embodiment, the performing the second stage cleaning of the first cleaning path includes:
s44, judging whether the sweeper is positioned at the intersection of the first long side and the second short side, if so, judging whether the sweeper is in contact with the second long side, if so, judging that the sweeper is in straight line running along the Y axis, when the sweeper reaches the Y axis, rotating the sweeper by 90 degrees clockwise and linearly running along the Y axis for a first preset distance, and then rotating the sweeper by 90 degrees clockwise and linearly running, so as to return to the second short side, rotating the sweeper by 90 degrees anticlockwise and linearly running along the second short side for a first preset distance, and if so, judging that the sweeper is in contact with the second long side, if not, turning to the step that the sweeper is in straight line running along the Y axis, and if not, judging that the sweeper is in the second stage of cleaning of the first cleaning route is completed.
As described in step S44, preferably, the first preset distance may be 30 cm, the sweeper determines whether the current position of the sweeper is located at the intersection of the first long side and the second short side, if yes, the sweeper is linearly moved toward the Y axis, when the sweeper reaches the Y axis, the sweeper is rotated 90 degrees clockwise and linearly moved along the Y axis for 30 cm, then the sweeper is rotated 90 degrees clockwise and linearly moved, so as to return to the second short side, then the sweeper is rotated 90 degrees counterclockwise and linearly moved along the second short side for 30 cm, and determines whether the sweeper contacts the second long side, if yes, the sweeper is determined to complete the second-stage sweeping of the first sweeping route, thereby realizing the second-stage sweeping of the first sweeping route by the sweeper by controlling the sweeper to follow the first sweeping route by the soft sweeping route, and if not, the sweeper is moved toward the Y axis by the first sweeping route by the soft sweeping route.
It is understood that the length of the first preset distance may be set by the user, which is not limited by the present application.
Referring to fig. 5, in an embodiment, the shape of the soft cleaning area is rectangular, and the first cleaning of the soft cleaning area following the first cleaning route specifically includes:
s45, a first long side, a second long side, a first short side and a second short side are correspondingly arranged in the soft cleaning area, the first long side is marked as an X axis, the first short side is marked as a Y axis, a rectangular coordinate system is established in the soft cleaning area according to the X axis and the Y axis, whether the sweeper is positioned at an origin of the rectangular coordinate system is judged, if so, the sweeper moves towards the second long side in a straight line, and when the sweeper reaches the second long side in a straight line, the sweeper turns around in situ and moves back to the X axis in a straight line; when the sweeper returns to the X axis, the sweeper rotates anticlockwise for 90 degrees and linearly runs along the X axis for a second preset distance, whether the sweeper contacts the second short side is judged, if yes, the sweeper judges that the first-stage sweeping of the first sweeping route is finished, the second-stage sweeping of the first sweeping route is executed, if no, the sweeper moves to the step that the sweeper linearly runs towards the second long side,
As described in step S45, preferably, the second preset distance may be 20 cm, and the sweeper obtains a first long side, a second long side, a first short side and a second short side of the soft cleaning area, marks the first long side as an X axis, marks the first short side as a Y axis, and establishes a rectangular coordinate system in the cleaning area according to the X axis and the Y axis.
Judging whether the sweeper is positioned at the origin of the rectangular coordinate system, if so, the sweeper moves linearly towards the second long side, when the sweeper reaches the second long side straight line, the sweeper turns around in situ and moves linearly back to the X axis, after the sweeper returns to the X axis, the sweeper rotates anticlockwise for 90 degrees and moves linearly along the X axis for 20 cm, judging whether the sweeper contacts the second short side, if so, the sweeper judges that the first-stage cleaning of the first cleaning route is completed, and executes the second-stage cleaning of the first cleaning route, so that the first-stage cleaning of the first cleaning route is controlled to be carried out on the soft cleaning area; if not, turning to the step that the sweeper moves towards the second long side in a straight line.
It is understood that the length of the second preset distance may be set by the user, which is not limited by the present application.
Referring to fig. 6, in an embodiment, the performing the second stage cleaning of the first cleaning path includes:
s46, judging whether the sweeper is positioned at the junction of the second short side and the second long side, if so, enabling the sweeper to linearly travel towards the Y axis, turning around the sweeper in situ and linearly travel back to the second short side when the sweeper reaches the Y axis, and after the sweeper returns to the second short side, enabling the sweeper to rotate 90 degrees clockwise and linearly travel along the second short side for a second preset distance, judging whether the sweeper contacts with the X axis, if so, judging that the sweeper finishes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper linearly travels towards the Y axis.
As described in step S46, preferably, the second preset distance may be 20 cm, and it is determined whether the sweeper is located at the intersection of the second short side and the second long side, if yes, the sweeper is directed to the Y-axis for straight-line travel, when the sweeper reaches the Y-axis, the sweeper is turned around in situ and is returned to the second short side for straight-line travel, after the sweeper is returned to the second short side, the sweeper is rotated clockwise for 90 degrees and is linearly travel along the second short side for 20 cm, and it is determined whether the sweeper is in contact with the X-axis, if yes, the sweeper is determined to complete the second stage of the first cleaning route, thereby realizing the second stage of cleaning the first cleaning route by the sweeper to the soft cleaning area by controlling the sweeper, and if not, the sweeper is turned to the Y-axis for straight-line travel by following the first cleaning route.
It is understood that the length of the second preset distance may be set by the user, which is not limited by the present application.
Referring to fig. 7, in an embodiment, the shape of the soft cleaning area is square, and the performing secondary cleaning on the soft cleaning area along the second cleaning route includes:
s47, a first side, a second side, a third side and a fourth side are correspondingly arranged in the soft cleaning area, wherein the first side is opposite to the second side, the third side is opposite to the fourth side, the first side is marked as an X axis, and the third side is marked as a Y axis; establishing a rectangular coordinate system in the cleaning area according to the X axis and the Y axis; the sweeper linearly runs from the origin of the rectangular coordinate system to the intersection of the second side and the fourth side; the sweeper rotates 135 degrees clockwise, and linearly travels along the fourth side for a third preset distance, and then rotates 45 degrees clockwise and linearly travels on the X axis; the sweeper rotates 135 degrees anticlockwise along the X axis, linearly travels the third preset distance along the X axis, rotates 45 degrees anticlockwise along the X axis and linearly travels the fourth side; judging whether the sweeper reaches the intersection of the fourth side and the X axis, if so, judging that the sweeper finishes the first-stage sweeping of the second sweeping route and executes the second-stage sweeping of the second sweeping route, if not, turning to 135 degrees clockwise by the sweeper, linearly traveling along the fourth side for a third preset distance, and then clockwise turning to 45 degrees and linearly traveling on the X axis.
As described in the above step S47, preferably, the third preset distance may be 15 cm, the soft cleaning area is correspondingly provided with a first edge, a second edge, a third edge and a fourth edge, the sweeper marks the first edge as an X axis, marks the third edge as a Y axis, establishes a rectangular coordinate system in the cleaning area according to the X axis and the Y axis, and then the sweeper linearly travels from the origin of the rectangular coordinate system to the intersection of the second edge and the fourth edge, rotates clockwise by 135 degrees, and linearly travels along the fourth edge by 15 cm, and then rotates clockwise by 45 degrees and linearly travels on the X axis; and the sweeper rotates anticlockwise by 135 degrees along the X axis and linearly runs by 15 cm along the X axis, then rotates anticlockwise by 45 degrees along the X axis and linearly runs on the fourth side, judges whether the sweeper reaches the intersection of the fourth side and the X axis, if so, the sweeper judges that the first-stage sweeping of the second sweeping route is finished, and executes the second-stage sweeping of the second sweeping route, so that the first-stage sweeping of the second sweeping route of the soft sweeping area is controlled by the sweeper, if not, the sweeper rotates by 135 degrees clockwise, and then rotates by 45 degrees clockwise and linearly runs on the X axis after linearly running by 15 cm along the fourth side.
It will be appreciated that the length of the third preset distance may be set by the user, which is not limited by the present application.
Further, the shape of the soft cleaning area may be rectangular, an included angle α between the direction of a line segment from the origin of the coordinate system to the intersection of the second side and the fourth side and the X axis is obtained, when the sweeper travels straight from the origin to the intersection of the second side and the fourth side, the sweeper rotates clockwise (180- α) degrees, then moves along the fourth side by a third preset distance, rotates clockwise by α degrees, moves to the X axis, then rotates counterclockwise (180- α) degrees, moves along the X axis by a third preset distance, and repeats the above process until the cleaning to the intersection of the X axis and the fourth side is completed.
Referring to fig. 8, in an embodiment, the performing the second stage cleaning of the second cleaning path includes:
s48, the sweeper linearly runs from the intersection point of the fourth side and the X axis to the intersection point of the second side and the fourth side, and rotates anticlockwise by 90 degrees along the Y axis direction, linearly runs along the second side for a third preset distance, rotates anticlockwise by 45 degrees and linearly runs on the Y axis; the sweeper rotates 135 degrees clockwise along the Y axis, and after the sweeper linearly travels the third preset distance along the Y axis, the sweeper rotates 45 degrees clockwise along the Y axis and linearly travels to the second side; judging whether the sweeper reaches the intersection of the second side and the third side, if so, judging that the sweeper finishes the second-stage sweeping of the second sweeping route, and if not, turning to a step of linearly driving along the second side for a third preset distance, rotating anticlockwise for 45 degrees and linearly driving on the Y axis.
As described in the above step S48, preferably, the third preset distance may be 15 cm, and the sweeper is driven linearly from the intersection of the fourth side and the X-axis to the intersection of the Y-axis and the second side, and the sweeper is rotated 90 degrees counterclockwise along the Y-axis and is driven linearly along the second side for 15 cm, and then rotated 45 degrees counterclockwise and is driven linearly onto the Y-axis; the sweeper rotates 135 degrees clockwise along the Y axis, rotates 45 degrees clockwise along the Y axis after the sweeper linearly runs 15 cm along the Y axis and linearly runs on the second side, judges whether the sweeper reaches the intersection point of the second side and the third side, if so, the sweeper judges that the second-stage cleaning of the second cleaning route is finished, and accordingly the second-stage cleaning of the second cleaning route is controlled to be carried out on the soft cleaning area by the sweeper, if not, the sweeper rotates to the step of rotating 45 degrees anticlockwise and linearly running on the Y axis after the sweeper linearly runs a third preset distance along the second side.
Further, the shape of the soft cleaning area may be rectangular, an included angle α between the direction of a line segment from the origin of the coordinate system to the intersection of the second side and the fourth side and the X axis is obtained, the sweeper travels straight from the intersection of the fourth side and the X axis to the intersection of the second side and the fourth side, rotates counterclockwise by 90 ° along the Y axis direction, travels straight along the second side by a third preset distance, and then rotates counterclockwise by α ° and travels straight along the Y axis; the sweeper rotates clockwise (180-alpha) along the Y axis, the sweeper linearly travels along the Y axis for a third preset distance, then rotates clockwise by alpha along the Y axis, and the process is repeated until the sweeper is cleaned to the junction of the Y axis and the second side.
It will be appreciated that the length of the third preset distance may be set by the user, which is not limited by the present application.
Referring to fig. 2, further, the present application also provides a cleaning device for a partition of a sweeper, comprising:
a sweeping range acquisition unit 1 for acquiring a sweeping range for defining a working range of the sweeper;
an information acquisition unit 2 for acquiring floor status information of the cleaning range, the floor status information including floor material information;
a dividing unit 3 for dividing the cleaning range according to the floor status information to form a cleaning area;
a sorting unit 4 for sorting the cleaning sequence of the cleaning areas according to the floor status information;
and a cleaning unit 5 for cleaning the cleaning area according to the cleaning sequence.
The above units are not described one by one for executing the above-mentioned sweeping device for the sweeper partition.
Referring to fig. 9, the present application also provides a storage medium 100, in which a computer program 200 is stored which, when run on a computer, causes the computer to perform the sweeper partition cleaning method described in the above embodiments.
Referring to fig. 10, the present application also provides a computer device 300 containing instructions that, when run on the computer device 300, cause the computer device 300 to perform the above-described sweeper zone cleaning method by means of a processor disposed therein.
As can be seen from the above embodiments, the present application has the following advantages: the corresponding cleaning area is divided into the cleaning range by acquiring the floor state information, and the cleaning sequence matched with the floor material information contained in the floor state information is used in the cleaning area to clean, so that different cleaning sequences can be intelligently matched according to the floor state of the cleaned floor, and the cleaning effect and the working efficiency of the sweeper are improved.
Those skilled in the art will appreciate that the methods of operating a smart device of the present application and the devices referred to above for performing one or more of the methods of the present application. These devices may be specially designed and constructed for the required purposes, or may comprise known devices in general purpose computers. These devices have computer programs or applications stored therein that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., a computer) readable medium or in any type of medium suitable for storing electronic instructions and respectively coupled to a bus, including, but not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROMs (Read-Only memories), RAMs (Random Access Memory, random access memories), EPR0M (Erasable Programmable Read-Only memories), EEPR0M (Electrically Erasab le Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the invention.
Claims (8)
1. A method for cleaning a sweeper partition, which is characterized by comprising the following steps:
acquiring a cleaning range, wherein the cleaning range is used for limiting the working range of the sweeper;
acquiring floor state information of the cleaning range, wherein the floor state information comprises floor material information, and the floor material information at least comprises hard material information and soft material information;
dividing the cleaning range according to the floor status information to form a cleaning area;
sequencing the cleaning sequence of the cleaning areas according to the floor state information;
cleaning the cleaning area according to the cleaning sequence;
acquiring each soft cleaning area corresponding to soft material information in the floor state information;
the method for cleaning the soft cleaning area comprises the following steps:
acquiring a first cleaning route matched with the soft material information;
Carrying out primary cleaning on the soft cleaning area along the first cleaning route;
acquiring a second cleaning route matched with the soft material information;
carrying out secondary cleaning on the soft cleaning area along the second cleaning route;
the shape of soft cleaning area is the rectangle, follow first cleaning route is right soft cleaning area carries out first cleaning, includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, wherein the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing rectangular coordinates in the soft cleaning area according to the X axis and the Y axis to judge whether the sweeper is positioned at an origin of the rectangular coordinates, if so, the sweeper moves towards the second long side straight line, and when the sweeper reaches the second long side straight line, the sweeper turns around in situ and moves back to the X axis in a straight line;
when the sweeper returns to the X axis, the sweeper rotates anticlockwise by 90 degrees and linearly travels along the X axis for a second preset distance;
judging whether the sweeper contacts the second short side, if so, judging that the sweeper finishes the first-stage sweeping of the first sweeping route and executes the second-stage sweeping of the first sweeping route, and if not, turning to a step that the sweeper moves towards the second long side in a straight line;
Wherein the performing the second-stage cleaning of the first cleaning route includes:
judging whether the sweeper is positioned at the intersection of the second short side and the second long side, and if so, enabling the sweeper to linearly travel towards the Y axis;
when the sweeper reaches the Y axis, the sweeper turns around in situ and linearly moves back to the second short side;
when the sweeper returns to the second short side, the sweeper rotates clockwise by 90 degrees and linearly travels a second preset distance along the second short side;
judging whether the sweeper contacts with the X axis, if so, judging that the sweeper finishes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper moves towards the Y axis in a straight line.
2. The method of cleaning a sweeper partition of claim 1, wherein the sequencing the cleaning sequence of the cleaning areas according to the floor status information comprises:
acquiring each hard cleaning area corresponding to the hard material information in the floor state information;
and planning a cleaning sequence of the sweeper based on the positions of the soft cleaning areas and the positions of the hard cleaning areas, wherein the soft cleaning areas are cleaned first and then the hard cleaning areas are cleaned.
3. The method of cleaning a floor-sweeping machine partition of claim 1, wherein the soft cleaning area is rectangular in shape, and the first cleaning of the soft cleaning area following the first cleaning route includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, wherein the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is positioned at the origin of the rectangular coordinate system, if so, the sweeper moves towards the second long side in a straight line;
when the sweeper reaches the second long side, the sweeper rotates 90 degrees clockwise and linearly travels a first preset distance along the second long side, and then the sweeper rotates 90 degrees clockwise and linearly travels, so that the X axis is returned;
the sweeper rotates anticlockwise by 90 degrees and linearly travels a first preset distance along the X axis;
judging whether the sweeper contacts the second short side, if so, judging that the sweeper finishes the first-stage sweeping of the first sweeping route and executes the second-stage sweeping of the first sweeping route, and if not, turning to a step that the sweeper moves towards the second long side in a straight line;
Wherein the performing the second-stage cleaning of the first cleaning route includes:
judging whether the sweeper is positioned at the intersection of the first long side and the second short side, and if so, enabling the sweeper to linearly travel towards the Y axis;
when the sweeper reaches the Y axis, the sweeper rotates 90 degrees clockwise and linearly travels a first preset distance along the Y axis, and then the sweeper rotates 90 degrees clockwise and linearly travels, so that the sweeper returns to the second short side;
the sweeper rotates anticlockwise by 90 degrees and linearly travels a first preset distance along the second short side;
judging whether the sweeper contacts with the second long side, if so, judging that the sweeper finishes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper linearly travels towards the Y axis.
4. The method of partitioned cleaning by a sweeper of claim 1, wherein the soft cleaning area has a square shape, and the following the second cleaning path performs the secondary cleaning of the soft cleaning area includes:
the soft cleaning area is correspondingly provided with a first side, a second side, a third side and a fourth side, wherein the first side is opposite to the second side, the third side is opposite to the fourth side, the first side is marked as an X axis, and the third side is marked as a Y axis;
Establishing a rectangular coordinate system in the cleaning area according to the X axis and the Y axis;
the sweeper linearly runs from the origin of the rectangular coordinate system to the intersection of the second side and the fourth side;
the sweeper rotates 135 degrees clockwise, and linearly travels along the fourth side for a third preset distance, and then rotates 45 degrees clockwise and linearly travels on the X axis;
the sweeper rotates 135 degrees anticlockwise along the X axis, linearly travels the third preset distance along the X axis, rotates 45 degrees anticlockwise along the X axis and linearly travels the fourth side;
judging whether the sweeper reaches the intersection of the fourth side and the X axis, if so, judging that the sweeper finishes the first-stage sweeping of the second sweeping route and executes the second-stage sweeping of the second sweeping route, if not, turning to 135 degrees clockwise by the sweeper, linearly traveling along the fourth side for a third preset distance, and then clockwise turning to 45 degrees and linearly traveling on the X axis.
5. The sweeper zone cleaning method of claim 4 wherein said performing a second stage of cleaning of said second cleaning path includes:
The sweeper linearly runs from the intersection point of the fourth side and the X axis to the intersection point of the second side and the fourth side, and rotates anticlockwise by 90 degrees along the Y axis direction, linearly runs along the second side for a third preset distance, then rotates anticlockwise by 45 degrees and linearly runs on the Y axis;
the sweeper rotates 135 degrees clockwise along the Y axis, and after the sweeper linearly travels the third preset distance along the Y axis, the sweeper rotates 45 degrees clockwise along the Y axis and linearly travels to the second side;
judging whether the sweeper reaches the intersection of the second side and the third side, if so, judging that the sweeper finishes the second-stage sweeping of the second sweeping route, and if not, turning to the step of linearly driving along the second side for a third preset distance, rotating anticlockwise for 45 degrees and linearly driving on the Y axis.
6. A sweeper partition cleaning device, comprising:
the cleaning range acquisition unit is used for acquiring a cleaning range, and the cleaning range is used for limiting the working range of the sweeper;
the information acquisition unit is used for acquiring floor state information of the cleaning range, wherein the floor state information comprises floor material information, the floor material information at least comprises hard material information and soft material information, and each soft cleaning area corresponding to the soft material information in the floor state information is acquired;
The dividing unit is used for dividing the cleaning range according to the floor state information to form a cleaning area;
the sequencing unit is used for sequencing the cleaning sequence of the cleaning areas according to the floor state information;
a cleaning unit for cleaning the cleaning area according to the cleaning sequence;
the method for cleaning the soft cleaning area comprises the following steps:
acquiring a first cleaning route matched with the soft material information;
carrying out primary cleaning on the soft cleaning area along the first cleaning route;
acquiring a second cleaning route matched with the soft material information;
carrying out secondary cleaning on the soft cleaning area along the second cleaning route;
the shape of soft cleaning area is the rectangle, follow first cleaning route is right soft cleaning area carries out first cleaning, includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, wherein the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
Judging whether the sweeper is positioned at the origin of the rectangular coordinate system, if so, enabling the sweeper to linearly travel towards the second long side, and when the sweeper reaches the second long side, enabling the sweeper to turn around in situ and linearly travel back to the X axis;
when the sweeper returns to the X axis, the sweeper rotates anticlockwise by 90 degrees and linearly travels along the X axis for a second preset distance;
judging whether the sweeper contacts the second short side, if so, judging that the sweeper finishes the first-stage sweeping of the first sweeping route and executes the second-stage sweeping of the first sweeping route, and if not, turning to a step that the sweeper moves towards the second long side in a straight line;
wherein the performing the second-stage cleaning of the first cleaning route includes:
judging whether the sweeper is positioned at the intersection of the second short side and the second long side, and if so, enabling the sweeper to linearly travel towards the Y axis;
when the sweeper reaches the Y axis, the sweeper turns around in situ and linearly moves back to the second short side;
when the sweeper returns to the second short side, the sweeper rotates clockwise by 90 degrees and linearly travels a second preset distance along the second short side;
Judging whether the sweeper contacts with the X axis, if so, judging that the sweeper finishes the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper moves towards the Y axis in a straight line.
7. A storage medium, characterized in that it is a computer-readable storage medium, on which a computer program is stored, which computer program, when executed, implements the sweeper partition cleaning method according to any one of claims 1 to 5.
8. A computer device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the method of cleaning a sweeper partition according to any one of claims 1 to 5 when the computer program is executed by the processor.
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| KR102315953B1 (en) * | 2015-09-17 | 2021-10-22 | 삼성전자주식회사 | Cleaning robot and controlling method thereof |
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