CN106913289B - Sweeping processing method and device of sweeping robot - Google Patents
Sweeping processing method and device of sweeping robot Download PDFInfo
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- CN106913289B CN106913289B CN201510993683.XA CN201510993683A CN106913289B CN 106913289 B CN106913289 B CN 106913289B CN 201510993683 A CN201510993683 A CN 201510993683A CN 106913289 B CN106913289 B CN 106913289B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 84
- 238000003672 processing method Methods 0.000 title claims abstract description 10
- 238000004140 cleaning Methods 0.000 claims abstract description 114
- 238000010586 diagram Methods 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims description 35
- 230000000694 effects Effects 0.000 abstract description 11
- 238000013507 mapping Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Electric Vacuum Cleaner (AREA)
Abstract
The invention provides a cleaning processing method and a cleaning processing device of a sweeping robot, which are characterized in that after a cleaning instruction is received, a cleanable area in a layout diagram of a to-be-cleaned area corresponding to the cleanable area is obtained according to an identifier of the to-be-cleaned area in the cleaning instruction, actual proportion information corresponding to the layout diagram is obtained, coordinate information of each position of the cleanable area is determined, a cleaning route of the cleanable area is planned according to the coordinate information of each position of the cleanable area, and the cleaning processing is carried out on the to-be-cleaned area according to the cleaning route. The cleaning route is planned according to the actual layout of the area to be cleaned, so that the route planning is more reasonable, the cleaning effect of the sweeping robot is improved, the sweeping robot is more intelligent, and the user experience is improved.
Description
Technical Field
The invention relates to an intelligent household appliance technology, in particular to a sweeping processing method and a sweeping processing device of a sweeping robot.
Background
The sweeping robot can replace people to sweep and mop the floor and the like, and is widely applied.
The existing sweeping robot sweeps the floor according to a preset path rule in the robot, the direction is usually changed after meeting obstacles, the sweeping path is Z-shaped, and the area to be swept is swept as far as possible by repeatedly sweeping for many times.
However, since the layout of the area to be cleaned is complex, there is often a phenomenon that a certain area is repeatedly cleaned, but some areas are never cleaned, and thus the cleaning effect of the sweeping robot in the prior art is not good.
Disclosure of Invention
In order to solve the above problems, the invention provides a sweeping method and a sweeping device for a sweeping robot, which are used for overcoming the defect that the sweeping effect of the sweeping robot in the prior art is poor.
In a first aspect, the present invention provides a cleaning processing method for a cleaning robot, including:
receiving a cleaning instruction, wherein the cleaning instruction comprises an identifier of an area to be cleaned;
acquiring a cleanable area in a layout of an area to be cleaned corresponding to the identifier of the area to be cleaned and actual proportion information corresponding to the layout;
acquiring coordinate information of each position of the cleanable area according to the layout drawing and the actual proportion information corresponding to the layout drawing;
planning a cleaning route of the cleanable area according to the coordinate information of each position of the cleanable area;
and cleaning the area to be cleaned according to the cleaning route.
Optionally, acquiring a cleanable area in a layout of the area to be cleaned corresponding to the identifier of the area to be cleaned includes:
receiving a layout of a region to be cleaned sent by electronic equipment, wherein the region which can be cleaned is marked in the layout;
and according to the pre-configured cleanable area identifier, identifying the layout chart, and acquiring the cleanable area corresponding to the pre-configured cleanable area identifier.
Optionally, acquiring a cleanable area in the layout of the area to be cleaned corresponding to the identifier of the area to be cleaned and actual proportion information corresponding to the layout of the area to be cleaned, including:
scanning the area to be cleaned to obtain an obstacle area in the area to be cleaned and length information and width information of the area to be cleaned;
and acquiring the cleanable area in the area to be cleaned according to the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
Optionally, the method further comprises:
if the situation that the sweeping robot encounters an obstacle is monitored in the sweeping process, acquiring coordinate information covered by the obstacle;
and stopping cleaning the area corresponding to the coordinate information covered by the obstacle, and adjusting the cleaning direction of the sweeping robot.
Optionally, the method further comprises:
and recording the coordinate information covered by the obstacle, and updating the coordinate information of each position of the cleanable area according to the coordinate information covered by the obstacle.
In a second aspect, the present invention provides a cleaning processing apparatus of a cleaning robot, including:
the cleaning system comprises a receiving module, a cleaning module and a cleaning module, wherein the receiving module is used for receiving a cleaning instruction, and the cleaning instruction comprises an identifier of an area to be cleaned;
the acquisition module is used for acquiring the cleanable area in the layout of the area to be cleaned corresponding to the identifier of the area to be cleaned and the actual proportion information corresponding to the layout;
the processing module is used for acquiring coordinate information of each position of the cleanable area according to the layout drawing and the actual proportion information corresponding to the layout drawing;
the planning module is used for planning a cleaning route of the cleanable area according to the coordinate information of each position of the cleanable area;
and the cleaning module is used for cleaning the area to be cleaned according to the cleaning route.
Optionally, the obtaining module is specifically configured to receive a layout of the area to be cleaned sent by the electronic device, where the area that can be cleaned is identified in the layout; and according to the pre-configured cleanable area identifier, identifying the layout chart, and acquiring the cleanable area corresponding to the pre-configured cleanable area identifier.
Optionally, the acquiring module is specifically configured to scan the area to be cleaned, and acquire an obstacle area in the area to be cleaned, and length information and width information of the area to be cleaned; and acquiring the cleanable area in the area to be cleaned according to the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
Optionally, the cleaning module is further configured to acquire coordinate information covered by the obstacle if it is monitored that the sweeping robot encounters the obstacle in the cleaning process; and stopping cleaning the area corresponding to the coordinate information covered by the obstacle, and adjusting the cleaning direction of the sweeping robot.
Optionally, the processing module is further configured to record coordinate information covered by the obstacle, and update the coordinate information of each position of the cleaning area according to the coordinate information covered by the obstacle.
According to the sweeping processing method and the sweeping processing device for the sweeping robot, after the sweeping instruction is received, the cleanable area in the layout diagram of the area to be swept corresponding to the cleanable area is obtained according to the mark of the area to be swept in the sweeping instruction, the actual proportion information corresponding to the layout diagram is obtained, the coordinate information of each position of the cleanable area is determined, the sweeping route of the cleanable area is planned according to the coordinate information of each position of the cleanable area, and the sweeping processing is carried out on the area to be swept according to the sweeping route. The cleaning route is planned according to the actual layout of the area to be cleaned, so that the route planning is more reasonable, the cleaning effect of the sweeping robot is improved, the sweeping robot is more intelligent, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a cleaning processing method of a cleaning robot according to a first embodiment of the present invention;
FIG. 2 is a first layout view of a region to be cleaned according to an embodiment of the present invention;
FIG. 3 is a layout view of a region to be cleaned according to an embodiment of the present invention;
FIG. 4 is a layout view of a region to be cleaned according to an embodiment of the present invention;
FIG. 5 illustrates a planned cleaning path according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a second cleaning method of the cleaning robot according to the embodiment of the invention;
fig. 7 is a schematic flow chart of a third cleaning method of the cleaning robot according to the embodiment of the invention;
FIG. 8 is a schematic view of a scanning method according to an embodiment of the present invention;
fig. 9 is a schematic flow chart of a fourth cleaning method of the cleaning robot according to the embodiment of the invention;
fig. 10 is a schematic flow chart of a fifth cleaning method of the cleaning robot according to the embodiment of the present invention;
fig. 11 is a schematic structural diagram of a cleaning processing device of a cleaning robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
When the sweeping robot of the embodiment of the invention carries out sweeping path planning, the actual layout of the area to be swept is considered, and the sweeping route planned according to the actual layout of the area to be swept is more reasonable, the sweeping efficiency is higher, the sweeping effect is better, the intellectualization of the sweeping robot is improved, and the user experience is improved.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic flow chart of a cleaning processing method of a cleaning robot according to a first embodiment of the present invention, in which the method of the present embodiment includes:
s101: and receiving a cleaning instruction.
Wherein the cleaning instruction comprises an identification of the area to be cleaned.
The area to be cleaned may be a bedroom, a living room and/or a kitchen, etc.
The user may be provided with a selection key for the area to be cleaned on the control panel of the sweeping robot, or on a remote control device, and may select one area or multiple areas, for example: the bedroom may be selected, i.e. only the bedroom is to be cleaned, and the bedroom and the living room may be selected, i.e. the bedroom is to be cleaned and the living room is to be cleaned.
After the user selects, a cleaning instruction is sent through a confirmation key, and the mark of the area to be cleaned selected by the user is packaged in the cleaning instruction. The sweeping robot receives the cleaning instruction, analyzes the cleaning instruction and obtains the identifier of the area to be cleaned in the cleaning instruction.
S103: and acquiring the cleanable area in the layout chart of the area to be cleaned corresponding to the identifier of the area to be cleaned and the actual proportion information corresponding to the layout chart.
The layout diagram of the area to be cleaned corresponding to the identifier of the area to be cleaned can be preset in a memory of the sweeping robot, and the mapping relation between the identifier of the area to be cleaned and the layout diagram of the area to be cleaned and the actual proportion information of the layout diagram are stored in the memory;
the cleanable areas and the obstacle areas are identified in the layout, specifically:
the areas to be cleaned can be distinguished by colors in the layout, as shown in fig. 2, fig. 2 is a first layout of the areas to be cleaned according to the embodiment of the present invention, where white represents an area capable of being cleaned, and black represents an area of an obstacle.
Or, the layout diagram may be divided into different areas by different patterns, as shown in fig. 3 or fig. 4, fig. 3 is a layout diagram of a to-be-cleaned area of the embodiment of the present invention, fig. 4 is a layout diagram of a to-be-cleaned area of the embodiment of the present invention, a blank part represents a cleanable area, a shaded part represents an obstacle area,
s105: and acquiring coordinate information of each position of the cleanable area according to the layout drawing and the actual proportion information corresponding to the layout drawing.
And mapping the layout drawing to a coordinate drawing according to the actual proportion information of the drawn layout drawing to acquire the coordinate information of each position of the cleanable area.
S107: and planning a cleaning route of the cleanable area according to the coordinate information of each position of the cleanable area.
The path planning may be performed in a sequence of left to right, right to left, and bottom to top, as shown in fig. 5, where fig. 5 is a cleaning path planned by the embodiment of the present invention. Wherein, the arrow represents the cleaning direction of the sweeping robot.
S109: and cleaning the area to be cleaned according to the cleaning route.
In this embodiment, after the cleaning instruction is received, the cleanable area in the layout diagram of the area to be cleaned corresponding to the identifier of the area to be cleaned in the cleaning instruction and the actual proportion information corresponding to the layout diagram are obtained, the coordinate information of each position of the cleanable area is determined, the cleaning route of the cleanable area is planned according to the coordinate information of each position of the cleanable area, and the area to be cleaned is cleaned according to the cleaning route. The cleaning route is planned according to the actual layout of the area to be cleaned, so that the route planning is more reasonable, the cleaning effect of the sweeping robot is improved, the sweeping robot is more intelligent, and the user experience is improved.
Fig. 6 is a schematic flow chart of a second cleaning method of the cleaning robot of the present invention, and fig. 6 is a detailed description of a possible implementation manner of S103 in the embodiment shown in fig. 1 on the basis of the embodiment shown in fig. 1, as follows:
s103 a: and receiving a layout of the area to be cleaned sent by the electronic equipment, wherein the area capable of being cleaned is identified in the layout.
Wherein, electronic equipment can be cell-phone, camera or flat board etc. can be through scanning, shoot or mode such as drawing and acquire the layout of waiting to clean the region to can clean the region in the layout mark, the mode of sign as long as with the recognition mode of robot of sweeping the floor unanimous can, for example: the identification may be performed in the manner as shown in fig. 2, fig. 3 or fig. 4. After the electronic equipment acquires the layout of the area to be cleaned, the layout is sent to the sweeping robot in the modes of near field communication (infrared, Bluetooth or WIFI) and the like.
S103 b: and according to the pre-configured cleanable area identifier, identifying the layout chart, and acquiring the cleanable area corresponding to the pre-configured cleanable area identifier.
And after receiving the layout of the area to be cleaned, identifying the cleanable area in the layout according to the cleanable area identifier.
In this embodiment, the layout map of the area to be cleaned is generated and sent through the electronic device, the area capable of being cleaned in the layout map is identified, and after the floor sweeping robot receives the layout map, the area capable of being cleaned is identified according to the preconfigured identification of the area capable of being cleaned, so that the manner that the floor sweeping robot acquires the area capable of being cleaned in the area to be cleaned is convenient and flexible.
Fig. 7 is a schematic flowchart of a third embodiment of the cleaning processing method of the sweeping robot of the present invention, and fig. 7 is a detailed description of another possible implementation manner of S103 in the embodiment shown in fig. 1 on the basis of the embodiment shown in fig. 1, as follows:
s103 a': and scanning the area to be cleaned, and acquiring the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
As shown in fig. 8, fig. 8 is a schematic view of a scanning method according to an embodiment of the present invention, for example: the obstacle region in the region to be cleaned can be identified by scanning front, back, left and right by a radar, and the length information and the width information of the region to be cleaned can be acquired.
S103 b': and acquiring the cleanable area in the area to be cleaned according to the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
The area can be cleaned without obstacles.
In the embodiment, the obstacles in the area to be cleaned and the length information and the width information of the area to be cleaned are acquired in a scanning mode, so that the area capable of being cleaned is determined, and the identification mode is flexible.
Fig. 9 is a schematic flowchart of a fourth embodiment of the cleaning method of the sweeping robot of the present invention, and fig. 4 is based on the embodiment shown in fig. 1, fig. 6, or fig. 7, and further, may further include:
s111: if the situation that the sweeping robot encounters an obstacle is monitored in the sweeping process, coordinate information covered by the obstacle is obtained.
For example: furniture is newly added in a living room, in the previous layout, the position corresponding to the furniture is a cleaning-capable area, the area is in the cleaning range of the sweeping robot, and when the sweeping robot is monitored to encounter an obstacle, the coordinate information covered by the obstacle is obtained.
S113: and stopping cleaning the area corresponding to the coordinate information covered by the obstacle, and adjusting the cleaning direction of the sweeping robot.
Specifically, the area corresponding to the coordinate information covered by the obstacle may be marked as a cleaned area, or the area may be skipped directly, and the path planning of the remaining cleanable area may be performed again.
In the embodiment, in the cleaning process, if the sweeping robot is monitored to encounter an obstacle, the coordinate information covered by the obstacle is acquired. And the cleaning treatment of the area corresponding to the coordinate information covered by the obstacle is stopped, the cleaning direction of the sweeping robot is adjusted, the obstacle can be avoided in time, and the sweeping robot is more flexible and intelligent in cleaning.
Fig. 10 is a schematic flow chart of a fifth cleaning method of the cleaning robot of the present invention, and fig. 10 is based on the embodiment shown in fig. 9, and further includes:
s115: and recording the coordinate information covered by the obstacle, and updating the coordinate information of each position of the cleanable area according to the coordinate information covered by the obstacle.
The coordinate information covered by the obstacle acquired in step S111 is recorded, and the coordinate information is removed from the coordinate information of each position of the cleanable area.
In the present embodiment, the coordinate information of each position of the cleanable area is updated based on the coordinate information of the obstacle coverage by recording the coordinate information of the obstacle coverage. So that a more reasonable cleaning route can be planned in the next cleaning process.
Fig. 11 is a schematic structural diagram of a cleaning processing device of a sweeping robot according to an embodiment of the present invention, where the device of the present embodiment includes: the cleaning system comprises a receiving module 1101, an obtaining module 1103, a processing module 1105, a planning module 1107 and a cleaning module 1109, wherein the receiving module 1101 is configured to receive a cleaning instruction, and the cleaning instruction includes an identifier of an area to be cleaned; the acquiring module 1103 is configured to acquire a cleanable area in a layout of the area to be cleaned corresponding to the identifier of the area to be cleaned, and actual proportion information corresponding to the layout; the processing module 1105 is configured to obtain coordinate information of each position of the cleanable area according to the layout diagram and the actual scale information corresponding to the layout diagram; the planning module 1107 is used for planning a cleaning route of the cleanable area according to the coordinate information of each position of the cleanable area; the cleaning module 1109 is used for cleaning the area to be cleaned according to the cleaning route.
The apparatus of this embodiment may be correspondingly used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
In fig. 11, the obtaining module 1103 is specifically configured to receive a layout diagram of an area to be cleaned sent by an electronic device, where an area that can be cleaned is identified in the layout diagram; and according to the pre-configured cleanable area identifier, identifying the layout chart, and acquiring the cleanable area corresponding to the pre-configured cleanable area identifier.
The apparatus of this embodiment may be correspondingly used to implement the technical solution of the method embodiment shown in fig. 6, and the implementation principle and the technical effect are similar, which are not described herein again.
In fig. 11, the obtaining module 1103 is specifically configured to perform scanning processing on an area to be cleaned, and obtain an obstacle area in the area to be cleaned, and length information and width information of the area to be cleaned; and acquiring the cleanable area in the area to be cleaned according to the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
The apparatus of this embodiment may be correspondingly used to implement the technical solution of the method embodiment shown in fig. 7, and the implementation principle and the technical effect are similar, which are not described herein again.
In fig. 11, the cleaning module 1109 is further configured to acquire coordinate information covered by an obstacle if it is monitored that the sweeping robot encounters the obstacle during the cleaning process; and stopping cleaning the area corresponding to the coordinate information covered by the obstacle, and adjusting the cleaning direction of the sweeping robot.
The apparatus of this embodiment may be correspondingly used to implement the technical solution of the method embodiment shown in fig. 9, and the implementation principle and the technical effect are similar, which are not described herein again.
In fig. 11, the processing module 1105 is further configured to record coordinate information of the obstacle coverage and update the coordinate information of each position of the cleaning area according to the coordinate information of the obstacle coverage.
The apparatus of this embodiment may be correspondingly used to implement the technical solution of the method embodiment shown in fig. 10, and the implementation principle and the technical effect are similar, which are not described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A cleaning processing method of a sweeping robot is characterized by comprising the following steps:
the sweeping robot receives a sweeping instruction, wherein the sweeping instruction comprises an identifier of an area to be swept;
the sweeping robot acquires a sweeping area in a layout diagram of the area to be swept, which corresponds to the identifier of the area to be swept, and actual proportion information corresponding to the layout diagram;
the sweeping robot acquires coordinate information of each position of the cleanable area according to the layout drawing and actual proportion information corresponding to the layout drawing;
the sweeping robot plans a sweeping route of the cleanable area according to the coordinate information of each position of the cleanable area;
the sweeping robot carries out sweeping treatment on the area to be swept according to the sweeping route;
the acquiring of the cleanable area in the layout diagram of the area to be cleaned corresponding to the identifier of the area to be cleaned and the actual proportion information corresponding to the layout diagram of the area to be cleaned includes:
scanning the area to be cleaned to obtain an obstacle area in the area to be cleaned and length information and width information of the area to be cleaned;
and acquiring the cleanable area in the area to be cleaned according to the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
2. The method according to claim 1, wherein the acquiring of the cleanable area in the layout chart of the area to be cleaned corresponding to the identification of the area to be cleaned comprises:
receiving a layout of a region to be cleaned, which is sent by electronic equipment, wherein the region which can be cleaned is identified in the layout;
and according to the pre-configured cleanable area identifier, identifying the layout chart to acquire a cleanable area corresponding to the pre-configured cleanable area identifier.
3. The method of claim 1 or 2, further comprising:
if the situation that the sweeping robot encounters an obstacle is monitored in the sweeping process, acquiring coordinate information covered by the obstacle;
and stopping cleaning the area corresponding to the coordinate information covered by the obstacle, and adjusting the cleaning direction of the sweeping robot.
4. The method of claim 3, further comprising:
and recording the coordinate information covered by the obstacle, and updating the coordinate information of each position of the cleanable area according to the coordinate information covered by the obstacle.
5. The utility model provides a robot's that sweeps floor cleans processing apparatus which characterized in that is applied to the robot of sweeping floor, clean processing apparatus includes:
the cleaning system comprises a receiving module, a cleaning module and a cleaning module, wherein the receiving module is used for receiving a cleaning instruction, and the cleaning instruction comprises an identifier of an area to be cleaned;
the acquisition module is used for acquiring a cleanable area in a layout diagram of the area to be cleaned corresponding to the identifier of the area to be cleaned and actual proportion information corresponding to the layout diagram;
the processing module is used for acquiring coordinate information of each position of the cleanable area according to the layout drawing and the actual proportion information corresponding to the layout drawing;
the planning module is used for planning a cleaning route of the cleanable area according to the coordinate information of each position of the cleanable area;
the cleaning module is used for cleaning the area to be cleaned according to the cleaning route;
the acquisition module is specifically used for scanning the area to be cleaned, acquiring an obstacle area in the area to be cleaned, and length information and width information of the area to be cleaned; and acquiring the cleanable area in the area to be cleaned according to the obstacle area in the area to be cleaned and the length information and the width information of the area to be cleaned.
6. The device according to claim 5, wherein the obtaining module is specifically configured to receive a layout of an area to be cleaned sent by an electronic device, where an area that can be cleaned is identified in the layout; and according to the pre-configured cleanable area identifier, identifying the layout chart to acquire a cleanable area corresponding to the pre-configured cleanable area identifier.
7. The device according to claim 5 or 6, wherein the sweeping module is further configured to acquire coordinate information covered by the obstacle if it is monitored that the sweeping robot encounters the obstacle during sweeping; and stopping cleaning the area corresponding to the coordinate information covered by the obstacle, and adjusting the cleaning direction of the sweeping robot.
8. The device of claim 7, wherein the processing module is further configured to record coordinate information covered by the obstacle, and update the coordinate information of each position of the cleaning area according to the coordinate information covered by the obstacle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510993683.XA CN106913289B (en) | 2015-12-25 | 2015-12-25 | Sweeping processing method and device of sweeping robot |
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| CN201510993683.XA CN106913289B (en) | 2015-12-25 | 2015-12-25 | Sweeping processing method and device of sweeping robot |
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| CN107544495B (en) * | 2017-08-17 | 2021-04-27 | 北京小米移动软件有限公司 | Cleaning method and device |
| CN107898377A (en) * | 2017-09-26 | 2018-04-13 | 中国科学院深圳先进技术研究院 | A kind of curtain method for cleaning and system |
| CN108143353B (en) * | 2017-12-13 | 2021-01-15 | 北京小米移动软件有限公司 | Information reminding method, device, equipment and storage medium |
| CN109953700B (en) * | 2017-12-26 | 2020-09-25 | 杭州萤石软件有限公司 | Cleaning method and cleaning robot |
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