CN107752927A - Block method of adjustment, device and robot for clean robot - Google Patents
Block method of adjustment, device and robot for clean robot Download PDFInfo
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- CN107752927A CN107752927A CN201711146031.8A CN201711146031A CN107752927A CN 107752927 A CN107752927 A CN 107752927A CN 201711146031 A CN201711146031 A CN 201711146031A CN 107752927 A CN107752927 A CN 107752927A
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- Prior art keywords
- block
- barrier
- effective
- border line
- bar
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Abstract
The invention discloses a kind of block method of adjustment for clean robot, effective block be used as by one block of selection in multiple blocks for being included from environmental map, each bar block border line that control clean robot includes along effective block is walked；During being walked along every block border line, the outside for detecting effective block whether there is the barrier that the distance between this bar block border line is less than pre-determined distance threshold value；If so, the block scope of effective block is then extended into the position of barrier.The block scope of the block nearer with obstacle distance included by increasing environmental map, the small block of the block scope that is included with eliminating in environmental map, so as to avoid because block scope is small cause clean robot cannot be introduced into the block corresponding to region cleaned or clean the block corresponding to region when occur repeatedly turn around, in summary, this method can Reasonable adjustment block scope, lifted cleaning effect.
Description
Technical field
The present invention relates to Smart Home technical field, and in particular to a kind of block method of adjustment for clean robot,
Device and robot.
Background technology
Microprocessor, sensor technology, the network communications technology are introduced traditional home appliance equipment and formed by intelligent appliance,
At present, increasing home appliance employs intelligent control technology, and intelligent appliance can improve the quality of life of people, with
The continuous development of science and technology and the demand of people constantly expand, and people have higher requirement for the intelligent of intelligent appliance.
Clean robot is a typical representative in intelligent appliance, and it can be cleaned to ground automatically.But send out
A person of good sense has found during the present invention is realized：Clean robot of the prior art during being cleaned by block,
For the region closer with obstacle distance, because clean robot tool has the dimensions, cause the region clean less than,
Thus cause the cleaning effect of clean robot preferable not to the utmost, or clean robot occurs repeatedly to fall when cleaning the region
Head, increase the power consumption of clean robot.
The content of the invention
In view of the above problems, it is proposed that the present invention so as to provide one kind overcome above mentioned problem or at least in part solve on
State block method of adjustment, device and the robot for clean robot of problem.
According to an aspect of the invention, there is provided a kind of block method of adjustment for clean robot, including：
A block is selected to control the cleaning machine as effective block in the multiple blocks included from environmental map
Each bar block border line walking that people includes along the effective block；
During being walked along every block border line, the outside for detecting the effective block whether there is and this area
The distance between block boundary line is less than the barrier of pre-determined distance threshold value；
If so, the block scope of the effective block is then extended into the position of the barrier.
Alternatively, the outside of the detection effective block whether there is small with the distance between this bar block border line
After the step of barrier of pre-determined distance threshold value, further comprise step：
Judge whether the edge of the barrier matches with the direction of this bar block border line, if so, then performing described incite somebody to action
The step of block scope of the effective block extends to the position of the barrier.
Alternatively, the step of whether edge for judging the barrier matches with the direction of this bar block border line has
Body includes：
Judge whether the edge of the barrier is parallel with this bar block border line.
Alternatively, the outside of the detection effective block whether there is small with the distance between this bar block border line
After the step of barrier of pre-determined distance threshold value, further comprise step：
Judge whether the length of the barrier is more than default block adjustment length threshold, if so, then performing described incite somebody to action
The step of block scope of the effective block extends to the position of the barrier.
Alternatively, whether the length for judging the barrier is more than the step of default block adjusts length threshold and has
Body includes：
Judge whether the length at edge parallel with this bar block border line in the barrier is more than default block and adjusts
Whole length threshold.
Alternatively, the block adjustment length threshold determines according to the length of this bar block border line.
Alternatively, the block adjustment length is equal to the length of this bar block border line.
Alternatively, the described the step of block scope of the effective block is extended into the position of the barrier, specifically wraps
Include：
According to the position of the barrier and/or Adjusting Shape and the position of the nearest block border line of the obstacle distance
Put and/or shape；
According to the position of the block border line nearest with the obstacle distance after adjustment and/or shape, adjustment and institute
State position and/or the shape of each bar block border line adjacent with the block border line that the obstacle distance is nearest；
The block scope of the effective block is redefined according to each bar block border line after adjustment.
Alternatively, methods described further comprises：
The each block included in advance for the environmental map, multiple grids are further divided into by the block；
According to default assignment rule, each grid assignment in respectively each block；
Wherein, the numerical value of each grid in same block is identical, each grid in different blocks
Numerical value it is different；The numerical value of the grid is used for the block scope of block corresponding to determination.
Alternatively, the described the step of block scope of the effective block is extended into the position of the barrier, specifically wraps
Include：
By the number for changing each grid included in the effective block and/or the block adjacent with the effective block
The mode of value, the block scope of the effective block is extended into the position of the barrier.
Alternatively, it is described to be included in the effective block and/or the block adjacent with the effective block by changing
The mode of the numerical value of each grid, the step of block scope of the effective block is extended into the position of the barrier, are specific
Including：
By each grid in the block adjacent with the effective block between the effective block and the barrier
The numerical value of lattice is revised as the numerical value of each grid in the effective block.
Alternatively, the default assignment rule includes：
For each block, grid numerical value adjacent with the block and in the block of the first direction of the block
The first numerical value is differed with the grid numerical value in the block, in the block of second direction that is adjacent with the block and being located at the block
Grid numerical value differs second value with the grid numerical value in the block；
Wherein, the first direction is mutually perpendicular to second direction.
Alternatively, after the described the step of block scope of the effective block is extended into the position of the barrier,
Further comprise：
In the range of the block included after effective block extension, cleaning route is set, so that the cleaning machine
People cleans the interior zone of the effective block along the cleaning route.
Alternatively, the outside of the detection effective block whether there is small with the distance between this bar block border line
Specifically included in the step of barrier of pre-determined distance threshold value：
The outside that the effective block is detected by default laser radar and/or range sensor whether there is and this
The distance between block border line is less than the barrier of pre-determined distance threshold value.
According to another aspect of the present invention, there is provided a kind of block adjusting apparatus for clean robot, including：
Selecting module, suitable for selecting a block in multiple blocks for being included from environmental map as effective block；
Control module, suitable for each bar block border line row for controlling the clean robot to be included along the effective block
Walk；
Detection module, suitable for during being walked along every block border line, detecting the outside of the effective block is
The no barrier that the distance between this bar block border line be present and be less than pre-determined distance threshold value；
Adjusting module, detect that the outside of the effective block has the distance between this bar block border line less than pre-
If the block scope of the effective block is then extended to the position of the barrier by the barrier of distance threshold.
Alternatively, described device further comprises：
Judge module, suitable for judging whether the edge of the barrier matches with the direction of this bar block border line；
The adjusting module is further adapted for, if judging the edge of the barrier and the direction of this bar block border line
Matching, then perform the described the step of block scope of the effective block is extended into the position of the barrier.
Alternatively, the judge module is further adapted for：
Judge whether the edge of the barrier is parallel with this bar block border line.
Alternatively, the judge module is further adapted for：
Judge whether the length of the barrier is more than default block adjustment length threshold；
The adjusting module is further adapted for, if judging, the length of the barrier is more than default block adjustment length
Threshold value, then perform the described the step of block scope of the effective block is extended into the position of the barrier.
Alternatively, the judge module is further adapted for：
Judge whether the length at edge parallel with this bar block border line in the barrier is more than default block and adjusts
Whole length threshold.
Alternatively, the block adjustment length threshold determines according to the length of this bar block border line.
Alternatively, the block adjustment length is equal to the length of this bar block border line.
Alternatively, the adjusting module is further adapted for：
According to the position of the barrier and/or Adjusting Shape and the position of the nearest block border line of the obstacle distance
Put and/or shape；
According to the position of the block border line nearest with the obstacle distance after adjustment and/or shape, adjustment and institute
State position and/or the shape of each bar block border line adjacent with the block border line that the obstacle distance is nearest；
The block scope of the effective block is redefined according to each bar block border line after adjustment.
Alternatively, wherein, described device further comprises：
Grid division module, each block included suitable for being directed to the environmental map in advance are further by the block
It is divided into multiple grids；
Assignment module, suitable for according to default assignment rule, each grid assignment in respectively each block；
Wherein, the numerical value of each grid in same block is identical, each grid in different blocks
Numerical value it is different；The numerical value of the grid is used for the block scope of block corresponding to determination.
Alternatively, the adjusting module is further adapted for：
By the number for changing each grid included in the effective block and/or the block adjacent with the effective block
The mode of value, the block scope of the effective block is extended into the position of the barrier.
Alternatively, the adjusting module is further adapted for：
By each grid in the block adjacent with the effective block between the effective block and the barrier
The numerical value of lattice is revised as the numerical value of each grid in the effective block.
Alternatively, the assignment module is further adapted for：
For each block, grid numerical value adjacent with the block and in the block of the first direction of the block
The first numerical value is differed with the grid numerical value in the block, in the block of second direction that is adjacent with the block and being located at the block
Grid numerical value differs second value with the grid numerical value in the block；
Wherein, the first direction is mutually perpendicular to second direction.
Alternatively, described device also includes：
Cleaning route setup module, suitable in the range of the block that is included, setting cleaning after effective block extension
Route, so that the clean robot cleans the interior zone of the effective block along the cleaning route.
Alternatively, the detection module is further adapted for：
The outside that the effective block is detected by default laser radar and/or range sensor whether there is and this
The distance between block border line is less than the barrier of pre-determined distance threshold value.
According to another aspect of the present invention, there is provided a kind of robot, including the above-mentioned block for clean robot are adjusted
Engagement positions.
According to another aspect of the present invention, there is provided a kind of electronic equipment, including：Processor, memory, communication interface and
Communication bus, the processor, the memory and the communication interface complete mutual communication by the communication bus；
The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device above-mentioned
The block method of adjustment for clean robot corresponding to operate.
According to another aspect of the present invention, there is provided a kind of computer-readable storage medium, be stored with the storage medium to
A few executable instruction, the executable instruction make block method of adjustment of the computing device described above for clean robot
Corresponding operation.
According to block method of adjustment, device and the robot for clean robot of the present invention, by from environmental map
Comprising multiple blocks in select a block be used as effective block, control clean robot included along effective block it is each
Bar block border line is walked；During being walked along every block border line, detect effective block outside whether there is with
The distance between this bar block border line is less than the barrier of pre-determined distance threshold value；If so, then by the block scope of effective block
Extend to the position of barrier.The block model of the effective block nearer with obstacle distance included by increasing environmental map
Enclose, to eliminate the small block of the block scope that is included in environmental map, so as to avoid causing cleaning machine because block scope is small
People cannot be introduced into the block corresponding to region cleaned or clean the block corresponding to region when occur repeatedly turn around, it is comprehensive
It is upper to understand, this method can Reasonable adjustment block scope, lift cleaning effect.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 shows that the block method of adjustment flow according to an embodiment of the invention for clean robot is illustrated
Figure；
Fig. 2 shows the block diagram that environmental map in accordance with another embodiment of the present invention includes；
Fig. 3 shows the block method of adjustment flow signal of user's clean robot in accordance with another embodiment of the present invention
Figure；
Fig. 4 shows the grid division schematic diagram according to further embodiment of the present invention；
Fig. 5 shows the block diagram included according to the environmental map of another embodiment of the invention；
Fig. 6 a show block adjustment schematic diagram in accordance with another embodiment of the present invention；
Fig. 6 b show the block diagram after being adjusted according to Fig. 6 a block；
Fig. 7 shows the block adjusting apparatus functional block for clean robot according to further embodiment of the present invention
Figure；
Fig. 8 shows the structural representation of a kind of electronic equipment according to embodiments of the present invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Fig. 1 shows the block method of adjustment flow chart according to an embodiment of the invention for clean robot.Such as
Shown in Fig. 1, this method comprises the following steps：
Step S100, a block is selected in the multiple blocks included from environmental map to be used as effective block, control is clearly
Each bar block border line walking included in clean Robot effective block.
The mode of constructing environment map includes but is not limited to following mode：Utilize SLAM (simultaneous
Localization and mapping, immediately positioning with build figure) map with positioning structure module clean robot is determined
Position, while the environmental map of clean robot present position is built, clean robot is provided with generating laser, generating laser
Launch laser, laser reflects when running into barrier, and SLAM is according to transmitting and the laser constructing environment map reflected.Need
It is noted that the mode of environmental map is equal corresponding to existing every clean robot that can be used in structure the present embodiment
It is included in the scope of protection of the invention.
Clean robot can determine to need the region cleaned by environmental map, by environmental map according to default rule
Multiple blocks are divided into, can be provided convenience according to the cleaning route of each Zone Plan robot for route planning process,
And then the efficiency and accuracy of route planning are improved, those skilled in the art can set environmental map to be wrapped according to being actually needed
The shape and size of the block contained.
Effective block refers to that sweeping robot is currently needed for the block cleaned, and environmental map is divided, obtained
Multiple blocks, it is necessary to determine that rule selects one from multiple blocks and is used as effective block according to default effective block, and
And cleaned by the way that each block corresponding to environmental map is defined as into effective block successively, when multiple corresponding to environmental map
When block cleaning finishes, that is, show that region clean corresponding to the environmental map finishes, in specific application, to effective block
When being cleaned, each bar block border line for controlling clean robot to be included along effective block first is walked.
Step S101, during being walked along every block border line, detect effective block outside whether there is with
The distance between this bar block border line is less than the barrier of pre-determined distance threshold value, if so, then performing step S102；If it is not, this
Method terminates.
Laser radar and/or range sensor can be specifically installed on clean robot, by default laser radar and/
Or the outside of range sensor detection effective block whether there is the distance between this bar block border line and be less than pre-determined distance
The barrier of threshold value.
Fig. 2 shows the schematic diagram of environmental map block division according to embodiments of the present invention, in the application of reality, one
There will necessarily be some barriers such as wall, chair and desk in individual room, as shown in Fig. 2 in the block on the left side of block 20
In the presence of the distance between the first boundary line 21 with block 20 less barrier 22, between the first boundary line 21 and barrier 22
The less region 23 of a size is formed, when being cleaned to region 23, because the size in region 23 is smaller, clean robot
Can repeatedly it be turned around when being cleaned to region 23, or the length of side in region 23 causes cleaner less than the size of clean robot
Device people cannot be introduced into region 23 and be cleaned, and so as to cause cleaning effect poor, cleaning efficiency is not high.
In order to avoid the generation of the above situation, when boundary line of the clean robot along effective block is walked, it is necessary to detect
The outside of effective block whether there is the barrier that the distance between this bar block border line is less than pre-determined distance threshold value.
Step S102, during being walked along every block border line, detect that the outside of effective block is present and this
The distance between bar effective block boundary line is less than the barrier of pre-determined distance threshold value, then the scope of effective block is extended into barrier
Hinder the position of thing.
, will be effective if detecting the presence of the barrier for being less than pre-determined distance threshold value with the frontier distance of the currently active block
The scope of block extends to the position of barrier, expands the block scope of the currently active block, so as to eliminate environmental map institute
Comprising the less block of block scope, for example, the block scope of above-mentioned block 20 to be extended to the position of barrier 22.
The block method of adjustment for clean robot provided according to the present embodiment, passes through what is included from environmental map
Each bar block side for selecting a block to be included as effective block, control clean robot along effective block in multiple blocks
Walk in boundary line；During being walked along every block border line, the outside for detecting effective block whether there is and this block
The distance between boundary line is less than the barrier of pre-determined distance threshold value；If so, the block scope of effective block is then extended into barrier
Hinder the position of thing.The block scope of the effective block nearer with obstacle distance included by increasing environmental map, to eliminate
The small block of the block scope that is included in environmental map, so as to avoid causing clean robot cannot be introduced into because block scope is small
Region corresponding to the block is cleaned or occurs repeatedly to turn around when cleaning region corresponding to the block, in summary, this
Method can Reasonable adjustment block scope, lifted cleaning effect.
Fig. 3 shows that the method flow that the block in accordance with another embodiment of the present invention for clean robot adjusts shows
It is intended to, as shown in figure 3, this method includes：
Step S300, environmental map is divided into multiple blocks, each block included in advance for environmental map will
The block is further divided into multiple grids, according to default assignment rule, each grid assignment in respectively each block.
Clean robot can determine to need the region cleaned by environmental map, by environmental map according to default rule
Multiple blocks are divided into, specifically, the environmental map obtained for clean robot, one horizontal stroke are set every the first predetermined interval
To cut-off rule, one longitudinally split line is set every the second predetermined interval, passes through each horizontal partition line and each longitudinal direction point
Environmental map is divided into multiple blocks by secant.It is in a lateral direction that the first predetermined interval is set with 4 meters such as environmental map
Horizontal partition line is put, is in a longitudinal direction that the second predetermined interval sets longitudinally split line with 4 meters.
In addition, in the specific application of the present embodiment, each block is further divided into multiple grids, and according to pre-
If assignment rule, respectively to each grid assignment of each block, wherein, the number of each grid in same block
The numerical value for being worth identical each grid in different blocks is different；The numerical value of grid can be used for block corresponding to determination
Block scope, the block scope of block can be also adjusted by changing the numerical value of grid in block in addition.Wherein, the tool of each grid
Body size can be configured according to being actually needed by those skilled in the art.
For each block, grid numerical value adjacent with the block and in the block of the first direction of the block
The first numerical value is differed with the grid numerical value in the block, in the block of second direction that is adjacent with the block and being located at the block
Grid numerical value differs second value with the grid numerical value in the block；Wherein, the first direction is mutually perpendicular to second direction.
Preferably, it is different from second value for the ease of the position relation between differentiation block, the first numerical value.As shown in figure 4, pass through reality
The i.e. corresponding block of the minimum square shaped cells of line division.For example, the first block 401, the second block 402, the 3rd block
403rd, the 4th block 404 and the 5th block 405 are all the blocks obtained after environmental map is divided.Wherein the second block
The top of 402 longitudinal directions adjacent with the first block 401 and positioned at the first block 401, the 4th block 404 and the first block
The lower section of 401 longitudinal directions adjacent and positioned at the first block 401, the 3rd block 403 is adjacent with the first block 401 and is located at the
The left of the horizontal direction of one block 401, the 5th block 405 and 401 transverse direction adjacent and positioned at the first block 401 of the first block
The right in direction.
As shown in figure 4, the i.e. corresponding grid of the minimum square shaped cells divided by a dotted line, by the first block 401
Interior all grid numerical value is set to 0, sets grid numerical value phase that is adjacent with the first block 401 and being located in the block of longitudinal direction
Poor 10, and the rule to subtract under upper add, i.e. grid numerical value all in the second block 402 is 10, is owned in the 4th block 404
Grid numerical value be -10；Grid numerical value that is adjacent with the first block 401 and being located in the block of horizontal direction is set to differ 1, and
And be the left plus right rule subtracted, i.e. grid numerical value all in the 3rd block 403 is 1, all grid numbers in the 5th block 405
It is worth for -1.
Step S301, a block is selected in the multiple blocks included from environmental map to be used as effective block, control is clearly
Each bar block border line walking included in clean Robot effective block.
Effective block refers to that effective block refers to that sweeping robot is currently needed for the block cleaned, and environmental map is entered
Row division, multiple blocks have been obtained, it is necessary to determine that rule selects a conduct from multiple blocks according to default effective block
Effective block, when being cleaned to the effective block, each bar area for being included along effective block of clean robot is controlled first
Block boundary line is walked.
Step S302, during being walked along every block border line, detect effective block outside whether there is with
The distance between this bar block border line is less than the barrier of pre-determined distance threshold value, if so, then performing step S303；If it is not, this
Method terminates.
Step S302 is consistent with above-mentioned steps S101, will not be repeated here.
Step S303, if detecting there is the distance between this bar block border line less than default in the outside of effective block
The barrier of distance threshold, then the edge of disturbance in judgement thing and/or length whether meet default regulation rule, if so, then performing
Step S304；If it is not, this method terminates.
Whether the edge of disturbance in judgement thing meets default regulation rule：The edge of disturbance in judgement thing whether with this
The direction matching of block border line, if so, then performing step S304；Further, the edge of disturbance in judgement thing whether with this
Bar block border line is parallel, if so, then performing step S304.
Whether the length of disturbance in judgement thing meets default regulation rule：It is pre- whether the length of disturbance in judgement thing is more than
If block adjustment length threshold, if so, then performing step S304.Further, in disturbance in judgement thing with this block side
Whether the length at the parallel edge in boundary line is more than default block adjustment length threshold, if so, step S304 is then performed, wherein,
Block adjusts length threshold and determined according to the length of this bar block border line.
The distance between boundary line 21 of barrier 22 and first in Fig. 2 is less than pre-determined distance threshold value, and barrier 22
Edge it is parallel with the first boundary line 21, the length at the edge parallel with the first boundary line 21 and the first border 21 in barrier 22
Equal length, it is determined that increase block 21 block scope, in actual applications, those skilled in the art can be according to actual need
Set block to adjust length threshold, the block can be adjusted length threshold and be arranged to the block border line length or the block
Half of border line length etc., this is not limited by the present invention.
As shown in figure 5, the region of dotted line corresponds to barrier 53, between barrier 53 and the boundary line 52 of block 51
Distance be less than pre-determined distance threshold value, edge and the boundary line 52 of barrier 53 are not parallel to each other, then in the case, it is not necessary to
The boundary line of block 51 is adjusted, to increase the block scope of block 51.
In the application of reality, those skilled in the art can be according to the edge and/or length of actual setting disturbance in judgement thing
Whether default regulation rule is met, and this is not limited by the present invention.
Step 304, by changing the numerical value of each grid included in effective block and/or the adjacent block of effective block
Mode, the block scope of effective block is extended into the position of barrier.
For the block that is adjusted of needs, it is determined that the block for needing to be adjusted be adjusted after block model
Enclose, that is, determining how the block border line for adjusting the block, may be accomplished by：According to the position of barrier and/
Or position and/or shape of the Adjusting Shape with the nearest block border line of obstacle distance；According to after adjustment with barrier away from
Position and/or shape from nearest block border line, adjustment are above-mentioned adjacent with obstacle distance is nearest block border line
The position of each bar block border line and/or shape；And redefined according to each bar block border line after adjustment described effective
The block scope of block.Each bar block border line area encompassed after adjustment corresponds to the effective block pair after adjustment
The region answered.
In the present embodiment, it is determined that need to be adjusted the block scope of an effective block, should according to above-mentioned steps adjustment
Each bar block border line of effective block, the block adjacent with the effective block is determined according to each bar block border line after adjustment
In the numerical value of which grid that includes need to be changed, as shown in Fig. 6 a and 6b, block 61 is needs what is be adjusted to have
Block is imitated, according to the position of barrier and/or Adjusting Shape each bar boundary line of block 61, passes through the boundary line after adjustment
Determine that the numerical value of grid 1 in block 62, grid 2, grid 3, grid 4, grid 5 and grid 6 needs to be changed, by default
Assignment rule, the numerical value of the grid in block 61 is arranged to 0, the numerical value of grid is arranged to -1 in block 62, then pass through by
Grid 1, grid 2, grid 3, grid 4, the numerical value of grid 5 and grid 6 are changed to 0, you can increase the block scope of block 61
Greatly, the block 61 after adjusting corresponds to block 611, it is, of course, also possible to by the way that the numerical value of some grids in block 62 is changed
For -1, so as to increase the block scope of block 61.
According to the above method, by each grid in the block adjacent with effective block between effective block and barrier
The numerical value of lattice is revised as the numerical value of each grid in effective block, and the scope of the effective block can be extended to the position of barrier
Put.As shown in Fig. 2 by by the number of each grid in the adjacent block of block 20 between block 20 and barrier 22
Value is revised as the numerical value of each grid in block 20, so as to which the block scope of block 20 to be extended to the position of barrier 22；
Certainly, the number for each grid that the numerical value of each grid of block 20 is revised as to the block adjacent with block 20 can also be passed through
Value, the position of barrier 22 is extended to by the block scope of block 20.
According to the numerical value above by each grid included in the adjacent block of change effective block and/or effective block
Mode, the block scope of effective block can be extended to the position of barrier, so as to eliminate block model in environmental map
Enclose less block.It should be noted that the present invention is not construed as limiting to the mode for changing the block scope of effective block.
In specific application, in the range of the block that is further included after effective block extension, cleaning route is set,
So that clean robot cleans the interior zone of effective block along cleaning route.Clean robot is along cleaning route to the effective district
The interior zone of block is cleaned, so as to lift the cleaning efficiency inside the block.
The block method of adjustment for clean robot provided according to the present embodiment, multiple areas are divided into by environmental map
Block, each block included in advance for environmental map, is further divided into multiple grids, according to default tax by the block
Value is regular, each grid assignment in respectively each block；An area is selected in the multiple blocks included from environmental map
Block as effective block, walk by each bar block border line that control clean robot includes along effective block；Along every area
During block boundary line is walked, if the distance between this bar block border line be present less than pre- in the outside of detection effective block
If the barrier of distance threshold；Then whether the edge of disturbance in judgement thing and/or length meet default regulation rule；If judge to hinder
Whether the edge and/or length for hindering thing meet default regulation rule, then by changing effective block and/or adjacent with effective block
Block in the mode of the numerical value of each grid that includes, the block scope of effective block is extended into the position of barrier.This
Each block is divided into multiple grids by method, carries out assignment for each grid in advance, has by changing effective block or this
The numerical value of the grid in the adjacent block of block is imitated, the effective district nearer with obstacle distance that environmental map includes can be increased
The block scope of block, to eliminate comprising the block that block scope is small in environmental map, so as to avoid causing because block scope is small
Clean robot cannot be introduced into the small block of the block scope corresponding to region cleaned or when cleaning the region it is multiple
Turn around；Meanwhile various ways are additionally provided to determine the need for adjusting the block scope of effective block；In addition, by having
Cleaning route is set in the range of the block included after effect block extension, makes clean robot along cleaning route to effective block
Interior zone is cleaned, and lifts cleaning efficiency.
Fig. 7 shows the block adjusting apparatus functional block for clean robot according to further embodiment of the present invention
Figure, as shown in fig. 7, the device includes：
Selecting module 700, suitable for selecting a block in multiple blocks for being included from environmental map as effective block；
Control module 701, each bar block border line walking included suitable for control clean robot along effective block；
Detection module 702, suitable for during being walked along every block border line, detect effective block outside whether
In the presence of the barrier for being less than pre-determined distance threshold value with the distance between this bar block border line；
Adjusting module 703, detect that the outside of effective block has the distance between this bar block border line less than pre-
If the barrier of distance threshold, then the block scope of effective block is extended into the position of the barrier.
In addition, in another embodiment of the present invention, said apparatus also includes：
Whether judge module, the edge suitable for disturbance in judgement thing match with the direction of this bar block border line；
Alternatively, adjusting module 703 is further adapted for, if judging the edge of barrier and the side of this bar block border line
To matching, then the step of block scope of effective block is extended into the position of barrier is performed.
Alternatively, judge module is further adapted for：
Whether the edge of disturbance in judgement thing is parallel with this bar block border line.
Alternatively, judge module is further adapted for：
Whether the length of disturbance in judgement thing is more than default block adjustment length threshold；
Alternatively, adjusting module is further adapted for：
If judging, the length of barrier is more than default block adjustment length threshold, performs the block of effective block
Scope extends to the step of position of barrier.
Alternatively, judge module is further adapted for：
Whether the length at the edge parallel with this bar block border line is more than default block adjustment length in disturbance in judgement thing
Spend threshold value.
Alternatively, block adjustment length threshold determines according to the length of this bar block border line.
Alternatively, block adjustment length is equal to the length of this bar block border line.
Alternatively, adjusting module is further adapted for：
According to the position of the position of barrier and/or Adjusting Shape and the nearest block border line of obstacle distance and/or
Shape；
According to the position of the block border line nearest with obstacle distance after adjustment and/or shape, adjustment and and obstacle
The position of the adjacent each bar block border line of the closest block border line of thing and/or shape；
The block scope of the effective block is redefined according to each bar block border line after adjustment.
In addition, in another embodiment of the present invention, said apparatus further comprises：
Grid division module, each block included suitable for being directed to the environmental map in advance are further by the block
It is divided into multiple grids；
Assignment module, suitable for according to default assignment rule, each grid assignment in respectively each block；
Wherein, the numerical value of each grid in same block is identical, each grid in different blocks
Numerical value it is different；The numerical value of the grid is used for the block scope of block corresponding to determination.
Alternatively, adjusting module 703 is further adapted for：
By the side for the numerical value for changing each grid included in effective block and/or the block adjacent with effective block
Formula, the block scope of effective block is extended into the position of barrier.
Alternatively, adjusting module 703 is further adapted for：
By the numerical value of each grid in the block adjacent with effective block between effective block and the barrier
The numerical value for each grid being revised as in effective block.
Alternatively, assignment module is further adapted for：
For each block, grid numerical value adjacent with the block and in the block of the first direction of the block
The first numerical value is differed with the grid numerical value in the block, in the block of second direction that is adjacent with the block and being located at the block
Grid numerical value differs second value with the grid numerical value in the block；
Wherein, first direction is mutually perpendicular to second direction.
In addition, in another embodiment of the present invention, said apparatus further comprises：
Cleaning route setup module, suitable in the range of the block that is included after effective block extends, setting cleaning route,
So that clean robot cleans the interior zone of effective block along cleaning route.
Alternatively, detection module 702 is further adapted for：
The outside that the effective block is detected by default laser radar and/or range sensor whether there is and this
The distance between block border line is less than the barrier of pre-determined distance threshold value.
Concrete structure and operation principle on above-mentioned modules can refer to the description of corresponding steps in embodiment of the method,
Here is omitted.
In addition, the embodiment of the present application additionally provides a kind of robot, including the block tune shown in Fig. 7 for clean robot
Engagement positions and devices mentioned above.
Fig. 8 shows the structural representation of a kind of electronic equipment according to embodiments of the present invention, the specific embodiment of the invention
The specific implementation to electronic equipment does not limit.
As shown in figure 8, the electronic equipment can include：Processor (processor) 802, communication interface
(Communications Interface) 804, memory (memory) 806 and communication bus 808.
Wherein：
Processor 802, communication interface 804 and memory 806 complete mutual communication by communication bus 808.
Communication interface 804, for being communicated with the network element of miscellaneous equipment such as client or other servers etc..
Processor 802, for configuration processor 810, it can specifically perform the collision processing method embodiment of above-mentioned robot
In correlation step.
Specifically, program 810 can include program code, and the program code includes computer-managed instruction.
Processor 802 is probably central processor CPU, or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or it is arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that electronic equipment includes, can be same type of processor, such as one or more CPU；Also may be used
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 806, for depositing program 810.Memory 806 may include high-speed RAM memory, it is also possible to also include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 810 specifically can be used for so that processor 802 performs following operation：
A block is selected in the multiple blocks included from environmental map as effective block, control clean robot edge
Each bar block border line walking included in effective block；
During being walked along every block border line, the outside for detecting effective block whether there is and this block side
The distance between boundary line is less than the barrier of pre-determined distance threshold value；
If so, the block scope of effective block is then extended into the position of barrier.
Program 810 specifically can be also used for so that processor 802 performs following operation：
Whether the edge of disturbance in judgement thing matches with the direction of this bar block border line, if so, then performing effective block
Block scope the step of extending to the position of barrier.
Program 810 specifically can be also used for so that processor 802 performs following operation：
Whether the edge of disturbance in judgement thing is parallel with this bar block border line.
Program 810 specifically can be also used for so that processor 802 performs following operation：
Whether the length of disturbance in judgement thing is more than default block adjustment length threshold, if so, then performing effective block
Block scope the step of extending to the position of barrier.
Program 810 specifically can be also used for so that processor 802 performs following operation：
Whether the length at the edge parallel with this bar block border line is more than default block adjustment length in disturbance in judgement thing
Spend threshold value.
Program 810 specifically can be also used for so that processor 802 performs following operation：
Block adjusts length threshold and determined according to the length of this bar block border line.
Program 810 specifically can be also used for so that processor 802 performs following operation：
Block adjustment length is equal to the length of this bar block border line.
Program 810 specifically can be also used for so that processor 802 performs following operation：
According to the position of the position of barrier and/or Adjusting Shape and the nearest block border line of obstacle distance and/or
Shape；
According to the position of the block border line nearest with obstacle distance after adjustment and/or shape, adjustment and and obstacle
The position of the adjacent each bar block border line of the closest block border line of thing and/or shape；
The block scope of effective block is redefined according to each bar block border line after adjustment.
Program 810 specifically can be also used for so that processor 802 performs following operation：
The each block included in advance for environmental map, multiple grids are further divided into by the block；
According to default assignment rule, each grid assignment in respectively each block；
Wherein, the numerical value of each grid in same block is identical, each grid in different blocks
Numerical value it is different；The numerical value of grid is used for the block scope of block corresponding to determination.
Program 810 specifically can be also used for so that processor 802 performs following operation：
By the side for the numerical value for changing each grid included in effective block and/or the block adjacent with effective block
Formula, the block scope of effective block is extended into the position of barrier.
Program 810 specifically can be also used for so that processor 802 performs following operation：
The numerical value of each grid in the block adjacent with effective block between effective block and barrier is changed
For the numerical value of each grid in effective block.
Program 810 specifically can be also used for so that processor 802 performs following operation：
For each block, grid numerical value adjacent with the block and in the block of the first direction of the block
The first numerical value is differed with the grid numerical value in the block, in the block of second direction that is adjacent with the block and being located at the block
Grid numerical value differs second value with the grid numerical value in the block；
Wherein, first direction is mutually perpendicular to second direction.
Program 810 specifically can be also used for so that processor 802 performs following operation：
In the range of the block included after effective block extension, cleaning route is set, so that the cleaning of clean robot edge
Route cleans the interior zone of effective block.
Program 810 specifically can be also used for so that processor 802 performs following operation：
The outside that effective block is detected by default laser radar and/or range sensor whether there is and this block
The distance between boundary line is less than the barrier of pre-determined distance threshold value.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be realized with hardware, or to be run on one or more processor
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) are some or all in robot according to embodiments of the present invention to realize
The some or all functions of part.The present invention be also implemented as a part for performing method as described herein or
Whole equipment or program of device (for example, computer program and computer program product).Such journey for realizing the present invention
Sequence can store on a computer-readable medium, or can have the form of one or more signal.Such signal can
Obtained with being downloaded from internet website, either provide on carrier signal or provided in the form of any other.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (10)
1. a kind of block method of adjustment for clean robot, including：
A block is selected to control the clean robot edge as effective block in the multiple blocks included from environmental map
Each bar block border line walking included in the effective block；
During being walked along every block border line, the outside for detecting the effective block whether there is and this block side
The distance between boundary line is less than the barrier of pre-determined distance threshold value；
If so, the block scope of the effective block is then extended into the position of the barrier.
2. according to the method for claim 1, wherein, the outside of the detection effective block whether there is and this area
The distance between block boundary line was less than after the step of barrier of pre-determined distance threshold value, further comprised step：
Judge whether the edge of the barrier matches with the direction of this bar block border line, if so, then performing described by described in
The step of block scope of effective block extends to the position of the barrier.
3. according to the method for claim 2, wherein, the edge for judging the barrier whether with this block border
The step of direction matching of line, specifically includes：
Judge whether the edge of the barrier is parallel with this bar block border line.
4. according to any described methods of claim 1-3, wherein, the outside of the detection effective block whether there is with
The distance between this bar block border line was less than after the step of barrier of pre-determined distance threshold value, further comprised step：
Judge whether the length of the barrier is more than default block adjustment length threshold, if so, then performing described by described in
The step of block scope of effective block extends to the position of the barrier.
5. according to the method for claim 4, wherein, whether the length for judging the barrier is more than default block
The step of adjusting length threshold specifically includes：
Judge whether the length at edge parallel with this bar block border line in the barrier is more than default block adjustment length
Spend threshold value.
6. the method according to claim 4 or 5, wherein, the block adjusts length threshold according to this bar block border line
Length determine.
7. a kind of block adjusting apparatus for clean robot, including：
Selecting module, suitable for selecting a block in multiple blocks for being included from environmental map as effective block；
Control module, suitable for each bar block border line walking for controlling the clean robot to be included along the effective block；
Detection module, suitable for during being walked along every block border line, whether the outside for detecting the effective block deposits
Distance between this bar block border line is less than the barrier of pre-determined distance threshold value；
Adjusting module, detect the effective block it is outside exist the distance between this bar block border line be less than it is default away from
The block scope of the effective block is then extended to the position of the barrier by the barrier from threshold value.
8. a kind of robot, including the cleaning device for clean robot described in claim 7.
9. a kind of electronic equipment, including：Processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device such as right will
Ask and operated corresponding to the block method of adjustment for clean robot any one of 1-6.
10. a kind of computer-readable storage medium, an at least executable instruction, the executable instruction are stored with the storage medium
Make behaviour corresponding to the block method of adjustment for clean robot of the computing device as any one of claim 1-6
Make.
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| CN201711146031.8A CN107752927B (en) | 2017-11-17 | 2017-11-17 | Block adjusting method, device and equipment of cleaning robot and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711146031.8A CN107752927B (en) | 2017-11-17 | 2017-11-17 | Block adjusting method, device and equipment of cleaning robot and storage medium |
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| CN107752927A true CN107752927A (en) | 2018-03-06 |
| CN107752927B CN107752927B (en) | 2020-07-14 |
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| CN109298715A (en) * | 2018-11-09 | 2019-02-01 | 苏州瑞得恩光能科技有限公司 | Robot traveling control system and traveling control method |
| CN110362099A (en) * | 2018-03-26 | 2019-10-22 | 科沃斯机器人股份有限公司 | Robot cleaning method, device, robot and storage medium |
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| CN111722630A (en) * | 2020-06-30 | 2020-09-29 | 深圳市银星智能科技股份有限公司 | Partition boundary extension method, device, equipment and storage medium of cleaning robot |
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| CN113503877A (en) * | 2021-06-22 | 2021-10-15 | 深圳拓邦股份有限公司 | Robot partition map establishing method and device and robot |
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