CN107752927B - Block adjusting method, device and equipment of cleaning robot and storage medium - Google Patents
Block adjusting method, device and equipment of cleaning robot and storage medium Download PDFInfo
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- CN107752927B CN107752927B CN201711146031.8A CN201711146031A CN107752927B CN 107752927 B CN107752927 B CN 107752927B CN 201711146031 A CN201711146031 A CN 201711146031A CN 107752927 B CN107752927 B CN 107752927B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Abstract
The invention discloses a block adjusting method for a cleaning robot, which is characterized in that the cleaning robot is controlled to walk along boundary lines of all blocks contained in an effective block by selecting one block from a plurality of blocks contained in an environment map as the effective block; detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not in the process of walking along the boundary line of each block; if yes, extending the block range of the effective block to the position of the obstacle. The block range of the block which is close to the obstacle and contained in the environment map is enlarged to eliminate the block which is small in block range and contained in the environment map, so that the situation that the cleaning robot cannot enter the area corresponding to the block for cleaning or turns around for multiple times when the area corresponding to the block is cleaned due to the small block range is avoided.
Description
Technical Field
The invention relates to the technical field of smart home, in particular to a block adjusting method, a block adjusting device and a block adjusting storage medium for a cleaning robot.
Background
The intelligent household electrical appliances are formed by introducing a microprocessor, a sensor technology and a network communication technology into traditional household electrical appliances, at present, more and more household electrical appliances adopt an intelligent control technology, the intelligent household electrical appliances can improve the life quality of people, and along with the continuous development of science and technology and the continuous expansion of the requirements of people, people have higher requirements on the intelligence of the intelligent household electrical appliances.
The cleaning robot is a typical representative of intelligent household appliances, and can automatically clean the ground. However, the inventor finds out in the process of implementing the invention that: in the process of cleaning according to blocks, for an area which is relatively close to an obstacle, the cleaning robot in the prior art cannot clean the area due to a certain size, so that the cleaning effect of the cleaning robot is not ideal, or the cleaning robot turns around for many times when cleaning the area, and the energy consumption of the cleaning robot is increased.
Disclosure of Invention
In view of the above, the present invention has been made to provide a block adjusting method, apparatus, device, and storage medium of a cleaning robot that overcome or at least partially solve the above problems.
According to an aspect of the present invention, there is provided a block adjusting method for a cleaning robot, including:
selecting one block from a plurality of blocks contained in an environment map as an effective block, and controlling the cleaning robot to walk along each block boundary line contained in the effective block;
detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not in the process of walking along the boundary line of each block;
if so, judging whether the edge of the obstacle is matched with the direction of the block boundary line or not, and judging whether the length of the obstacle is greater than a preset block adjustment length threshold value or not; if yes, extending the block range of the effective block to the position of the obstacle.
Optionally, the step of determining whether the edge of the obstacle matches the direction of the block boundary line specifically includes:
and judging whether the edge of the obstacle is parallel to the block boundary line.
Optionally, the step of determining whether the length of the obstacle is greater than a preset block adjustment length threshold specifically includes:
and judging whether the length of an edge parallel to the block boundary line in the barrier is greater than a preset block adjustment length threshold value or not.
Optionally, the block adjustment length threshold is determined according to the length of the block boundary line.
Optionally, the block adjustment length threshold is equal to the length of the block boundary line.
Optionally, the step of extending the block range of the valid block to the position of the obstacle specifically includes:
adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle;
adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle;
and re-determining the block range of the effective block according to the adjusted block boundary lines.
Optionally, the method further comprises:
for each block contained in the environment map, dividing the block into a plurality of grids in advance;
assigning values to each grid in each block respectively according to a preset assignment rule;
the numerical values of the grids in the same block are the same, and the numerical values of the grids in different blocks are different; the grid values are used to determine the block range of the corresponding block.
Optionally, the step of extending the block range of the valid block to the position of the obstacle specifically includes:
the block range of the effective block is extended to the position of the obstacle by changing the values of the respective grids included in the effective block and/or blocks adjacent to the effective block.
Optionally, the step of extending the block range of the effective block to the position of the obstacle by changing the values of each grid included in the effective block and/or a block adjacent to the effective block specifically includes:
modifying a value of each grid located between the effective block and the obstacle in a block adjacent to the effective block to a value of each grid in the effective block.
Optionally, the preset assignment rule includes:
for each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value;
wherein the first direction and the second direction are perpendicular to each other.
Optionally, after the step of extending the block range of the valid block to the position of the obstacle, the method further includes:
and arranging a cleaning route within the range of the block included after the effective block is extended, so that the cleaning robot cleans the inner area of the effective block along the cleaning route.
Optionally, the step of detecting whether there is an obstacle outside the effective block, where a distance between the outside of the effective block and the block boundary line is smaller than a preset distance threshold specifically includes:
and detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not through a preset laser radar and/or a distance sensor.
According to another aspect of the present invention, there is provided a block adjusting apparatus for a cleaning robot, including:
the selection module is suitable for selecting one block from a plurality of blocks contained in the environment map as an effective block;
the control module is suitable for controlling the cleaning robot to walk along each block boundary line contained in the effective block;
the detection module is suitable for detecting whether an obstacle with the distance between the outside of the effective block and the boundary line of each block being smaller than a preset distance threshold exists in the process of walking along the boundary line of each block;
the judging module is suitable for judging whether the edge of the obstacle is matched with the direction of the boundary line of the block or not and judging whether the length of the obstacle is greater than a preset block adjustment length threshold or not when the detecting module detects that the distance between the outside of the effective block and the boundary line of the block is smaller than a preset distance threshold;
and the adjusting module is suitable for extending the block range of the effective block to the position of the obstacle when the judgment result of the judging module is yes.
Optionally, the determining module is further adapted to:
and judging whether the edge of the obstacle is parallel to the block boundary line.
Optionally, the determining module is further adapted to:
and judging whether the length of an edge parallel to the block boundary line in the barrier is greater than a preset block adjustment length threshold value or not.
Optionally, the block adjustment length threshold is determined according to the length of the block boundary line.
Optionally, the block adjustment length threshold is equal to the length of the block boundary line.
Optionally, the adjusting module is further adapted to:
adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle;
adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle;
and re-determining the block range of the effective block according to the adjusted block boundary lines.
Optionally, wherein the apparatus further comprises:
the grid dividing module is suitable for dividing each block contained in the environment map into a plurality of grids in advance;
the assignment module is suitable for assigning the grids in each block according to a preset assignment rule;
the numerical values of the grids in the same block are the same, and the numerical values of the grids in different blocks are different; the grid values are used to determine the block range of the corresponding block.
Optionally, the adjusting module is further adapted to:
the block range of the effective block is extended to the position of the obstacle by changing the values of the respective grids included in the effective block and/or blocks adjacent to the effective block.
Optionally, the adjusting module is further adapted to:
modifying a value of each grid located between the effective block and the obstacle in a block adjacent to the effective block to a value of each grid in the effective block.
Optionally, the assignment module is further adapted to:
for each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value;
wherein the first direction and the second direction are perpendicular to each other.
Optionally, the apparatus further comprises:
and the cleaning route setting module is suitable for setting a cleaning route within the range of the blocks contained after the effective blocks are extended, so that the cleaning robot can clean the inner area of the effective blocks along the cleaning route.
Optionally, the detection module is further adapted to:
and detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not through a preset laser radar and/or a distance sensor.
According to another aspect of the present invention, there is provided a robot including the above block adjusting apparatus for a cleaning robot.
According to another aspect of the present invention, there is provided an electronic apparatus including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the block adjustment method for the cleaning robot.
According to another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the block adjustment method for a cleaning robot as described above.
According to the block adjusting method, device, equipment and storage medium of the cleaning robot, the cleaning robot is controlled to walk along each block boundary line contained in the effective block by selecting one block from a plurality of blocks contained in the environment map as the effective block; detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not in the process of walking along the boundary line of each block; if yes, extending the block range of the effective block to the position of the obstacle. The block range of the effective block which is contained in the environment map and is close to the obstacle is enlarged to eliminate the block which is contained in the environment map and has a small block range, so that the situation that the cleaning robot cannot enter the area corresponding to the block to clean or the cleaning robot turns around for multiple times due to the small block range is avoided, and the block range can be reasonably adjusted, and the cleaning effect is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow diagram of a block adjustment method for a cleaning robot according to an embodiment of the invention;
FIG. 2 illustrates a block diagram of an environment map according to another embodiment of the present invention;
FIG. 3 is a flow chart illustrating a tile adjustment method for a user cleaning robot according to another embodiment of the present invention;
FIG. 4 shows a schematic diagram of grid division according to yet another embodiment of the invention;
FIG. 5 illustrates a block diagram of an environment map according to another embodiment of the present invention;
FIG. 6a is a block adjustment diagram according to another embodiment of the present invention;
FIG. 6b is a block diagram of the block of FIG. 6a after adjustment;
fig. 7 shows a functional block diagram of a block adjustment device for a cleaning robot according to yet another embodiment of the present invention;
fig. 8 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a flowchart of a block adjustment method for a cleaning robot according to one embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
step S100, selecting one block from a plurality of blocks included in the environment map as an effective block, and controlling the cleaning robot to travel along boundary lines of the blocks included in the effective block.
The method for constructing the environment map includes, but is not limited to, positioning the cleaning robot by using an S L AM (instantaneous positioning and mapping) map and positioning construction module, and constructing the environment map of the position where the cleaning robot is located, wherein the cleaning robot is provided with a laser emitter, the laser emitter emits laser, the laser is reflected when encountering an obstacle, and the S L AM constructs the environment map according to the emitted and reflected laser.
The cleaning robot can determine the area to be cleaned through the environment map, the environment map is divided into a plurality of blocks according to preset rules, the cleaning route of the robot can be planned according to each block, convenience is provided for the route planning process, the route planning efficiency and accuracy are further improved, and technicians in the field can set the shapes and sizes of the blocks contained in the environment map according to actual needs.
The effective block is a block which needs to be cleaned currently by the cleaning robot, the environment map is divided to obtain a plurality of blocks, one of the blocks needs to be selected as the effective block according to a preset effective block determination rule, and the blocks corresponding to the environment map are sequentially determined as the effective blocks for cleaning.
Step S101, in the process of walking along each block boundary line, detecting whether an obstacle with the distance between the outside of the effective block and the block boundary line being smaller than a preset distance threshold exists, if so, executing step S102; if not, the method ends.
The cleaning robot can be specifically provided with a laser radar and/or a distance sensor, and whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not is detected through a preset laser radar and/or a preset distance sensor.
Fig. 2 shows a schematic diagram of environment map block division according to an embodiment of the present invention, in a practical application, some obstacles such as walls, chairs, tables, etc. are necessarily present in a room, as shown in fig. 2, an obstacle 22 having a small distance from a first boundary line 21 of a block 20 is present in a block on the left side of the block 20, an area 23 having a small size is formed between the first boundary line 21 and the obstacle 22, when the area 23 is cleaned, because the area 23 has a small size, the cleaning robot turns around many times when cleaning the area 23, or the side length of the area 23 is smaller than the size of the cleaning robot, so that the cleaning robot cannot enter the area 23 for cleaning, thereby resulting in poor cleaning effect and low cleaning efficiency.
In order to avoid this, when the cleaning robot travels along the boundary line of the effective block, it is necessary to detect whether or not there is an obstacle outside the effective block, the distance between the obstacle and the boundary line of the block being smaller than a preset distance threshold.
Step S102, in the process of walking along each block boundary line, if an obstacle with a distance smaller than a preset distance threshold value exists outside the effective block, the range of the effective block is extended to the position of the obstacle.
If an obstacle whose boundary distance from the current effective block is smaller than the preset distance threshold is detected, the range of the effective block is extended to the position of the obstacle, so that the block range of the current effective block is expanded, and blocks with smaller block ranges included in the environment map are eliminated, for example, the block range of the block 20 is extended to the position of the obstacle 22.
According to the block adjusting method for the cleaning robot provided by the embodiment, the cleaning robot is controlled to walk along each block boundary line included in the effective block by selecting one block from a plurality of blocks included in the environment map as the effective block; detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not in the process of walking along the boundary line of each block; if yes, extending the block range of the effective block to the position of the obstacle. The block range of the effective block which is contained in the environment map and is close to the obstacle is enlarged to eliminate the block which is contained in the environment map and has a small block range, so that the situation that the cleaning robot cannot enter the area corresponding to the block to clean or the cleaning robot turns around for multiple times due to the small block range is avoided, and the block range can be reasonably adjusted, and the cleaning effect is improved.
Fig. 3 shows a flow diagram of a method for tile adjustment of a cleaning robot according to another embodiment of the present invention, as shown in fig. 3, the method comprising:
step S300, dividing the environment map into a plurality of blocks, further dividing each block included in the environment map into a plurality of grids in advance, and assigning values to each grid in each block according to a preset assignment rule.
The cleaning robot can determine an area needing cleaning through an environment map, the environment map is divided into a plurality of blocks according to a preset rule, specifically, for the environment map obtained by the cleaning robot, a transverse dividing line is arranged at intervals of a first preset interval, a longitudinal dividing line is arranged at intervals of a second preset interval, and the environment map is divided into a plurality of blocks through each transverse dividing line and each longitudinal dividing line. For example, for the environment map, the transverse dividing lines are set at a first preset interval of 4 meters in the transverse direction, and the longitudinal dividing lines are set at a second preset interval of 4 meters in the longitudinal direction.
In addition, in the specific application of this embodiment, each block is further divided into a plurality of grids, and the grids of each block are assigned according to a preset assignment rule, wherein the grids in the same block have the same value, and the grids in different blocks have different values; the value of the grid may be used to determine the block range of the corresponding block, and additionally, the block range of the block may be adjusted by changing the value of the grid within the block. Wherein the specific size of each grid can be set by the skilled person according to the actual need.
For each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value; wherein the first direction and the second direction are perpendicular to each other. Preferably, the first value is different from the second value in order to distinguish the orientation relationship between the blocks. As shown in fig. 4, the smallest square cell divided by the solid line corresponds to one block. For example, the first, second, third, fourth, and fifth blocks 401, 402, 403, 404, and 405 are blocks obtained by dividing the environment map. The second block 402 is adjacent to the first block 401 and located above the first block 401 in the longitudinal direction, the fourth block 404 is adjacent to the first block 401 and located below the first block 401 in the longitudinal direction, the third block 403 is adjacent to the first block 401 and located to the left of the first block 401 in the transverse direction, and the fifth block 405 is adjacent to the first block 401 and located to the right of the first block 401 in the transverse direction.
As shown in fig. 4, the smallest square unit divided by the dotted line corresponds to one grid, all grid values in the first block 401 are set to be 0, the grid value difference between the blocks adjacent to the first block 401 and located in the longitudinal direction is set to be 10, and the rule is that the grid values in the second block 402 are all 10, and all grid values in the fourth block 404 are-10; the grid values in the blocks adjacent to the first block 401 and located in the transverse direction are set to differ by 1, and are the rule of adding left and right, that is, all grid values in the third block 403 are 1, and all grid values in the fifth block 405 are-1.
Step S301 is to select one block from a plurality of blocks included in the environment map as an effective block, and control the cleaning robot to travel along boundary lines of the blocks included in the effective block.
The effective block is a block which is currently required to be cleaned by the cleaning robot, the environment map is divided into a plurality of blocks, one of the blocks is required to be selected as the effective block according to a preset effective block determination rule, and when the effective block is cleaned, the cleaning robot is firstly controlled to travel along each block boundary line included in the effective block.
Step S302, in the process of walking along each block boundary line, detecting whether an obstacle with the distance between the outside of the effective block and the block boundary line being smaller than a preset distance threshold exists, if so, executing step S303; if not, the method ends.
Step S302 is the same as step S101, and is not described herein again.
Step S303, if an obstacle with a distance between the outside of the effective block and the boundary line of the block smaller than a preset distance threshold value is detected, judging whether the edge and/or the length of the obstacle meet a preset adjustment rule, if so, executing step S304; if not, the method ends.
Judging whether the edge of the barrier meets the preset adjustment rule specifically comprises the following steps: judging whether the edge of the barrier is matched with the direction of the block boundary line, if so, executing a step S304; further, it is determined whether the edge of the obstacle is parallel to the block boundary line, and if so, step S304 is performed.
Judging whether the length of the barrier meets the preset adjustment rule specifically comprises the following steps: and judging whether the length of the obstacle is larger than a preset block adjustment length threshold value or not, if so, executing the step S304. Further, it is determined whether the length of the edge of the obstacle parallel to the block boundary line is greater than a preset block adjustment length threshold, and if so, step S304 is performed, where the block adjustment length threshold is determined according to the length of the block boundary line.
In fig. 2, the distance between the obstacle 22 and the first boundary line 21 is smaller than the preset distance threshold, the edge of the obstacle 22 is parallel to the first boundary line 21, and the length of the edge of the obstacle 22 parallel to the first boundary line 21 is equal to the length of the first boundary line 21, so as to determine to increase the block range of the block 21.
As shown in fig. 5, the area enclosed by the dotted line corresponds to the obstacle 53, the distance between the obstacle 53 and the boundary line 52 of the block 51 is smaller than the preset distance threshold, and the edge of the obstacle 53 and the boundary line 52 are not parallel to each other, in this case, the boundary line of the block 51 does not need to be adjusted to increase the block range of the block 51.
In practical applications, a person skilled in the art can determine whether the edge and/or the length of the obstacle meet the preset adjustment rule according to the actual setting, which is not limited in the present invention.
In step 304, the range of the valid block is extended to the position of the obstacle by changing the value of each grid included in the valid block and/or the block adjacent to the valid block.
For a block that needs to be adjusted, determining the range of the block after the block that needs to be adjusted is adjusted, that is, determining how to adjust the boundary line of the block, may be implemented as follows: adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle; adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle; and re-determining the block range of the effective block according to the adjusted block boundary lines. The area surrounded by each adjusted block boundary line corresponds to the area corresponding to the adjusted effective block.
In this embodiment, it is determined that the block range of an effective block needs to be adjusted, the boundary lines of the effective block are adjusted according to the above steps, and it is determined which grids included in the blocks adjacent to the effective block need to be changed according to the adjusted boundary lines of the blocks, as shown in fig. 6a and 6b, the block 61 is the effective block that needs to be adjusted, the boundary lines of the block 61 are adjusted according to the position and/or shape of the obstacle, the values of the grids 1, 2, 3, 4, 5, and 6 in the block 62 are determined to be changed according to the adjusted boundary lines, the value of the grid in the block 61 is set to 0 by a preset assignment rule, and the value of the grid in the block 62 is set to-1, and then the grid 1, 2, 3, 4, and 6 are adjusted by the preset assignment rule, The value of grid 5 and grid 6 is changed to 0, that is, the block range of block 61 may be increased, and the adjusted block 61 corresponds to block 611, but of course, the value of some grids in block 61 may be changed to-1, so as to increase the block range of block 61.
According to the method, the value of each grid between the effective block and the obstacle in the block adjacent to the effective block is modified into the value of each grid in the effective block, and the range of the effective block can be extended to the position of the obstacle. As shown in fig. 2, the block range of the block 20 is extended to the position of the obstacle 22 by modifying the value of each grid located between the block 20 and the obstacle 22 in the block adjacent to the block 20 to the value of each grid in the block 20; of course, the block range of the block 20 may also be extended to the position of the obstacle 22 by modifying the value of each grid of the block 20 to the value of each grid of the blocks adjacent to the block 20.
According to the method for changing the numerical values of the grids included in the effective block and/or the blocks adjacent to the effective block, the block range of the effective block can be extended to the position of the obstacle, and therefore the blocks with smaller block ranges in the environment map are eliminated. The present invention is not limited to the manner of changing the block range of the effective block.
In a specific application, a cleaning route is further arranged within a block range included after the effective block extends, so that the cleaning robot cleans the inner area of the effective block along the cleaning route. The cleaning robot cleans the inner area of the effective block along the cleaning route, thereby improving the cleaning efficiency of the inner part of the block.
According to the block adjusting method for the cleaning robot provided by the embodiment, the environment map is divided into a plurality of blocks, each block contained in the environment map is further divided into a plurality of grids in advance, and the grids in each block are assigned according to preset assignment rules; selecting one block from a plurality of blocks contained in an environment map as an effective block, and controlling the cleaning robot to walk along boundary lines of the blocks contained in the effective block; in the process of walking along each block boundary line, if an obstacle with the distance between the outside of the effective block and the block boundary line smaller than a preset distance threshold value is detected; judging whether the edge and/or the length of the barrier meet a preset adjustment rule or not; if the edge and/or the length of the obstacle are judged to be in accordance with the preset adjustment rule, the block range of the effective block is extended to the position of the obstacle by changing the numerical value of each grid contained in the effective block and/or the block adjacent to the effective block. The method divides each block into a plurality of grids, assigns values to each grid in advance, and can enlarge the block range of the effective block which is contained in the environment map and is close to the obstacle by changing the numerical values of the grids in the effective block or the adjacent blocks of the effective block so as to eliminate the blocks with small block range contained in the environment map, thereby avoiding that the cleaning robot cannot enter the area corresponding to the small block range to clean or turns around for many times when cleaning the area due to the small block range; meanwhile, various ways are provided for determining whether the block range of the effective block needs to be adjusted; in addition, the cleaning route is arranged in the block range contained after the effective block extends, so that the cleaning robot can clean the inner area of the effective block along the cleaning route, and the cleaning efficiency is improved.
Fig. 7 shows a functional block diagram of a block adjusting apparatus for a cleaning robot according to still another embodiment of the present invention, as shown in fig. 7, the apparatus including:
a selecting module 700 adapted to select a block from a plurality of blocks included in an environment map as an effective block;
a control module 701 adapted to control the cleaning robot to travel along each block boundary line included in the effective block;
the detection module 702 is adapted to detect whether an obstacle exists outside the effective block, wherein the distance between the obstacle and each block boundary line is smaller than a preset distance threshold value in the process of walking along each block boundary line;
the judging module is suitable for judging whether the edge of the obstacle is matched with the direction of the boundary line of the block or not and judging whether the length of the obstacle is greater than a preset block adjustment length threshold or not when the detecting module detects that the distance between the outside of the effective block and the boundary line of the block is smaller than a preset distance threshold;
the adjusting module 703 is adapted to extend the block range of the valid block to the position of the obstacle when the determination result of the determining module is yes.
Optionally, the determining module is further adapted to:
and judging whether the edge of the obstacle is parallel to the block boundary line.
Optionally, the determining module is further adapted to:
and judging whether the length of an edge parallel to the block boundary line in the barrier is greater than a preset block adjustment length threshold value or not.
Optionally, the block adjustment length threshold is determined according to the length of the boundary line of the block.
Optionally, the block adjustment length threshold is equal to the length of the block boundary line.
Optionally, the adjusting module is further adapted to:
adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle;
adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle;
and re-determining the block range of the effective block according to the adjusted block boundary lines.
In addition, in another embodiment of the present invention, the above apparatus further comprises:
the grid dividing module is suitable for dividing each block contained in the environment map into a plurality of grids in advance;
the assignment module is suitable for assigning the grids in each block according to a preset assignment rule;
the numerical values of the grids in the same block are the same, and the numerical values of the grids in different blocks are different; the grid values are used to determine the block range of the corresponding block.
Optionally, the adjusting module 703 is further adapted to:
the block range of the effective block is extended to the position of the obstacle by changing the values of the respective grids included in the effective block and/or blocks adjacent to the effective block.
Optionally, the adjusting module 703 is further adapted to:
modifying the value of each grid between the effective block and the obstacle in the block adjacent to the effective block into the value of each grid in the effective block.
Optionally, the assignment module is further adapted to:
for each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value;
wherein the first direction and the second direction are perpendicular to each other.
In addition, in another embodiment of the present invention, the above apparatus further comprises:
and the cleaning route setting module is suitable for setting a cleaning route in the range of the blocks contained after the effective blocks are extended, so that the cleaning robot can clean the inner area of the effective blocks along the cleaning route.
Optionally, the detection module 702 is further adapted to:
and detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not through a preset laser radar and/or a distance sensor.
The specific structure and operation principle of each module described above may refer to the description of the corresponding step in the method embodiment, and are not described herein again.
In addition, the embodiment of the application also provides a robot, which comprises the block adjusting device for the cleaning robot shown in fig. 7 and the device mentioned above.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.
As shown in fig. 8, the electronic device may include: a processor (processor)802, a Communications Interface 804, a memory 806, and a communication bus 808.
Wherein:
the processor 802, communication interface 804, and memory 806 communicate with one another via a communication bus 808.
A communication interface 804 for communicating with network elements of other devices, such as clients or other servers.
The processor 802 is configured to execute the program 810, and may specifically execute relevant steps in the collision processing method embodiment of the robot.
In particular, the program 810 may include program code comprising computer operating instructions.
The processor 802 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the invention. The electronic device comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
The memory 806 stores a program 810. The memory 806 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 810 may be specifically configured to cause the processor 802 to perform the following operations:
selecting one block from a plurality of blocks contained in an environment map as an effective block, and controlling the cleaning robot to walk along boundary lines of the blocks contained in the effective block;
detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not in the process of walking along the boundary line of each block;
if yes, extending the block range of the effective block to the position of the obstacle.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and judging whether the edge of the obstacle is matched with the direction of the block boundary line, if so, executing a step of extending the block range of the effective block to the position of the obstacle.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and judging whether the edge of the obstacle is parallel to the block boundary line.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and judging whether the length of the obstacle is greater than a preset block adjustment length threshold value or not, and if so, executing a step of extending the block range of the effective block to the position of the obstacle.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and judging whether the length of the edge of the barrier parallel to the block boundary line is greater than a preset block adjustment length threshold value or not.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
the block adjustment length threshold is determined according to the length of the block boundary line.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
the block adjustment length threshold is equal to the length of the block boundary line.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle;
adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle;
and re-determining the block range of the effective block according to the adjusted block boundary lines.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
the method comprises the steps of dividing each block contained in an environment map into a plurality of grids in advance;
assigning values to each grid in each block respectively according to a preset assignment rule;
the numerical values of the grids in the same block are the same, and the numerical values of the grids in different blocks are different; the grid values are used to determine the block range of the corresponding block.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
the block range of the effective block is extended to the position of the obstacle by changing the values of the respective grids included in the effective block and/or blocks adjacent to the effective block.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and modifying the value of each grid between the effective block and the obstacle in the block adjacent to the effective block into the value of each grid in the effective block.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
for each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value;
wherein the first direction and the second direction are perpendicular to each other.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and arranging a cleaning route in the block range included after the effective block extends, so that the cleaning robot cleans the inner area of the effective block along the cleaning route.
The program 810 may be further specifically configured to cause the processor 802 to perform the following operations:
and detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not through a preset laser radar and/or a distance sensor.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a robot according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (27)
1. A block adjusting method for a cleaning robot, comprising:
selecting one block from a plurality of blocks contained in an environment map as an effective block, and controlling the cleaning robot to walk along each block boundary line contained in the effective block;
detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not in the process of walking along the boundary line of each block;
if so, judging whether the edge of the obstacle is matched with the direction of the block boundary line or not, and judging whether the length of the obstacle is greater than a preset block adjustment length threshold value or not; if yes, the step of extending the block range of the effective block to the position of the obstacle is executed.
2. The method according to claim 1, wherein the step of determining whether the edge of the obstacle matches the direction of the block boundary line specifically comprises:
and judging whether the edge of the obstacle is parallel to the block boundary line.
3. The method of claim 1, wherein the step of determining whether the length of the obstacle is greater than a preset block adjustment length threshold specifically comprises:
and judging whether the length of an edge parallel to the block boundary line in the barrier is greater than a preset block adjustment length threshold value or not.
4. The method of claim 1, wherein the block adjustment length threshold is determined according to a length of the boundary line of the block.
5. The method of claim 4, wherein the block adjustment length threshold is equal to the length of the block boundary line.
6. The method according to any of claims 1-5, wherein the step of extending the block range of the active block to the position of the obstacle comprises:
adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle;
adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle;
and re-determining the block range of the effective block according to the adjusted block boundary lines.
7. The method of any of claims 1-5, wherein the method further comprises:
for each block contained in the environment map, dividing the block into a plurality of grids in advance;
assigning values to each grid in each block respectively according to a preset assignment rule;
the numerical values of the grids in the same block are the same, and the numerical values of the grids in different blocks are different; the grid values are used to determine the block range of the corresponding block.
8. The method of claim 7, wherein the step of extending the block range of the active block to the position of the obstacle comprises:
the block range of the effective block is extended to the position of the obstacle by changing the values of the respective grids included in the effective block and/or blocks adjacent to the effective block.
9. The method according to claim 8, wherein the step of extending the block range of the active block to the position of the obstacle by changing the value of each grid included in the active block and/or a block adjacent to the active block comprises:
modifying a value of each grid located between the effective block and the obstacle in a block adjacent to the effective block to a value of each grid in the effective block.
10. The method of claim 7, wherein the preset assignment rule comprises:
for each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value;
wherein the first direction and the second direction are perpendicular to each other.
11. The method of any of claims 1-5, wherein the step of extending the extent of the active block to the location of the obstacle further comprises:
and arranging a cleaning route within the range of the block included after the effective block is extended, so that the cleaning robot cleans the inner area of the effective block along the cleaning route.
12. The method according to any one of claims 1 to 5, wherein the step of detecting whether there is an obstacle outside the active block, whose distance from the boundary line of the block is smaller than a preset distance threshold, specifically comprises:
and detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not through a preset laser radar and/or a distance sensor.
13. A block adjusting apparatus for a cleaning robot, comprising:
the selection module is suitable for selecting one block from a plurality of blocks contained in the environment map as an effective block;
the control module is suitable for controlling the cleaning robot to walk along each block boundary line contained in the effective block;
the detection module is suitable for detecting whether an obstacle with the distance between the outside of the effective block and the boundary line of each block being smaller than a preset distance threshold exists in the process of walking along the boundary line of each block;
the judging module is suitable for judging whether the edge of the obstacle is matched with the direction of the boundary line of the block or not and judging whether the length of the obstacle is greater than a preset block adjustment length threshold or not when the detecting module detects that the distance between the outside of the effective block and the boundary line of the block is smaller than a preset distance threshold;
and the adjusting module is suitable for extending the block range of the effective block to the position of the obstacle when the judgment result of the judging module is yes.
14. The apparatus of claim 13, wherein the determining module is further adapted to:
and judging whether the edge of the obstacle is parallel to the block boundary line.
15. The apparatus of claim 13, wherein the determining module is further adapted to:
and judging whether the length of an edge parallel to the block boundary line in the barrier is greater than a preset block adjustment length threshold value or not.
16. The apparatus of claim 13, wherein the block adjustment length threshold is determined according to a length of the block boundary line.
17. The apparatus of claim 13, wherein the block adjustment length threshold is equal to the length of the block boundary line.
18. The apparatus of any of claims 13-17, wherein the adjustment module is further adapted to:
adjusting the position and/or shape of a block boundary line closest to the obstacle according to the position and/or shape of the obstacle;
adjusting the position and/or shape of each block boundary line adjacent to the block boundary line closest to the obstacle according to the adjusted position and/or shape of the block boundary line closest to the obstacle;
and re-determining the block range of the effective block according to the adjusted block boundary lines.
19. The apparatus of any of claims 13-17, wherein the apparatus further comprises:
the grid dividing module is suitable for dividing each block contained in the environment map into a plurality of grids in advance;
the assignment module is suitable for assigning the grids in each block according to a preset assignment rule;
the numerical values of the grids in the same block are the same, and the numerical values of the grids in different blocks are different; the grid values are used to determine the block range of the corresponding block.
20. The apparatus of claim 19, wherein the adjustment module is further adapted to:
the block range of the effective block is extended to the position of the obstacle by changing the values of the respective grids included in the effective block and/or blocks adjacent to the effective block.
21. The apparatus of claim 20, wherein the adjustment module is further adapted to:
modifying a value of each grid located between the effective block and the obstacle in a block adjacent to the effective block to a value of each grid in the effective block.
22. The apparatus of claim 19, wherein the assignment module is further adapted to:
for each block, a grid value in a block adjacent to the block and located in a first direction of the block differs from a grid value in the block by a first value, and a grid value in a block adjacent to the block and located in a second direction of the block differs from a grid value in the block by a second value;
wherein the first direction and the second direction are perpendicular to each other.
23. The apparatus of any of claims 13-17, wherein the apparatus further comprises:
and the cleaning route setting module is suitable for setting a cleaning route within the range of the blocks contained after the effective blocks are extended, so that the cleaning robot can clean the inner area of the effective blocks along the cleaning route.
24. The apparatus of any of claims 13-17, wherein the detection module is further adapted to:
and detecting whether an obstacle with a distance smaller than a preset distance threshold exists outside the effective block or not through a preset laser radar and/or a distance sensor.
25. A robot comprising the block adjusting device for a cleaning robot of any one of claims 13-24.
26. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the block adjustment method for the cleaning robot in any one of claims 1-12.
27. A computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the tile adjustment method for a cleaning robot of any one of claims 1-12.
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| CN110362099B (en) * | 2018-03-26 | 2022-08-09 | 科沃斯机器人股份有限公司 | Robot cleaning method, device, robot and storage medium |
| CN110940994A (en) * | 2018-09-25 | 2020-03-31 | 北京京东尚科信息技术有限公司 | Positioning initialization method and system thereof |
| CN109298715B (en) * | 2018-11-09 | 2021-12-07 | 苏州瑞得恩光能科技有限公司 | Robot traveling control system and traveling control method |
| CN111240309A (en) * | 2018-11-12 | 2020-06-05 | 北京奇虎科技有限公司 | Method and device for sweeping robot to perform sweeping work and electronic equipment |
| CN111693045A (en) * | 2019-03-13 | 2020-09-22 | 北京奇虎科技有限公司 | Sweeping route generation method and device of sweeper |
| CN110428423A (en) * | 2019-06-25 | 2019-11-08 | 深圳乐动机器人有限公司 | A kind of terrain feature edit method, editing equipment and editing system |
| WO2021012525A1 (en) * | 2019-07-24 | 2021-01-28 | 苏州宝时得电动工具有限公司 | Method for controlling automatic locomotion device to return to station, and automatic locomotion device |
| CN110477813B (en) * | 2019-08-12 | 2021-11-09 | 珠海市一微半导体有限公司 | Laser type cleaning robot and control method thereof |
| CN111077894B (en) * | 2020-01-02 | 2023-11-28 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for determining area to be cleaned |
| CN111813103B (en) * | 2020-06-08 | 2021-07-16 | 珊口（深圳）智能科技有限公司 | Control method, control system and storage medium for mobile robot |
| CN111722630B (en) * | 2020-06-30 | 2024-02-02 | 深圳银星智能集团股份有限公司 | Partition boundary extension method, device and equipment of cleaning robot and storage medium |
| 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 |
| CN114869175A (en) * | 2022-05-26 | 2022-08-09 | 美智纵横科技有限责任公司 | Cleaning obstacle avoidance method and device, electronic equipment and storage medium |
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| KR101641235B1 (en) * | 2009-11-17 | 2016-07-20 | 엘지전자 주식회사 | Robot cleaner and controlling method of the same |
| KR101887055B1 (en) * | 2011-11-14 | 2018-09-11 | 삼성전자주식회사 | Robot cleaner and control method for thereof |
| CN102968122A (en) * | 2012-12-12 | 2013-03-13 | 深圳市银星智能科技股份有限公司 | Covering method of map self-established by mobile platform in unknown region |
| JP6666695B2 (en) * | 2015-11-16 | 2020-03-18 | シャープ株式会社 | Self-propelled electronic device and traveling method of self-propelled electronic device |
| CN106175606B (en) * | 2016-08-16 | 2019-02-19 | 北京小米移动软件有限公司 | The method, apparatus that robot and its realization independently manipulate |
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