CN107928565A

CN107928565A - Clean method, device and the robot of clean robot

Info

Publication number: CN107928565A
Application number: CN201711148396.4A
Authority: CN
Inventors: 栾成志; 谭平; 潘俊威; 刘坤
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2017-11-17
Filing date: 2017-11-17
Publication date: 2018-04-20

Abstract

The invention discloses a kind of clean method of clean robot, device and robot, by controlling clean robot to take a round along the border row in region to be cleaned, and records closed path curve corresponding in walking process；Determine reachable region and non-reachable region；State corresponding to reachable region is arranged to first state, the state corresponding to non-reachable region is arranged to the second state；Arrange a plurality of cleaning route in the enclosed region that closed path curvilinear inner is formed, record the state corresponding to two endpoints of every cleaning route, filter out the cleaning route that the state corresponding to two endpoints is the second state.By being distinguished to reach the region state different from non-reachable region setting, so as to judge whether cleaning route reaches, when can be more special to avoid the contour shape of closed path curve formation, the ineffective cleaning route of closed path curved exterior arrangement is filtered out, the cleaning efficiency of clean robot is improved with this.

Description

Clean method, device and the robot of clean robot

Technical field

The present invention relates to Smart Home technical field, and in particular to a kind of clean method of clean robot, device and machine Device people.

Background technology

Microprocessor, sensor technology, network communication technology are introduced traditional home appliance equipment and are formed by intelligent appliance, At present, more and more home appliances employ 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, the intelligent requirement that has higher of the people for intelligent appliance.

Clean robot is a typical representative in intelligent appliance, it automatically can clean ground.But send out A person of good sense has found in the implementation of the present invention：Arranged in the prior art according to the profile in region to be cleaned in region to be cleaned During cleaning route, may arrange not accessibility cleaning route in region to be cleaned, and clean robot is according to cleaning road When being cleaned mistake can occur for line.

The content of the invention

In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least in part State the clean method, device and robot of the clean robot of problem.

According to an aspect of the invention, there is provided a kind of clean method of clean robot, including：

Control clean robot takes a round along the border row in region to be cleaned, and records closure corresponding in walking process Path curve；

Determine reachable region corresponding with the closed path curve and corresponding with the closed path curve Non- reachable region；

State corresponding to the reachable region is arranged to first state, by corresponding to the non-reachable region State is arranged to the second state；

Arrange a plurality of cleaning route in the enclosed region that the closed path curvilinear inner is formed, record respectively every it is clear State corresponding to two endpoints of clean route, filters out state corresponding to two endpoints as the from a plurality of cleaning route The cleaning route of two-state.

Alternatively, it is described to be located at the corresponding reachable region of the closed path curve in the closed path curve The inside for the enclosed region that portion is formed；It is described to be located at the closure with the corresponding non-reachable region of the closed path curve The outside for the enclosed region that path curve is internally formed.

Alternatively, it is described to include with the corresponding reachable region of the closed path curve：According to the cleaning machine The non-barrier region that environmental map corresponding to people determines；The described and corresponding non-reachable area of the closed path curve Domain includes：The barrier region that environmental map according to corresponding to the clean robot determines.

Alternatively, the control clean robot takes a round along the border row in region to be cleaned, and records in walking process Before the step of corresponding closed path curve, further comprise：

Environmental map corresponding to the clean robot is divided into multiple blocks；

Rule is determined according to default effective block, and the multiple area each block in the block is determined as effective district successively Block, then the region to be cleaned is the region in the currently active block；Wherein, the effective block is to be currently needed for cleaning Block.

Alternatively, the state by corresponding to the reachable region is arranged to first state, will be described non-reachable The step of state corresponding to region is arranged to the second state specifically includes：State value corresponding to the reachable region is set The first numerical value is set to, the state value corresponding to the non-reachable region is arranged to second value；

Then the step of state corresponding to two endpoints for recording every cleaning route respectively specifically includes：Remember respectively Record the state value corresponding to two endpoints of every cleaning route.

Alternatively, the region to be cleaned further comprises multiple grids, then by the reachable region corresponding to shape State value is arranged to the first numerical value, and the step of state value corresponding to the non-reachable region is arranged to second value specifically wraps Include：

The state value of each grid of the reachable region overlay is arranged to the first numerical value, by the non-reachable area The state value of each grid of domain covering is arranged to second value；

Then the step of state value corresponding to two endpoints for recording every cleaning route respectively specifically includes：Respectively Record the state value of the grid corresponding to two endpoints of every cleaning route.

Alternatively, the step of state value corresponding to two endpoints for recording every cleaning route respectively specifically wraps Include：

Every cleaning route is directed to respectively, the state value difference of the grid corresponding to two endpoints of the cleaning route is true It is set to first end point state value and the second endpoint status value；

By the first end point state value and the second endpoint status value associated storage to the route mark with the cleaning route In sensible corresponding Extreme points set；

Then the state value filtered out from a plurality of cleaning route corresponding to two endpoints is the cleaning of second value The step of route, specifically includes：

Obtain and the corresponding Extreme points set of each Route identification respectively；

If the first end point state value included in the Extreme points set is second included in second value and the Extreme points set Endpoint status value is second value, it is determined that with the cleaning route corresponding to the corresponding Route identification of the Extreme points set to be invalid Route；

The invalid route is filtered out from a plurality of cleaning route.

Alternatively, the state filtered out from a plurality of cleaning route corresponding to two endpoints is the clear of the second state After the step of clean route, further comprise：

Each bar cleaning route according to obtaining is cleaned；Wherein, during cleaning, if running into barrier, according to It is default to be handled around barrier processing rule.

Alternatively, the step of a plurality of cleaning route of arranging in the enclosed region of closed path curvilinear inner formation Suddenly specifically include：

Calculate the enclosed region corresponding to first direction the first length accumulation and and the enclosed region correspond to Second direction the second length accumulation and；

By first length accumulation and and second length accumulate and be compared, determined clearly according to comparative result The arragement direction of clean route；

Arrange along the arragement direction in the enclosed region a plurality of cleaning route.

Alternatively, it is described by first length accumulation and and second length accumulate and be compared, according to than Relatively result determines that the step of arragement direction of cleaning route specifically includes：

Determine first length accumulation and whether be more than second length accumulation and；

If, it is determined that the arragement direction of the cleaning route is identical with the first direction；If not, it is determined that described clear The arragement direction of clean route is identical with the second direction.

Alternatively, it is described determine first length accumulation and whether be more than second length accumulation and the step of it Before, further comprise step：

Calculate first length accumulation and with second length accumulation and between difference, whether judge the difference More than preset difference value threshold value；

If so, then perform the step for determining the first length accumulation and whether being more than second length accumulation sum Suddenly；

If it is not, the arragement direction of the cleaning route is then determined according to default arranging rule.

Alternatively, the default arranging rule includes：

Judge the first length accumulation and accumulate with second length and whether be respectively smaller than pre-set length threshold, if Be then calculate the enclosed region corresponding to third direction the 3rd length accumulation and；

Judge the 3rd length accumulation and whether be more than the pre-set length threshold, if, it is determined that the cleaning road The arragement direction of line is identical with the third direction.

Alternatively, the first direction is the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is Parallel to the direction of the longitudinal coordinate axle in preset coordinate system, then the third direction is the original by the preset coordinate system Point, and between the transverse coordinate axis in predetermined angle straight line corresponding to direction.

Alternatively, the predetermined angle is 45 degree.

According to another aspect of the present invention, there is provided a kind of cleaning device of clean robot, including：

Curve record module, takes a round suitable for control clean robot along the border row in region to be cleaned, and records walking During corresponding closed path curve；

Area determination module, is adapted to determine that reachable region corresponding with the closed path curve and is closed with described The corresponding non-reachable region of combining diametal curve；

State setting module, will be described non-suitable for the state corresponding to the reachable region is arranged to first state State corresponding to reachable region is arranged to the second state；

Cleaning route arrangement module, it is a plurality of clear suitable for arranging in the enclosed region that the closed path curvilinear inner is formed Clean route；

State recording module, suitable for recording the state corresponding to the two of every cleaning route endpoints respectively；

Module is filtered out, suitable for filtering out the state corresponding to two endpoints from a plurality of cleaning route as the second state Cleaning route.

Alternatively, described device further comprises：

Split module, suitable for the environmental map corresponding to the clean robot is divided into multiple blocks；

Effective block determining module, suitable for determining rule according to default effective block, successively by the multiple block Each block be determined as effective block, then the region to be cleaned is region in the currently active block；Wherein, it is described Effective block is to be currently needed for clean block.

Alternatively, the state setting module is further adapted for：State value corresponding to the reachable region is set For the first numerical value, the state value corresponding to the non-reachable region is arranged to second value；

The state recording module is further adapted for：The state corresponding to two endpoints of every cleaning route is recorded respectively Value.

Alternatively, the region to be cleaned further comprises multiple grids, then the state setting module is further adapted for：

Then the state recording module is further adapted for：The grid corresponding to two endpoints of every cleaning route are recorded respectively The state value of lattice.

Alternatively, the state recording module is further adapted for：

The module that filters out is further adapted for：

The invalid route is filtered out from a plurality of cleaning route.

Alternatively, described device further comprises：

Cleaning module, suitable for being cleaned according to obtained each bar cleaning route；Wherein, during cleaning, if running into Barrier, then handled according to default around barrier processing rule.

Alternatively, the cleaning route arrangement module is further adapted for：

Alternatively, the default arranging rule includes：

Alternatively, the predetermined angle is 45 degree.

According to another aspect of the present invention, there is provided a kind of robot, includes the cleaning device of above-mentioned clean robot.

According to another aspect of the invention, there is provided a kind of computing device, 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 store an at least executable instruction, and it is above-mentioned that the executable instruction performs the processor The corresponding operation of clean method of clean robot.

In accordance with a further 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 processor perform the corresponding behaviour of clean method such as above-mentioned clean robot Make.

Clean method, device and the robot of the clean robot provided according to the present invention, by controlling clean robot Take a round along the border row in region to be cleaned, and record closed path curve corresponding in walking process；Determine and closure road The corresponding reachable region of diametal curve and with the corresponding non-reachable region of closed path curve；By reachable region institute Corresponding state is arranged to first state, and the state corresponding to non-reachable region is arranged to the second state；In closed path The a plurality of cleaning route of arrangement, records corresponding to two endpoints of every cleaning route respectively in the enclosed region that curvilinear inner is formed State, the cleaning route that state corresponding to two endpoints is the second state is filtered out from a plurality of cleaning route.According to this reality The method that example offer is provided, by being distinguished to reach the region state different from non-reachable region setting, so as to Judge whether cleaning route reaches, can to avoid closed path curve formed contour shape it is more special when, on the closure road The situation for the ineffective cleaning route that distribution can not reach outside diametal curve, the cleaning efficiency of clean robot is improved with this.

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.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention Limitation.And in whole attached drawing, identical component is denoted by the same reference numerals.In the accompanying drawings：

Fig. 1 shows the flow diagram of the clean method of clean robot according to an embodiment of the invention；

Fig. 2 shows the flow diagram of the clean method of clean robot in accordance with another embodiment of the present invention；

Fig. 3 shows the schematic diagram of grid in the enclosed region of another embodiment according to the present invention；

Fig. 4 shows the schematic diagram of the corresponding enclosed region of closed path curve of another embodiment according to the present invention；

Fig. 5 shows the schematic diagram of cleaning route in accordance with another embodiment of the present invention；

Fig. 6 shows the structure diagram of the cleaning device of the clean robot of another embodiment according to the present invention；

Fig. 7 shows the structure diagram of computing device 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 attached 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 flow diagram of the clean method of clean robot according to an embodiment of the invention, such as Fig. 1 It is shown, including：

Step S100, control clean robot takes a round along the border row in region to be cleaned, and records institute in walking process Corresponding closed path curve.

The clean method of the present embodiment controls clean robot to take a round along the border row in region to be cleaned first, remembers at the same time The closed path curve that record clean robot is formed during the border row along region to be cleaned takes a round, is closed according to this Combining diametal curve, which can divide current clean robot, to be needed to carry out clean region, in addition can also be according to the closed path curve Determine reachable region and non-reachable region.

Step S101, determines reachable region corresponding with closed path curve and corresponding with closed path curve Non- reachable region.

The region that reachable region, that is, clean robot can reach, such as the inside of above-mentioned closed curve and non-obstacle The region of thing, the region that non-reachable region, that is, clean robot cannot reach, such as the perimeter of the closed curve and Barrier region inside the closed curve.Since clean robot is clean according to cleaning route progress, in non- Cleaning route in reachable region, clean robot can not be cleaned, but can not ensure institute when arranging cleaning route Some cleaning routes are in reachable region, it is therefore desirable to determine with the corresponding reachable region of closed path curve with And with the corresponding non-reachable region of closed path curve.

Step S102, first state is arranged to by the state corresponding to reachable region, by corresponding to non-reachable region State be arranged to the second state.

In order to distinguish reachable region and non-reachable region, the state corresponding to reachable region is arranged to the first shape State, the second state is arranged to by the state corresponding to non-reachable region, then can according to residing for cleaning route region state Judge whether the cleaning route is effective, i.e., whether this cleaning route is reachable cleaning route.

Step S103, a plurality of cleaning route of arranging in the enclosed region that closed path curvilinear inner is formed, records respectively State corresponding to two endpoints of every cleaning route, the state corresponding to two endpoints is filtered out from a plurality of cleaning route is The cleaning route of second state.

The arragement direction of cleaning route is determined according to information such as the contour shape of above-mentioned closed path curve, sizes, according to Arragement direction is arranged a plurality of cleaning route in the enclosed region that closed path curvilinear inner is formed, for each cleaning route Be respectively provided with two endpoints, from above-mentioned steps S102, region residing for two endpoints correspond to it is stateful, if cleaning route Two endpoints are first state, then show that the cleaning route is in reachable region, which is effective cleaning route； If two endpoints of cleaning route are the second state, show that the cleaning route is in non-reachable region, this cleans road Line is ineffective cleaning route, and when being cleaned according to ineffective cleaning route mistake can occur for clean robot, it is therefore desirable to will Ineffective cleaning route in a plurality of cleaning route filters out.

It is a plurality of clear according to arragement direction arrangement in the interior zone that the closed path curve is formed in specific application After clean route, the corresponding state of two endpoints of every cleaning route is recorded, by the mark of two endpoints and two endpoints State, which is associated, to be stored in endpoint status chained list, before clean robot is cleaned along cleaning route, travels through the endpoint status Chained list, is determined as ineffective cleaning route by the corresponding state of two-end-point for the cleaning route of the second state, and by ineffective cleaning road Line filters out.Certainly, the solution of the present invention not limited to this.

According to the clean method of clean robot provided in this embodiment, by controlling clean robot along region to be cleaned Border row take a round, and record in walking process corresponding closed path curve；Determine corresponding with closed path curve Reachable region and with the corresponding non-reachable region of closed path curve；State corresponding to reachable region is set First state is set to, the state corresponding to non-reachable region is arranged to the second state；Formed in closed path curvilinear inner Enclosed region in a plurality of cleaning route of arrangement, the state corresponding to two endpoints of every cleaning route is recorded respectively, from more The cleaning route that the state corresponding to two endpoints is the second state is filtered out in bar cleaning route.According to side provided in this embodiment Method, by being distinguished to reach the region state different from non-reachable region setting, so as to judge cleaning route Whether reach, can to avoid closed path curve formed contour shape it is more special when, in the closed path extra curvature part The situation of the not accessibility ineffective cleaning route of cloth, the cleaning efficiency of clean robot is improved with this.

Fig. 2 shows the flow diagram of the clean method of clean robot in accordance with another embodiment of the present invention, such as Shown in Fig. 2, including：

Step S200, control clean robot takes a round along the border row in region to be cleaned, and records institute in walking process Corresponding closed path curve.

In specific application, the environmental map corresponding to clean robot is divided into multiple blocks；According to default Effective block determines rule, and multiple areas each block in the block is determined as effective block successively, then region to be cleaned be positioned at Region in the currently active block；Wherein, effective block is to be currently needed for clean block.

The mode of clean robot constructing environment map includes but not limited to following mode：Utilize SLAM (simultaneous localization and mapping, positioning is with building figure immediately) map is with positioning structure module to clear Clean robot is positioned, while builds the environmental map of clean robot present position, and clean robot is provided with laser hair Emitter, laser transmitter projects go out laser, and laser reflects when running into barrier, and SLAM is according to transmitting and the laser reflected Constructing environment map.It should be noted that it is existing it is every can be used in build the present embodiment in clean robot it is corresponding The mode of environmental map is included in the scope of protection of the invention.

Environmental map is divided into multiple blocks according to default rule, each block is determined as effective block successively, The region to be cleaned being pointed in the currently active block is cleaned, and when having cleaned all blocks, then shows the environmental map pair The region clean answered finishes.According to the cleaning route of each Zone Plan robot, provide convenience, make for route planning process Clean robot is cleaned according to each block, and then improves cleaning efficiency.

Specifically, the environmental map obtained for clean robot, a horizontal partition is set every the first predetermined interval Line, a longitudinally split line is set every the second predetermined interval, will by each bar horizontal partition line and the longitudinally split line of each bar Environmental map is divided into multiple blocks, and those skilled in the art can be by setting the first predetermined interval and the second predetermined interval tune The size of whole each block.

The clean method of the present embodiment controls clean robot to take a round along the border row of effective block first, records at the same time The closed path curve that clean robot is formed during the border row along effective block takes a round, according to the closure road Diametal curve, which can divide current clean robot, to be needed to carry out clean region, true according to closed path curve it can in addition contain this Surely reachable region and non-reachable region.

Step S201, determines reachable region corresponding with closed path curve and corresponding with closed path curve Non- reachable region.

Wherein, closing for closed path curvilinear inner formation is located at the corresponding reachable region of closed path curve Close the inside in region；It is located at closed path curvilinear inner formation with the corresponding non-reachable region of closed path curve The outside of enclosed region.

Include with the corresponding reachable region of closed path curve：Environmental map according to corresponding to clean robot is true Fixed non-barrier region；Include with the corresponding non-reachable region of closed path curve：According to corresponding to clean robot The barrier region that determines of environmental map.

Above-mentioned steps S200 determines the closed path curve that clean robot is formed along the currently active block, if this is effective Barrier is not present in block, which is the curve corresponding to the border of the effective block；If the effective district There are barrier in block, then the closed path curve is according to the corresponding curve in border of the effective block and the shape of barrier The curve of shape and/or location determination, also, the shape of the curve may be irregular shape.

It can determine to be currently needed for carrying out clean region, the closure that closed path curve is formed according to closed path curve Region is to be currently needed for carrying out clean region, for being currently needed for carrying out clean region, outside the enclosed region Portion region need not currently be cleaned, as non-reachable region, and the barrier region in the enclosed region is also non-reachable area Domain, the non-barrier region inside enclosed region are reachable region.

Step S202, the first numerical value is arranged to by the state value corresponding to reachable region, and non-reachable region institute is right The state value answered is arranged to second value.

, can be with area by setting the state value corresponding to reachable region and the state value corresponding to non-reachable region Divide reachable region and non-reachable region.

For the above-mentioned each block for dividing environmental map, each block is further divided into multiple grids, grid Size can be configured according to actual needs, can be more accurate by grid by the way that each block is divided into multiple grids Really represent the scope in reachable region and non-reachable region, cleaning can more easily be determined according to the size of grid The arragement direction of route, and may determine that whether cleaning route has according to the state value of the corresponding grid of endpoint of cleaning route Effect.

Then the above-mentioned state value by corresponding to reachable region is arranged to the first numerical value, by corresponding to non-reachable region The operation that state value is set to second value is specially：

The state value of each grid of reachable region overlay is arranged to the first numerical value, by non-reachable region overlay The state value of each grid is arranged to second value.

Step S203, calculates the enclosed region that closed path curvilinear inner is formed and tires out corresponding to the first length of first direction Product and and enclosed region correspond to second direction the second length accumulate.

Specifically, the accumulation of the first length of first direction and and second can be determined according to the grid in enclosed region Length accumulate and.

When the quantity for the grid arranged in the first direction in enclosed region is multigroup, calculate corresponding to multigroup quantity most Big value, average value and/or minimum value, the closed area is determined according to maximum, average value and/or minimum value and lattice dimensions Domain correspond to first direction the first length accumulation and；

When the quantity for the grid arranged in a second direction in enclosed region is multigroup, calculate corresponding to multigroup quantity most Big value, average value and/or minimum value, closed area is determined according to the maximum, average value and/or minimum value and lattice dimensions Domain correspond to second direction the second length accumulation and.

When it is implemented, can in region to be cleaned preset coordinate system, according to the preset coordinate system determine first direction and Second direction, first direction are the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is parallel to default The direction of longitudinal coordinate axle in coordinate system, third direction are the origin by preset coordinate system, and between transverse coordinate axis In the direction corresponding to the straight line of predetermined angle.

As shown in figure 3, dash area is the corresponding non-reachable region in region to be cleaned, divide by a dotted line it is each most Small square is grid, and the length of side of grid is 0.01 meter, and first direction is the direction parallel with transverse coordinate axis, and second direction is The direction parallel with longitudinal coordinate axle, using every a line grid of first direction as one group of grid, each row in second direction Grid is as one group of grid.There are barrier inside enclosed region in Fig. 3, totally 9 groups of grid on first direction, wherein 3 groups Grid quantity be respectively 13, in addition 6 groups of grid is located at the both sides of barrier respectively, and grid quantity is respectively 6, then The average value of the quantity of the grid of first direction is calculated, the length of side of average value and grid further according to the quantity of grid calculates horizontal stroke The first length accumulation to direction and, i.e., the quantity of total grid divided by group number always are multiplied by the length of side of grid, are calculated the One length accumulates and for 0.083 meter.Totally 13 groups of grid in second direction, wherein 12 groups of grid quantity is respectively 6, in addition 1 group of grid quantity is 3, can similarly calculate the second length in second direction and accumulate and for 0.058 meter.

In addition, when having multirow grid on first direction in enclosed region, there is multiple row grid in second direction, in order to improve effect Rate, no longer will be per a line or each row grid as one group of grid, but according on certain rule extraction first direction A line grid is as one group of grid, or according to certain rule extraction second direction previous column grid as one group of grid, example A line grid is extracted in every line in a first direction such as in enclosed region as one group of grid, in a second direction every one Row extract a row grid as one group of grid, according to the sum of the grid extracted, the group number and grid of the grid extracted The length of side calculate the first length accumulation and and the second length accumulation and.

In addition, can also be according to the grid corresponding to maximum or minimum a line of grid quantity on first direction in enclosed region Lattice quantity and the length of side of grid calculate the accumulation of the first length and, according to grid quantity in second direction in enclosed region it is maximum or The corresponding grid quantity of the minimum row of person and the length of side of grid calculate the accumulation of the second length and.As shown in figure 3, first party A line of upward grid quantity maximum includes 13 grids, then the first length accumulates and for 0.13 meter, grid number in second direction The maximum row of amount include 6 grids, then the second length accumulates and for 0.06 meter；A line of grid quantity minimum on first direction Including 6 grids, then the first length accumulation and for 0.06 meter, the minimum row of grid quantity include 3 grids in second direction, Then the second length accumulates and for 0.03 meter.

It should be noted that the present invention to calculate the first length accumulation and and the second length accumulation sum mode do not limit Fixed, this area staff can be configured according to actual needs.

Step S204, by the first length accumulation and and the second length accumulate and be compared, determined according to comparative result The arragement direction of cleaning route.

Determine the first length accumulation and whether be more than the second length accumulation and；If, it is determined that the arrangement side of cleaning route To identical with the first direction；If not, it is determined that the arragement direction of cleaning route is identical with the second direction.

If the first length is accumulated and accumulates more than the second length and show to be arranged using first direction as arragement direction clear Clean route, obtained cleaning route is overall longer, and when cleaning enclosed region along cleaning route, turn around clean robot number Few, cleaning efficiency is high；If the first length accumulates and accumulates less than the second length and show to be used as arragement direction using second direction Arrangement cleaning route, obtained cleaning route is overall longer, and clean robot falls when cleaning enclosed region along cleaning route Head number is few, and cleaning efficiency is high.As shown in figure 3, according to above-mentioned calculating, for the enclosed region in Fig. 3, in horizontal direction Upper arrangement cleaning route can make clean robot turn around when being cleaned along cleaning route, and number is less, and cleaning efficiency is high.

By step S203 calculate the accumulation of the first length and with the accumulation of the second length and, but in practical applications, close The shape for closing region may be one than more uniform shape, i.e. the first length accumulation and accumulated with the second length and difference not Greatly, the arrangement cleaning route either using first direction as arragement direction, or arranged clearly using second direction as arragement direction Clean route, when clean robot is cleaned according to cleaning route, clean robot cleaning efficiency is suitable, point of no quality.

Therefore in order to more reasonably arrangement cleaning route, it is necessary to judge the first length accumulation and with the second length accumulation and Between difference whether be more than preset difference value threshold value, if so, then perform it is above-mentioned by the first length accumulation and and the second length tire out The step of accumulating and being compared, the arragement direction of cleaning route is determined according to comparative result；If it is not, then according to default arranging rule Determine the arragement direction of cleaning route, for example, the first length accumulate and with the second length accumulation and between difference be not more than During preset difference value threshold value, then the arragement direction using first direction as cleaning route is given tacit consent to.

Further, in practical applications, it is possible to there are the first length accumulation and and the second length accumulation and all It is smaller, i.e., no matter using first direction as arragement direction arrangement cleaning route, or arranged and cleaned as arragement direction using second direction Route, obtained cleaning route is shorter, and clean robot turns around number more situation when being cleaned along cleaning route.Judge One length accumulates and accumulates with the second length and whether be respectively smaller than pre-set length threshold, is corresponded to if so, then calculating enclosed region In third direction the 3rd length accumulation and, and judge the 3rd length accumulation and whether be more than pre-set length threshold, if judging 3rd length accumulates and more than pre-set length threshold, it is determined that the arragement direction of cleaning route is identical with third direction；If judge Go out the accumulation of the 3rd length and preset again smaller than preset length, then the arragement direction of cleaning route is determined according to default arranging rule, Preferably, direction of the third direction between transverse coordinate axis in coordinate system in straight line 45 degree default corresponding to；If judge Go out the accumulation of the first length and/or accumulated and not less than pre-set length threshold with the second length, then perform the accumulation of the first length and And the second length accumulation and the step of be compared, the arragement direction of cleaning route is determined according to comparative result.

The enclosed region that closed path curve 40 as shown in Figure 4 is surrounded, first direction is parallel to lateral coordinates axis, and Two are oriented parallel to longitudinal coordinate axle.Set in the enclosed region in the first direction or second direction arrangement cleaning route, The length of every cleaning route is all shorter so that the cleaning effect of clean robot is poor, and u-turn number is more so as to increase energy Consumption, then at this time calculate enclosed region correspond to third direction the 3rd length accumulation and, the 3rd length accumulation and more than default length Spend threshold value, then show it is overall longer according to the cleaning route of third direction arrangement, using third direction as cleaning route arragement direction.

Step S205, a plurality of cleaning route of arranging along arragement direction in enclosed region, records every cleaning route respectively Two endpoints corresponding to state value, state corresponding to two endpoints is filtered out from a plurality of cleaning route as the second state Cleaning route.

Every cleaning route is directed to respectively, the state value difference of the grid corresponding to two endpoints of the cleaning route is true It is set to first end point state value and the second endpoint status value；First end point state value and the association of the second endpoint status value are deposited Store up with the corresponding Extreme points set of the Route identification of the cleaning route.Correspondingly, two are filtered out from a plurality of cleaning route The step of state value corresponding to endpoint is the cleaning route of second value specifically includes：Obtain and each Route identification phase respectively Corresponding Extreme points set；If the first end point state value included in the Extreme points set is to be included in second value and the Extreme points set The second endpoint status value be second value, it is determined that with the cleaning route corresponding to the corresponding Route identification of the Extreme points set For invalid route；Invalid route is filtered out from a plurality of cleaning route.

As shown in figure 5, clean robot takes a round along area row to be cleaned, the shape for the closed path curve to be formed compares Special, the enclosed region of closed path curvilinear inner includes reachable region and non-reachable region, in closed path curve 50 The barrier region that the enclosed region in portion includes the region of the encirclement of closed path curve 50 and parallax is filled, parallax institute The region of filling is the non-reachable region corresponding to closed path curve 50, then arranges along arragement direction in enclosed region During a plurality of cleaning route, can also arrange cleaning route in the non-reachable region, by the state of grid in non-reachable region Value is set to 1, and the region that closed path curve surrounds is reachable region corresponding with closed path curve 50, by reachable region The state value of interior grid is set to 0, and dotted line corresponds to a plurality of cleaning route, since clean robot tool has the dimensions, The endpoint of cleaning route has a certain distance from closed path curve.

Specifically, after setting cleaning route along arragement direction, the shape corresponding to region according to residing for cleaning route State value, determines the state value of the grid corresponding to two endpoints of cleaning route, is respectively first end point state value and second Endpoint status value, records the first end point state value and the second endpoint status value of each bar cleaning route, determines each bar cleaning road The grid identifier of grid corresponding to the first end point of line and the second endpoint, the grid identifier can identify the position letter of grid Breath, cleaning route can be determined according to the grid identifier of the first end point of each bar cleaning route and the corresponding grid of the second endpoint Positional information, therefore the Route identification of cleaning route includes the grid mark of its first end point and the corresponding grid of the second endpoint Know.

After the good each bar cleaning route of arrangement, by the first end point state value and second end point-like of each bar cleaning route State value associated storage to in the corresponding Extreme points set of the Route identification of the cleaning route.Clean robot is according to cleaning road When line is cleaned, the cleaning for obtaining the cleaning route identifies corresponding Extreme points set, to two endpoints of cleaning route State value is judged that first end point state value and the second endpoint status value are the first numerical value if judging, show this Cleaning route is in reachable region, and it is effective cleaning route to determine the cleaning route, clean robot is cleaned road along this Line is walked；If judging, the first end point state value of cleaning route is different from the second endpoint status value, shows the cleaning route An endpoint be in reachable region, another endpoint is in non-reachable region, then makes clean robot from the cleaning road The state value of line starts to clean for the endpoint of the first numerical value；If judge cleaning route first end point state value and the second endpoint State value is second value, then shows that the cleaning route is in non-reachable region, it is ineffective cleaning road to determine the cleaning route Line, and filter out this cleaning route.

As shown in figure 5, the first end point state value of cleaning route 51 and the second endpoint status value are 1, judge clear Clean route 51 is ineffective cleaning route, then filters out cleaning route 51, and judges whether next cleaning route be effective；Clean road The first end point state value of line 50 and the second endpoint status value are 0, be effective cleaning route, then clean robot according to Cleaning route 50 is walked, to clean corresponding region, effective cleaning route for having walked when clean robot in the enclosed region, Show that the cleaning of the enclosed region finishes.

Clean robot is cleaned according to obtained each bar cleaning route, wherein, during cleaning, if running into obstacle Thing, then handled according to default around barrier processing rule.

When the first end point state value for the cleaning route that clean robot is currently walked is different from the second endpoint status value, Then show that barrier can be run into when clean robot is walked along the cleaning route, place when record clean robot runs into barrier Position correspondence grid grid identifier, and make clean robot along the barrier edge walk one week, return to the grid The position where corresponding grid is identified, continues to clean further according to next cleaning route.

According to the clean method of clean robot provided in this embodiment, side of the control clean robot along region to be cleaned Boundary's row takes a round, and records closed path curve corresponding in walking process；Determine with closed path curve is corresponding can Reach region and with the corresponding non-reachable region of closed path curve；State value corresponding to reachable region is set For the first numerical value, the state value corresponding to non-reachable region is arranged to second value；Calculate closed path curvilinear inner shape Into enclosed region correspond to first direction the first length accumulation and and enclosed region correspond to second direction second length Degree accumulation；By the first length accumulation and and the second length accumulate and be compared, cleaning route is determined according to comparative result Arragement direction；Arrange along arragement direction in enclosed region a plurality of cleaning route, record two ends of every cleaning route respectively The corresponding state value of point, filters out the cleaning road that the state corresponding to two endpoints is the second state from a plurality of cleaning route Line.By the way that environmental map is divided into block, each block is further divided into grid, being capable of quickly and conveniently computational length Accumulation and, enabling accumulated according to above-mentioned length and determine optimal cleaning route arragement direction so that cleaning route of arranging, To avoid because the setting of cleaning route direction is unreasonable clean robot can be caused frequently to reverse end for end, so as to save energy consumption and be lifted The cleaning speed of clean robot；By being distinguish between to reach the region state value different from non-reachable region setting, So as to judge whether cleaning route reaches, can to avoid closed path curve formed contour shape it is more special when, The closed path curved exterior is distributed the situation of not accessibility ineffective cleaning route, and the cleaning that clean robot is improved with this is imitated Rate.

Fig. 6 show according to the present invention another be embodiment clean robot cleaning device structure diagram, As shown in fig. 6, including：

Curve record module 601, takes a round suitable for control clean robot along the border row in region to be cleaned, and records row Corresponding closed path curve during walking；

Area determination module 602, is adapted to determine that reachable region corresponding with closed path curve and with closing road The corresponding non-reachable region of diametal curve；

State setting module 603, will be non-reachable suitable for the state corresponding to reachable region is arranged to first state State corresponding to region is arranged to the second state；

Cleaning route arrangement module 604, it is a plurality of clear suitable for arranging in the enclosed region that closed path curvilinear inner is formed Clean route；

State recording module 605, suitable for recording the state corresponding to the two of every cleaning route endpoints respectively；

Module 606 is filtered out, suitable for filtering out the state corresponding to two endpoints from a plurality of cleaning route as the second state Cleaning route.

Alternatively, the closure of closed path curvilinear inner formation is located at the corresponding reachable region of closed path curve The inside in region；It is located at the closed area of closed path curvilinear inner formation with the corresponding non-reachable region of closed path curve The outside in domain.

Alternatively, include with the corresponding reachable region of closed path curve：Ring according to corresponding to clean robot The non-barrier region that condition figure determines；Include with the corresponding non-reachable region of closed path curve：According to cleaning machine The barrier region that environmental map corresponding to people determines.

Alternatively, above device further comprises：

Split module, suitable for the environmental map corresponding to clean robot is divided into multiple blocks；

Effective block determining module, it is successively that multiple areas are in the block every suitable for determining rule according to default effective block A block is determined as effective block, then region to be cleaned is the region in the currently active block；Wherein, effective block is to work as It is preceding to need clean block.

Alternatively, state setting module 603 is further adapted for：State value corresponding to reachable region is arranged to first Numerical value, second value is arranged to by the state value corresponding to non-reachable region；

State recording module 605 is further adapted for：The state corresponding to two endpoints of every cleaning route is recorded respectively Value.

Alternatively, region to be cleaned further comprises multiple grids, then state setting module 603 is further adapted for：

The state value of each grid of reachable region overlay is arranged to the first numerical value, by non-reachable region overlay The state value of each grid is arranged to second value；

Then state recording module 605 is further adapted for：The grid corresponding to two endpoints of every cleaning route are recorded respectively The state value of lattice.

Alternatively, state recording module 605 is further adapted for：

By first end point state value and the second endpoint status value associated storage to the Route identification phase with the cleaning route In corresponding Extreme points set；

Alternatively, module 606 is filtered out to be further adapted for：

Invalid route is filtered out from a plurality of cleaning route.

Alternatively, above device further comprises：

Alternatively, cleaning route arrangement module 604 is further adapted for：

Calculate enclosed region correspond to first direction the first length accumulation and and enclosed region correspond to second direction The second length accumulation and；

By the first length accumulation and and the second length accumulate and be compared, cleaning route is determined according to comparative result Arragement direction；

Arrange along arragement direction in enclosed region a plurality of cleaning route.

Alternatively, cleaning route arrangement module 604 is further adapted for：

Determine the first length accumulation and whether be more than the second length accumulation and；

If, it is determined that the arragement direction of cleaning route is identical with first direction；If not, it is determined that the arrangement of cleaning route Direction is identical with second direction.

Alternatively, cleaning route arrangement module 604 is further adapted for：

Calculate the first length accumulation and with the second length accumulation and between difference, judge whether difference is more than preset difference value Threshold value；

If so, then perform determine the first length accumulation and whether be more than the second length accumulation and the step of；

If it is not, the arragement direction of cleaning route is then determined according to default arranging rule.

Alternatively, default arranging rule includes：

Judge the accumulation of the first length and accumulate with the second length and whether be respectively smaller than pre-set length threshold, if so, then counting Calculate enclosed region correspond to third direction the 3rd length accumulation and；

Judge the accumulation of the 3rd length and whether be more than pre-set length threshold, if, it is determined that the arragement direction of cleaning route It is identical with third direction.

Alternatively, first direction is the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is parallel The direction of longitudinal coordinate axle in preset coordinate system, then third direction be by preset coordinate system origin, and with horizontal seat It is in the direction corresponding to the straight line of predetermined angle between parameter.

Alternatively, predetermined angle is 45 degree.

The concrete structure and operation principle of above-mentioned modules can refer to the description of corresponding steps in embodiment of the method, herein Repeat no more.

Fig. 7 shows a kind of structure diagram of computing device according to embodiments of the present invention, the specific embodiment of the invention The specific implementation to computing device does not limit.

As shown in fig. 7, the computing device can include：Processor (processor) 702, communication interface (Communications Interface) 704, memory (memory) 706 and communication bus 708.

Wherein：

Processor 702, communication interface 704 and memory 706 complete mutual communication by communication bus 708.

Communication interface 704, for communicating with the network element of miscellaneous equipment such as client or other servers etc..

Processor 702, for executive program 710, it is real can specifically to perform the above-mentioned clean method for clean robot Apply the correlation step in example.

Specifically, program 710 can include program code, which includes computer-managed instruction.

Processor 702 is probably central processor CPU, or specific integrated circuit ASIC (Application Specific Integrated Circuit), or be arranged to implement the embodiment of the present invention one or more integrate electricity Road.The one or more processors that computing device includes, can be same type of processors, 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 706, for storing program 710.Memory 706 may include high-speed RAM memory, it is also possible to further include Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.

Program 710 specifically can be used for so that processor 702 performs following operation：

Determine reachable region corresponding with closed path curve and with closed path curve is corresponding non-arrives Up to region；

State corresponding to reachable region is arranged to first state, the state corresponding to non-reachable region is set For the second state；

Arrange a plurality of cleaning route in the enclosed region that closed path curvilinear inner is formed, record every cleaning road respectively State corresponding to two endpoints of line, it is the second state that the state corresponding to two endpoints is filtered out from a plurality of cleaning route Cleaning route.

Program 710 specifically can be also used for so that processor 702 performs following operation：

It is located at the enclosed region of closed path curvilinear inner formation with the corresponding reachable region of closed path curve It is internal；It is located at the outer of the enclosed region of closed path curvilinear inner formation with the corresponding non-reachable region of closed path curve Portion.

Environmental map corresponding to clean robot is divided into multiple blocks；

Rule is determined according to default effective block, and multiple areas each block in the block is determined as effective block successively, Then region to be cleaned is the region in the currently active block；Wherein, effective block is to be currently needed for clean block.

State value corresponding to reachable region is arranged to the first numerical value, by the state value corresponding to non-reachable region It is arranged to second value；

The step of then recording the state corresponding to two endpoints of every cleaning route respectively specifically includes：Record is every respectively State value corresponding to two endpoints of bar cleaning route.

The step of then recording the state value corresponding to two endpoints of every cleaning route respectively specifically includes：Record respectively The state value of grid corresponding to two endpoints of every cleaning route.

Step of the state value corresponding to two endpoints for the cleaning route of second value is then filtered out from a plurality of cleaning route Suddenly specifically include：

Invalid route is filtered out from a plurality of cleaning route.

First direction is the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is parallel to default seat The direction of longitudinal coordinate axle in mark system, then third direction is the origin by preset coordinate system, and between transverse coordinate axis In the direction corresponding to the straight line of predetermined angle.

Predetermined angle is 45 degree.

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 carry out adaptively 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 attached 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 attached 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 with hardware realization, 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) set to realize that the cleaning of clean robot according to embodiments of the present invention calculates The some or all functions of some or all components in standby.The present invention is also implemented as being used to perform described here Method some or all equipment or program of device (for example, computer program and computer program product).This The program of the realization present invention of sample can store on a computer-readable medium, or can have one or more signal Form.Such signal can be downloaded from internet website and obtained, and either be provided or with any other on carrier signal Form provides.

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

1. a kind of clean method of clean robot, including：

Control clean robot takes a round along the border row in region to be cleaned, and records closed path corresponding in walking process Curve；

Determine reachable region corresponding with the closed path curve and corresponding non-with the closed path curve Reachable region；

State corresponding to the reachable region is arranged to first state, by the state corresponding to the non-reachable region It is arranged to the second state；

Arrange a plurality of cleaning route in the enclosed region that the closed path curvilinear inner is formed, record every cleaning road respectively State corresponding to two endpoints of line, it is the second shape that the state corresponding to two endpoints is filtered out from a plurality of cleaning route The cleaning route of state.

It is described with the corresponding reachable region position of the closed path curve 2. according to the method described in claim 1, wherein In the inside for the enclosed region that the closed path curvilinear inner is formed；It is described with the closed path curve it is corresponding it is non-can Reach the outside that region is located at the enclosed region of closed path curvilinear inner formation.

3. method according to claim 1 or 2, wherein, the described and corresponding reachable area of the closed path curve Domain includes：The non-barrier region that environmental map according to corresponding to the clean robot determines；The described and closure road The corresponding non-reachable region of diametal curve includes：The barrier that environmental map according to corresponding to the clean robot determines Region.

4. according to any methods of claim 1-3, wherein, border of the control clean robot along region to be cleaned Before the step of going and take a round, and recording closed path curve corresponding in walking process, further comprise：

Rule is determined according to default effective block, and the multiple area each block in the block is determined as effective block successively, Then the region to be cleaned is the region in the currently active block；Wherein, the effective block is clean to be currently needed for Block.

5. according to any methods of claim 1-4, wherein, the state by corresponding to the reachable region is set For first state, the step of state corresponding to the non-reachable region is arranged to the second state, specifically includes：By described in State value corresponding to reachable region is arranged to the first numerical value, and the state value corresponding to the non-reachable region is arranged to Second value；

Then the step of state corresponding to two endpoints for recording every cleaning route respectively specifically includes：Record is every respectively State value corresponding to two endpoints of bar cleaning route.

6. according to the method described in claim 5, wherein, the region to be cleaned further comprises multiple grids, then by described in State value corresponding to reachable region is arranged to the first numerical value, and the state value corresponding to the non-reachable region is arranged to The step of second value, specifically includes：

The state value of each grid of the reachable region overlay is arranged to the first numerical value, the non-reachable region is covered The state value of each grid of lid is arranged to second value；

Then the step of state value corresponding to two endpoints for recording every cleaning route respectively specifically includes：Record respectively The state value of grid corresponding to two endpoints of every cleaning route.

7. a kind of cleaning device of clean robot, including：

Curve record module, takes a round suitable for control clean robot along the border row in region to be cleaned, and records walking process In corresponding closed path curve；

Area determination module, be adapted to determine that reachable region corresponding with the closed path curve and with the closure road The corresponding non-reachable region of diametal curve；

State setting module, suitable for the state corresponding to the reachable region is arranged to first state, non-is arrived described The second state is arranged to up to the state corresponding to region；

Cleaning route arrangement module, suitable for a plurality of cleaning road of arranging in the enclosed region that the closed path curvilinear inner is formed Line；

Module is filtered out, suitable for filtering out the cleaning that the state corresponding to two endpoints is the second state from a plurality of cleaning route Route.

8. a kind of robot, includes a kind of cleaning device of clean robot described in claim 7.

9. a kind of computing device, 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 store an at least executable instruction, and the executable instruction makes the processor perform right such as will Ask the corresponding operation of clean method of the 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 the corresponding operation of clean method of clean robot of the processor execution as any one of claim 1-6.