CN108209751B - Sweeping method of sweeper, sweeper and computer readable storage medium - Google Patents
Sweeping method of sweeper, sweeper and computer readable storage medium Download PDFInfo
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- CN108209751B CN108209751B CN201711499697.1A CN201711499697A CN108209751B CN 108209751 B CN108209751 B CN 108209751B CN 201711499697 A CN201711499697 A CN 201711499697A CN 108209751 B CN108209751 B CN 108209751B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- 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
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Abstract
The invention discloses a sweeping method of a sweeper, which comprises the following steps: acquiring map information corresponding to a room to be cleaned; determining each area to be cleaned of the room to be cleaned according to the map information, wherein each area to be cleaned is obtained by dividing the room to be cleaned according to the map information, and the map information comprises position parameters and size parameters of obstacles of the room to be cleaned; and cleaning the room to be cleaned according to the cleaning paths generated by the areas to be cleaned. The invention also provides a sweeper and a computer readable storage medium. According to the invention, the room to be cleaned is divided into the plurality of cleaning areas by the sweeper according to the position parameters and the size parameters of the obstacles in the map information of the room to be cleaned, so that the sweeper is prevented from touching the obstacles, the missing cleaning areas are reduced, and the cleaning coverage rate of the sweeper is improved.
Description
Technical Field
The invention relates to the technical field of sweeper, in particular to a sweeping method of a sweeper, the sweeper and a computer readable storage medium.
Background
With the continuous improvement of living standard of people, the sweeping robot starts to walk into the sight of people and is accepted and used by more and more people.
The sweeper on the existing market turns back to clean when touching a barrier, so that the sweeper has a missing sweeping condition, and the sweeping coverage rate of the sweeping robot is low.
Disclosure of Invention
The invention mainly aims to provide a sweeping method of a sweeper, the sweeper and a computer readable storage medium, and aims to solve the problem of low sweeping coverage rate of a sweeping robot.
In order to achieve the above object, the cleaning method of the sweeper provided by the invention comprises the following steps:
acquiring map information corresponding to a room to be cleaned;
determining each area to be cleaned of the room to be cleaned according to the map information, wherein each area to be cleaned is obtained by dividing the room to be cleaned according to the map information;
and cleaning the room to be cleaned according to the cleaning paths generated by the areas to be cleaned.
Preferably, the step of generating a cleaning path according to each area to be cleaned to clean the room to be cleaned includes:
acquiring position parameters of the to-be-cleaned areas in the map information, and sequencing the to-be-cleaned areas according to the position parameters;
acquiring paths to be cleaned corresponding to the areas to be cleaned, and splicing the paths to be cleaned according to the arrangement sequence of the areas to be cleaned so as to obtain the cleaning paths of the rooms to be cleaned;
and cleaning the room to be cleaned according to the cleaning path.
Preferably, the step of acquiring the path to be cleaned corresponding to each area to be cleaned includes:
acquiring the size parameter of each area to be cleaned, and determining the cleaning mode of the area to be cleaned according to the size parameter;
and determining a path to be cleaned of the area to be cleaned according to the cleaning mode.
Preferably, the step of determining the cleaning area of the room to be cleaned according to the map information includes:
acquiring the size parameter of the room to be cleaned and the size parameter of the obstacle in the room to be cleaned according to the map information;
and when the size parameters of the obstacles in the room to be cleaned are smaller than a preset threshold value, dividing the room to be cleaned according to the size parameters of the room to be cleaned so as to obtain each area to be cleaned.
Preferably, after the step of obtaining the size parameter of the room to be cleaned and the size parameter of the obstacle in the room to be cleaned according to the map information, the method further includes:
taking the obstacle with the size parameter larger than a preset threshold value as an obstacle to be processed, and acquiring the position parameter of the obstacle to be processed;
and dividing the room to be cleaned according to the size parameters of the room to be cleaned, the position parameters and the size parameters of the obstacles to be treated so as to obtain the areas to be cleaned.
Preferably, before the step of obtaining the map information corresponding to the room to be cleaned, the method further includes:
when a cleaning instruction of a room to be cleaned is received, determining the room to be cleaned according to the cleaning instruction, and detecting whether map information of the room to be cleaned is prestored;
and when detecting that the map information of the room to be cleaned is not prestored, walking the room to be cleaned according to a preset walking mode and a preset walking speed to establish the map information of the room to be cleaned.
Preferably, after the step of cleaning the room to be cleaned according to the cleaning path generated by each of the areas to be cleaned, the method further includes:
acquiring a cleaned path of each cleaned area;
detecting whether a preset cleaning path of the cleaned area is overlapped with the corresponding cleaned path;
when detecting that a preset cleaning path of the cleaned area is not overlapped with the corresponding cleaned path, determining an un-overlapped area;
and cleaning the non-overlapped area by adopting a preset cleaning mode.
Preferably, in the sweeping process, when the sweeper detects an obstacle, the position parameter and the size parameter of the detected obstacle are determined, and the map information is updated according to the position parameter and the size parameter of the detected obstacle.
In order to achieve the above object, the present invention further provides a sweeper, which includes a processor, a memory, and a sweeping program of the sweeper, which is stored in the memory and can be run on the processor, wherein the sweeping program of the sweeper, when executed by the processor, implements the steps of the sweeping method of the sweeper.
In order to achieve the above object, the present invention further provides a computer readable storage medium, wherein the computer readable storage medium stores a cleaning program of a sweeper, and the cleaning program of the sweeper is executed by a processor to implement the steps of the cleaning method of the sweeper.
According to the sweeping method of the sweeper, the sweeper and the computer readable storage medium provided by the invention, after the sweeper acquires the map information of the room to be cleaned, each sweeping area of the room to be cleaned is determined according to the map information, and the sweeping path of the room to be cleaned is generated according to the sweeping path of each sweeping area, so that the sweeper can sweep the room to be cleaned according to the sweeping path of the room to be cleaned. The sweeper divides the room to be cleaned into a plurality of cleaning areas according to the position parameters and the size parameters of the obstacles in the map information of the room to be cleaned, so that the sweeper avoids touching the obstacles, the missing cleaning areas are reduced, and the sweeping coverage rate of the sweeper is improved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a sweeper according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a sweeping method of the sweeper according to a first embodiment of the invention;
FIG. 3 is another schematic flow chart based on the first embodiment shown in FIG. 2;
FIG. 4 is a detailed flowchart of step S200 in FIG. 2;
FIG. 5 is a detailed flowchart of step S300 in FIG. 2;
FIG. 6 is a detailed flowchart of step S320 in FIG. 5;
fig. 7 is a schematic flow chart of a sweeping method of the sweeper according to a second embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring map information corresponding to a room to be cleaned; determining each area to be cleaned of the room to be cleaned according to the map information, wherein each area to be cleaned is obtained by dividing the room to be cleaned according to the map information, and the map information comprises position parameters and size parameters of obstacles of the room to be cleaned; and cleaning the room to be cleaned according to the cleaning paths generated by the areas to be cleaned.
In the prior art, the sweeper on the existing market turns back when touching a barrier to clean, so that the sweeper has a missing sweeping condition, and the sweeping coverage rate of the sweeping robot is low.
The present invention provides a solution: the sweeper divides the room to be cleaned into a plurality of cleaning areas according to the position parameters and the size parameters of the obstacles in the map information of the room to be cleaned, so that the sweeper avoids touching the obstacles, the missing cleaning areas are reduced, and the sweeping coverage rate of the sweeper is improved.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment of a sweeper according to an embodiment of the present invention.
The embodiment of the invention relates to a sweeper, which comprises: a processor 1001, such as a CPU, a memory 1002, and a communication bus 1003. The communication bus 1003 is used to implement connection communication among these components.
The memory 1002 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As shown in fig. 1, the memory 1003, which is a kind of computer storage medium, may include therein a cleaning program of the sweeper; and the processor 1001 may be configured to call up the cleaning program of the sweeper stored in the memory 1002 and perform the following operations:
acquiring map information corresponding to a room to be cleaned;
determining each area to be cleaned of the room to be cleaned according to the map information, wherein each area to be cleaned is obtained by dividing the room to be cleaned according to the map information;
and cleaning the room to be cleaned according to the cleaning paths generated by the areas to be cleaned.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
acquiring position parameters of the to-be-cleaned areas in the map information, and sequencing the to-be-cleaned areas according to the position parameters;
acquiring paths to be cleaned corresponding to the areas to be cleaned, and splicing the paths to be cleaned according to the arrangement sequence of the areas to be cleaned so as to obtain the cleaning paths of the rooms to be cleaned;
and cleaning the room to be cleaned according to the cleaning path.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
acquiring the size parameter of each area to be cleaned, and determining the cleaning mode of the area to be cleaned according to the size parameter;
and determining a path to be cleaned of the area to be cleaned according to the cleaning mode.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
acquiring the size parameter of the room to be cleaned and the size parameter of the obstacle in the room to be cleaned according to the map information;
and when the size parameters of the obstacles in the room to be cleaned are smaller than a preset threshold value, dividing the room to be cleaned according to the size parameters of the room to be cleaned so as to obtain each area to be cleaned.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
taking the obstacle with the size parameter larger than a preset threshold value as an obstacle to be processed, and acquiring the position parameter of the obstacle to be processed;
and dividing the room to be cleaned according to the size parameters of the room to be cleaned, the position parameters and the size parameters of the obstacles to be treated so as to obtain the areas to be cleaned.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
when a cleaning instruction of a room to be cleaned is received, determining the room to be cleaned according to the cleaning instruction, and detecting whether map information of the room to be cleaned is prestored;
and when detecting that the map information of the room to be cleaned is not prestored, walking the room to be cleaned according to a preset walking mode and a preset walking speed to establish the map information of the room to be cleaned.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
acquiring a cleaned path of each cleaned area;
detecting whether a preset cleaning path of the cleaned area is overlapped with the corresponding cleaned path;
when detecting that a preset cleaning path of the cleaned area is not overlapped with the corresponding cleaned path, determining an un-overlapped area;
and cleaning the non-overlapped area by adopting a preset cleaning mode.
Further, the processor 1001 may be configured to call a cleaning program of the sweeper stored in the memory 1002, and perform the following operations:
in the cleaning process, when the sweeper detects an obstacle, the position parameter and the size parameter of the detected obstacle are determined, and the map information is updated according to the position parameter and the size parameter of the detected obstacle.
According to the scheme, after the sweeping machine acquires the map information of the room to be cleaned, each cleaning area of the room to be cleaned is determined according to the map information, and the cleaning path of the room to be cleaned is generated according to the cleaning path of each cleaning area, so that the sweeping machine cleans the room to be cleaned according to the cleaning path of the room to be cleaned. The sweeper divides the room to be cleaned into a plurality of cleaning areas according to the position parameters and the size parameters of the obstacles in the map information of the room to be cleaned, so that the sweeper avoids touching the obstacles, the missing cleaning areas are reduced, and the sweeping coverage rate of the sweeper is improved.
Based on the hardware architecture, the embodiment of the sweeping method of the sweeper is provided.
Referring to fig. 2, fig. 2 is a first embodiment of a sweeping method of a sweeper, which includes the following steps:
s100, acquiring map information corresponding to a room to be cleaned;
in the invention, the sweeper is provided with a laser radar, an ultrasonic sensor, an infrared sensor and a collision sensor, the sweeper detects the environmental information of the room to be cleaned through the laser radar, the sweeper detects the position and the size of an obstacle in the room to be cleaned according to the ultrasonic sensor and the collision sensor, and the sweeper can judge whether the detected obstacle is a human body according to the infrared sensor.
In this embodiment, a user can send a cleaning instruction to the sweeper, and the sweeper determines a room to be cleaned according to the cleaning instruction, and of course, the user can set the cleaning time for the sweeper to clean a certain room by himself, and when the current time point reaches the time point set by the user, the sweeper generates the cleaning instruction inside the sweeper, and determines the room to be cleaned corresponding to the cleaning instruction. After the sweeper determines the room to be cleaned, map information of the room to be cleaned is acquired, specifically, referring to fig. 3, that is, before step S100, the method further includes:
step S400, when a cleaning instruction of a room to be cleaned is received, determining the room to be cleaned according to the cleaning instruction, and detecting whether map information of the room to be cleaned is prestored;
step S500, when detecting that the map information of the room to be cleaned is not pre-stored, walking the room to be cleaned according to a preset walking mode and a preset walking speed to establish the map information of the room to be cleaned;
when the sweeper receives a cleaning instruction, firstly, the room to be cleaned is determined according to the cleaning instruction, whether map information prestored with the room to be cleaned is contained is detected, when the corresponding map information is not prestored in the room to be cleaned (when the sweeper cleans the room for the first time, the map information of the room to be cleaned is not contained), the sweeper firstly finds the position of an outlet or an inlet of the room to be cleaned, walks around the boundary of the room to be cleaned by taking the position of the outlet or the position of the inlet as a starting point to establish a contour map of the room to be cleaned, namely, the length of the boundary of the room to be cleaned is determined, after the contour of the room to be cleaned is determined, the sweeper walks the room to be cleaned by adopting a preset walking mode (the preset mode can be a zigzag walking mode or a zigzag walking mode), and reduces the walking speed of the sweeper when obstacles on a walking route are detected by the sweeper, the method comprises the steps that a sweeper collides with an obstacle (the sweeper determines the boundary of a room to be cleaned, the sweeper cannot collide with the boundary), the sweeper walks along the edge of the obstacle, when the sweeper collides with the obstacle, the sweeper records position parameters during collision, so that the position parameters of the obstacle are determined, and then the size parameters of the obstacle are determined according to the edge parameters of the obstacle. It should be noted that the walking speed of the sweeper during map building is greater than that during sweeping.
After the sweeper finishes walking the room to be cleaned, map information of the room to be cleaned is established according to the recorded position parameters and size parameters of the obstacles.
It should be noted that, after the map information of the room to be cleaned is established by the sweeper, if the interval duration between the cleaning time point of the next room to be cleaned and the current time is greater than the preset duration (the preset duration may be any suitable value, such as one week), the sweeper needs to re-determine the map information of the room to be cleaned (the room to be cleaned may have a newly added obstacle, and the map information of the room to be cleaned needs to be re-determined), that is, it can be understood that when the sweeper detects that the room to be cleaned contains the pre-stored map information, the interval duration between the current time point and the cleaning time point at which the room to be cleaned was cleaned last time needs to be calculated, and when the interval duration is greater than the preset duration, the sweeper needs to re-establish the map information of the room to be cleaned.
Step S200, determining each area to be cleaned of the room to be cleaned according to the map information, wherein each area to be cleaned is obtained by dividing the room to be cleaned according to the map information;
after the sweeper obtains map information of a room to be cleaned (the map information comprises position parameters and size parameters of obstacles in the room to be cleaned); and dividing the room to be cleaned according to the map information to obtain a plurality of areas to be cleaned. Specifically, referring to fig. 4, step S200 includes:
step S210, acquiring the size parameter of the room to be cleaned and the size parameter of the obstacle in the room to be cleaned according to the map information;
step S220, when the size parameters of the obstacles in the room to be cleaned are smaller than a preset threshold value, dividing the room to be cleaned according to the size parameters of the room to be cleaned so as to obtain each area to be cleaned;
when the sweeper obtains the map information of the room to be cleaned, the sweeper obtains the size parameter of the room to be cleaned, the position parameter and the size parameter of the obstacle according to the map information, it should be noted that the size parameter includes parameters such as area, length and width, and when the sweeper judges whether the size parameter of the obstacle is smaller than a preset threshold (the preset threshold can be set)Any suitable value) to indicate whether the area of the obstacle is smaller than the set area, for example, the sweeper will have an area smaller than 10cm2The obstacle is determined that the size parameter of the obstacle is smaller than a preset threshold value.
When the size parameters of the obstacles in the room to be cleaned are smaller than the preset threshold value, the sweeper divides the room to be cleaned into a plurality of areas to be cleaned according to the area in the size parameters of the room to be cleaned, the larger the area of the area to be cleaned is, the more the divided areas to be cleaned are, namely the area of the area to be cleaned can be fixed, and certainly, the sweeper can directly use the area to be cleaned as an area to be cleaned.
Step S230, when the room to be cleaned contains the obstacle with the size parameter larger than the preset threshold value, taking the obstacle with the size parameter larger than the preset threshold value as the obstacle to be processed, and acquiring the position parameter of the obstacle to be processed;
step S240, dividing the room to be cleaned according to the size parameters of the room to be cleaned, the position parameters of the obstacles to be processed and the size parameters to obtain the areas to be cleaned;
when the sweeper detects that the size parameter of the obstacle is larger than a preset threshold value, marking the obstacle with the size parameter larger than the preset threshold value as the obstacle to be processed, when all the obstacles to be processed of the room to be cleaned are determined, dividing the room to be cleaned into a plurality of areas to be cleaned according to the position parameter, the size parameter and the size parameter of each obstacle to be processed, specifically, the sweeper randomly selects one obstacle to be processed as a first obstacle to be processed to firstly divide the room to be cleaned, firstly determining each boundary parameter of the first obstacle to be processed, for example, the first obstacle to be processed is a rectangular object, extending the boundary (simultaneously extending two ends of the boundary) of the first obstacle to be processed to the boundary of the room to be processed, thereby dividing the room to be cleaned into 8 areas to be cleaned and sequencing the 8 areas to be cleaned, the method comprises the steps of selecting a first area to be cleaned and continuously dividing the first area to be cleaned, namely selecting an obstacle to be treated (not treated) in the first area to be cleaned, dividing the first area to be cleaned into a plurality of areas to be cleaned again (extending the boundary to be treated to the boundary of the first area to be cleaned so as to obtain the plurality of areas to be cleaned), and in the same way, dividing a room to be cleaned into the plurality of areas to be cleaned by the sweeper according to the obstacle to be treated, and determining the size parameter and the position parameter of each area to be cleaned according to the position parameter and the size parameter of the obstacle and the size parameter measured in the room to be cleaned.
Step S300, cleaning the room to be cleaned according to the cleaning path generated by each area to be cleaned;
determining a to-be-cleaned area of a room to be cleaned at the sweeper, and determining a cleaning path of the room to be cleaned according to the to-be-cleaned path of the area to be cleaned; specifically, referring to fig. 5, step S300 includes:
step S310, acquiring position parameters of the areas to be cleaned in the map information, and sequencing the areas to be cleaned according to the position parameters;
the method comprises the steps that each area to be cleaned is obtained by a sweeper and is sequenced according to position parameters of the area to be cleaned, specifically, the sweeper takes a certain boundary close to a room to be cleaned as a horizontal direction, and sequences the areas to be cleaned from left to right and from bottom to top, so that the cleaning sequence of each area to be cleaned is determined; certainly, the sweeper can sort the areas to be swept from bottom to top and from left to right, the sorting rule of the areas to be swept is not limited, and only the current position of the sweeper is required to be closest to the first area to be swept.
Step S320, acquiring to-be-cleaned paths corresponding to the to-be-cleaned areas, and splicing the to-be-cleaned paths according to the arrangement sequence of the to-be-cleaned areas to obtain the to-be-cleaned paths of the rooms to be cleaned;
the sweeper can set a path to be swept of each area to be swept, and the sweeper can set the path to be swept of the area to be swept according to the size parameter of the area to be swept, specifically, referring to fig. 6, that is, step S320 includes:
step S321, obtaining the size parameter of each area to be cleaned, and determining the cleaning mode of the area to be cleaned according to the size parameter;
step S322, determining a path to be cleaned of the area to be cleaned according to the cleaning mode;
the sweeper can obtain the size parameter of each to-be-swept area, then determine the sweeping mode of the corresponding to-be-swept area according to the size parameter, specifically, the sweeper compares the length and the width of the to-be-swept area with the diameter of the sweeper, takes the to-be-swept area with the length or the width smaller than the diameter of one sweeper as a first type of to-be-swept area, takes the to-be-swept area with the length and the width smaller than the diameters of two sweepers as a second type of to-be-swept area, other areas to be cleaned are taken as a third type of areas to be cleaned, the first type of areas to be cleaned adopt a spiral cleaning mode, the second type of areas to be cleaned adopt a linear cleaning mode, the third type of areas to be cleaned adopt a bow-shaped cleaning mode, of course, the classification of the sweeper is not limited to one sweeper diameter and two sweepers, and can be any suitable sweeper diameter. It should be noted that the sweeper can determine the corresponding sweeping mode according to the material of the area to be swept, for example, some areas to be swept are wooden areas, some areas to be swept are porcelain areas, and the user can set the sweeping mode corresponding to each material by himself.
Step S330, cleaning the room to be cleaned according to the cleaning path;
after the cleaning mode of each area to be cleaned is determined, the corresponding path to be cleaned of the area to be cleaned is determined according to the cleaning mode, and the paths to be cleaned are spliced according to the sequenced areas to be cleaned to form the cleaning path of the room to be cleaned.
It should be noted that, during the cleaning process of the sweeper, the detected obstacle is marked, and the position parameter and the size parameter of the obstacle are determined, so as to update the map information of the room to be cleaned.
According to the technical scheme, after the sweeping machine acquires the map information of the room to be cleaned, each cleaning area of the room to be cleaned is determined according to the map information, and the cleaning path of the room to be cleaned is generated according to the cleaning path of each cleaning area, so that the sweeping machine cleans the room to be cleaned according to the cleaning path of the room to be cleaned. The sweeper divides the room to be cleaned into a plurality of cleaning areas according to the position parameters and the size parameters of the obstacles in the map information of the room to be cleaned, so that the sweeper avoids touching the obstacles, the missing cleaning areas are reduced, and the sweeping coverage rate of the sweeper is improved.
Referring to fig. 7, fig. 7 is a second embodiment of the cleaning method of the sweeper according to the present invention, and based on the above embodiment, after the step S300, the method further includes:
step S600, acquiring cleaned paths of each cleaned area;
step S700, detecting whether a preset cleaning path of the cleaned area is overlapped with the corresponding cleaned path or not, wherein the preset cleaning path is a path to be cleaned of the area to be cleaned;
step S800, when detecting that a preset cleaning path of the cleaned area is not overlapped with the corresponding cleaned path, determining an un-overlapped area;
step S900, cleaning the non-overlapped area by adopting a preset cleaning mode;
after the sweeper cleans the room to be cleaned, the cleaned path and the preset cleaning path of each cleaned area are obtained, and then whether the cleaned path is overlapped with the preset cleaning path is detected, so that whether the non-overlapped area of the cleaned room is determined, the non-overlapped area may be a non-cleaned area, at the moment, the sweeper is arranged to clean the non-overlapped area again, it needs to be noted that in the first embodiment, because the cleaning path of the sweeper avoids an obstacle, the sweeper turns back for cleaning when touching a boundary or the obstacle, if a new obstacle appears in the area to be cleaned or the position of the obstacle changes, the non-overlapped area inevitably appears in the area to be cleaned, and the non-overlapped area contains the non-cleaned area and the new obstacle. Based on the consideration of the situation, when the sweeper is used for determining the non-overlapped area, the non-overlapped area is swept by adopting a preset sweeping mode, the sweeper directly collides with the obstacle in the non-overlapped area, the obstacle cannot be turned back, the obstacle is wound for a circle along the edge of the obstacle, and the non-overlapped area is swept by adopting a zigzag sweeping mode. It should be noted that, when the sweeper detects a new obstacle, the position parameter of the obstacle is marked, and the size parameter of the obstacle is determined, so as to update the map information of the cleaned room, which is used as a dividing basis for subdividing the cleaning area of the cleaned room.
In the technical scheme provided by the embodiment, after the sweeper cleans the room to be cleaned, the cleaned path of the cleaned area is compared with the preset cleaning path to determine whether the area is not cleaned, so that the sweeping coverage rate of the sweeper is further improved.
The invention also provides a sweeper, which comprises a processor, a memory and a sweeping program of the sweeper, wherein the sweeping program of the sweeper is stored in the memory and can be operated on the processor, and when the sweeping program of the sweeper is executed by the processor, the steps of the sweeping method of the sweeper in the embodiment are realized.
The invention also provides a computer readable storage medium, which stores a cleaning program of the sweeper, and the cleaning program of the sweeper is executed by a processor to implement the steps of the cleaning method of the sweeper in the embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The sweeping method of the sweeper is characterized by comprising the following steps:
acquiring map information corresponding to a room to be cleaned;
determining each area to be cleaned of the room to be cleaned according to the map information, wherein each area to be cleaned is obtained by dividing the room to be cleaned according to the size parameter of the obstacle in the map information and the size parameter of the room to be cleaned, when the size parameter of the obstacle is larger than a preset threshold value, the room to be cleaned is obtained by dividing the room to be cleaned according to the position parameter and the size parameter of the obstacle, of which each size parameter is larger than the preset threshold value, and the size parameter of the room to be cleaned, and when the size parameters of the obstacle are smaller than the preset threshold values, the room to be cleaned is obtained by dividing the room to be cleaned according to the area of the room to be cleaned and the preset area;
and cleaning the room to be cleaned according to the cleaning paths generated by the areas to be cleaned.
2. The sweeping method of a sweeper according to claim 1, wherein the step of generating a sweeping path for sweeping the room to be swept according to each of the areas to be swept comprises:
acquiring position parameters of the to-be-cleaned areas in the map information, and sequencing the to-be-cleaned areas according to the position parameters;
acquiring paths to be cleaned corresponding to the areas to be cleaned, and splicing the paths to be cleaned according to the arrangement sequence of the areas to be cleaned so as to obtain the cleaning paths of the rooms to be cleaned;
and cleaning the room to be cleaned according to the cleaning path.
3. The sweeping method of the sweeper according to claim 2, wherein the step of obtaining the path to be swept corresponding to each of the areas to be swept comprises:
acquiring the size parameter of each area to be cleaned, and determining the cleaning mode of the area to be cleaned according to the size parameter;
and determining a path to be cleaned of the area to be cleaned according to the cleaning mode.
4. The cleaning method of the sweeper according to claim 1, wherein the step of determining the cleaning area of the room to be cleaned according to the map information comprises:
acquiring the size parameter of the room to be cleaned and the size parameter of the obstacle in the room to be cleaned according to the map information;
and when the size parameters of the obstacles in the room to be cleaned are smaller than a preset threshold value, dividing the room to be cleaned according to the size parameters of the room to be cleaned so as to obtain each area to be cleaned.
5. The sweeping method of a sweeper according to claim 4, wherein after the step of obtaining the dimension parameter of the room to be cleaned and the dimension parameter of the obstacle in the room to be cleaned according to the map information, the method further comprises:
when the room to be cleaned contains the obstacle with the size parameter larger than the preset threshold value, taking the obstacle with the size parameter larger than the preset threshold value as the obstacle to be processed, and acquiring the position parameter of the obstacle to be processed;
and dividing the room to be cleaned according to the size parameters of the room to be cleaned, the position parameters and the size parameters of the obstacles to be treated so as to obtain the areas to be cleaned.
6. The cleaning method of the sweeper according to any one of claims 1-5, wherein the step of obtaining the map information corresponding to the room to be cleaned further comprises:
when a cleaning instruction of a room to be cleaned is received, determining the room to be cleaned according to the cleaning instruction, and detecting whether map information of the room to be cleaned is prestored;
and when detecting that the map information of the room to be cleaned is not prestored, walking the room to be cleaned according to a preset walking mode and a preset walking speed to establish the map information of the room to be cleaned.
7. The sweeping method of a sweeper according to any one of claims 1-5, wherein the step of sweeping the room to be swept according to the sweeping path generated for each of the areas to be swept further comprises:
acquiring a cleaned path of each cleaned area;
detecting whether a preset cleaning path of the cleaned area is overlapped with the corresponding cleaned path;
when detecting that a preset cleaning path of the cleaned area is not overlapped with the corresponding cleaned path, determining an un-overlapped area;
and cleaning the non-overlapped area by adopting a preset cleaning mode.
8. The sweeping method of a sweeper according to any one of claims 1-5, wherein during sweeping, when the sweeper detects an obstacle, a position parameter and a size parameter of the detected obstacle are determined, and the map information is updated according to the position parameter and the size parameter of the detected obstacle.
9. A sweeper, characterized in that the sweeper comprises a processor, a memory and a sweeper program of the sweeper stored on the memory and operable on the processor, wherein the sweeper program of the sweeper, when executed by the processor, implements the steps of the sweeping method of the sweeper of any one of claims 1-8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a cleaning program of a sweeper, which is executed by a processor to implement the steps of the cleaning method of the sweeper according to any one of claims 1-8.
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