CN108445878B

CN108445878B - Obstacle processing method for sweeping robot and sweeping robot

Info

Publication number: CN108445878B
Application number: CN201810168194.4A
Authority: CN
Inventors: 孙培林
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2018-02-28
Filing date: 2018-02-28
Publication date: 2022-04-01
Anticipated expiration: 2038-02-28
Also published as: CN108445878A

Abstract

The invention discloses an obstacle processing method for a sweeping robot, the sweeping robot, electronic equipment and a computer readable storage medium. The method comprises the following steps: when the human body proximity sensor detects that a target obstacle exists at a specified position, collision processing is not carried out, and the target obstacle is marked with a specified mark at a corresponding specified position in an environment map; when the preset conditions are met, detecting whether a target obstacle at the position marked by the appointed identification mark still exists in the environment map by using the human body proximity sensor, if the target obstacle does not exist, cleaning the corresponding position, and clearing the corresponding appointed identification in the environment map. By the technical scheme, the human body proximity sensor can detect the user in time, so that the user is prevented from being disturbed by collision; and whether the target obstacle exists can be detected again, so that cleaning treatment can be performed when the target obstacle does not exist, cleaning in place is guaranteed, and use experience of a user is enhanced.

Description

Obstacle processing method for sweeping robot and sweeping robot

Technical Field

The invention relates to the technical field of robots, in particular to an obstacle processing method for a sweeping robot, the sweeping robot, electronic equipment and a computer-readable storage medium.

Background

The robot is widely used for bringing great convenience to people, and particularly, the sweeping robot can complete the sweeping work of a specified place, so that the labor force is saved. When the sweeping robot works, a sweeping task is generally performed according to an environment map, when a place which is not marked as an obstacle in the environment map is collided, the place is marked as the obstacle, and the sweeping process is not performed any more. If the obstacle is a moving obstacle, particularly if the obstacle is a user, on one hand, the collision action can disturb the user, and the purpose of bringing convenience to the user is overcome by the sweeping robot; on the other hand, if the user moves away from the position where the sweeping robot is located, the sweeping robot does not perform the sweeping operation again, so that the sweeping is not in place, and the use experience of the user is reduced.

Disclosure of Invention

In view of the above problems, the present invention has been made to provide an obstacle handling method for a sweeping robot, an electronic device, and a computer-readable storage medium that overcome or at least partially solve the above problems.

According to an aspect of the present invention, there is provided an obstacle handling method for a sweeping robot, wherein the method includes:

when a human body proximity sensor is used for detecting that a target obstacle exists at a specified position, collision processing is not carried out, and the target obstacle is marked with a specified mark at the corresponding specified position in an environment map;

when the preset conditions are met, detecting whether a target obstacle at the position marked by the appointed identification mark still exists in the environment map by using the human body proximity sensor, if the target obstacle does not exist, cleaning the corresponding position, and clearing the corresponding appointed identification in the environment map.

Optionally, said marking the target obstacle with a specified identification at a corresponding specified position in the environment map comprises:

and performing one circle of travel around the target obstacle, and marking the target obstacle in the environment map according to the size range of the circle.

Optionally, the meeting the preset condition includes:

the sweeping robot cleans other areas to be cleaned;

alternatively, the first and second electrodes may be,

after a preset time interval.

Optionally, if the target obstacle is still present, the method further comprises:

at intervals of T, detecting whether a target obstacle at the position marked by the designated identification mark still exists in the environment map by using the human body proximity sensor again, and if the target obstacle does not exist, cleaning the corresponding position;

the value of the time T is increased if the target obstacle is still present.

Optionally, the method further comprises: when the sweeping robot cannot reach the target position point according to the current environment map, executing the following escaping processing steps:

planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map;

and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed.

Optionally, the planning one or more paths to the target location point according to the historical path includes:

and if one historical path passes through the current position and the target position point of the sweeping robot, taking the part between the current position and the target position point of the sweeping robot of the historical path as one of the paths reaching the target position point.

if a historical path passes through the current position and the designated position point of the sweeping robot and the designated position point can be reached according to the environment map, the path between the designated position point and the target position point is planned according to the environment map, and the part between the current position and the designated position point of the sweeping robot in the historical path and the path between the designated position point and the target position point are integrated into a path reaching the target position point.

Optionally, the invisible obstacle is:

the first type of sensor preset on the sweeping robot cannot detect the obstacles, but the second type of sensor preset on the sweeping robot detects the obstacles.

Alternatively,

the first type of sensor comprises: an infrared ranging sensor and/or a laser sensor;

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

Optionally, before performing the step of escaping from the stranded state, the method further comprises:

and judging whether the history from the current position of the sweeping robot to the target position point is accessible, if so, executing the step of getting rid of the trouble, and otherwise, not executing the step of getting rid of the trouble.

Optionally, the determining whether the history from the current position of the sweeping robot to the target position point is up includes:

if the path passing through the current position and the target position point of the sweeping robot exists, determining that the path from the current position to the target position point of the sweeping robot is historically reachable;

and if the path passing through the current position and the designated position point of the sweeping robot exists and the path passing through the designated position point can be known to be reachable between the designated position point and the target position point according to the environment map, determining that the path from the current position to the target position point of the sweeping robot is historically reachable.

According to another aspect of the present invention, there is provided a sweeping robot, wherein the sweeping robot comprises:

a human body proximity sensor adapted to detect whether a target obstacle exists at a designated position; and adapted to detect whether a target obstacle at the location marked with the specified identification in the environment map is still present;

a marking unit adapted to not perform collision processing when it is detected by a human body proximity sensor that a target obstacle exists at a specified position, but mark the target obstacle at a specified mark in a corresponding specified position in an environment map;

and the processing unit is suitable for detecting whether a target obstacle at the position marked by the appointed identification mark still exists in the environment map by using the human body proximity sensor when a preset condition is met, cleaning the corresponding position if the target obstacle does not exist, and clearing the corresponding appointed identification in the environment map.

Alternatively,

the marking unit is suitable for moving around the target obstacle for one circle, and the target obstacle is marked in the environment map according to the size range of the circle.

Optionally, the meeting the preset condition includes:

the sweeping robot cleans other areas to be cleaned;

alternatively, the first and second electrodes may be,

after a preset time interval.

Alternatively,

if the target obstacle still exists, the processing unit is suitable for detecting whether the target obstacle still exists at the position marked by the designated identification mark in the environment map by using the human body proximity sensor again at intervals of time T, and if the target obstacle does not exist, cleaning the corresponding position; the value of the time T is increased if the target obstacle is still present.

Optionally, the sweeping robot further comprises:

the escaping unit is suitable for executing the following escaping processing steps when the sweeping robot cannot reach the target position point according to the current environment map: planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed.

Alternatively,

the escaping unit is suitable for taking a part between the current position and the target position point of the sweeping robot of one historical path as one of the paths reaching the target position point if the historical path passes through the current position and the target position point of the sweeping robot.

Alternatively,

the escaping unit is suitable for planning a path between the specified position point and the target position point according to the environment map if a historical path passes through the current position and the specified position point of the sweeping robot and the designated position point can be reached according to the environment map, and integrating the part between the current position and the specified position point of the sweeping robot in the historical path and the path between the specified position point and the target position point into a path reaching the target position point.

Optionally, the invisible obstacle is:

Alternatively,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

Alternatively,

the escaping unit is suitable for further judging whether the history from the current position of the sweeping robot to the target position point is accessible or not before the escaping processing step is executed, if so, the escaping processing step is executed, otherwise, the escaping processing step is not executed.

Alternatively,

the escaping unit is suitable for determining that the robot sweeping robot is historically reachable from the current position to the target position point if a path passing through the current position and the target position point of the sweeping robot exists; and if the path passing through the current position and the designated position point of the sweeping robot exists and the path passing through the designated position point can be known to be reachable between the designated position point and the target position point according to the environment map, determining that the path from the current position to the target position point of the sweeping robot is historically reachable.

According to still another aspect of the present invention, there is provided an electronic apparatus, wherein the electronic apparatus includes:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to the foregoing.

According to yet another aspect of the present invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the aforementioned method.

According to the technical scheme of the invention, when the human body proximity sensor is used for detecting that the target barrier exists at the designated position, the collision processing is not carried out, and the target barrier is marked with the designated mark at the corresponding designated position in the environment map; when the preset conditions are met, detecting whether a target obstacle at the position marked by the appointed identification mark still exists in the environment map by using the human body proximity sensor, if the target obstacle does not exist, cleaning the corresponding position, and clearing the corresponding appointed identification in the environment map. By the technical scheme, the human body proximity sensor can detect the user in time, the user is not collided, and the user is prevented from being disturbed; and whether the target obstacle exists can be detected again, so that cleaning treatment can be performed when the target obstacle does not exist, cleaning in place is guaranteed, and use experience of a user is enhanced.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 shows a schematic flow chart of an obstacle handling method for a sweeping robot according to an embodiment of the present invention;

fig. 2 shows a schematic structural diagram of a sweeping robot according to an embodiment of the present invention;

FIG. 3 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;

fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 is a schematic flow chart of an obstacle processing method for a sweeping robot according to an embodiment of the present invention. As shown in fig. 1, the method includes:

in step S110, when it is detected by the human body proximity sensor that a target obstacle exists at a designated position, collision processing is not performed, but the target obstacle is marked with a designated mark at a corresponding designated position in the environment map.

The target obstacle may be a human or animal or the like that can be detected by a human proximity sensor. When the sweeping robot works, path planning is carried out according to an environment map, sweeping is completed, when the sweeping robot touches an obstacle, collision action is carried out, so that the obstacle is determined to exist at the place, and when the obstacle is a person, the collision action disturbs the person. In this embodiment, a human body sensor is used, when the human body sensor detects an obstacle, which indicates that the obstacle may be a human or an animal, no collision processing is performed so as not to disturb the target obstacle. At the same time, the target obstacle is movable, marked with a specified identification at a corresponding specified position in the environment map, for example, with a cartoon avatar or a circle, so that the target obstacle can be distinguished from other obstacles.

And step S120, when a preset condition is met, detecting whether a target obstacle at the position marked by the appointed identification mark still exists in the environment map by using the human body proximity sensor, if the target obstacle does not exist, cleaning the corresponding position, and clearing the corresponding appointed identification in the environment map.

When the sweeping robot works, the path is planned according to the environment map and sweeping is completed, when the obstacle is met, the obstacle is marked in the environment map, and the sweeping treatment can not be performed on the obstacle. However, when the obstacle is moving, for example, the target obstacle in the present embodiment, after the target obstacle moves away from the current position, the current position in the environment map is still the identifier of the obstacle, that is, the current position is not swept. Therefore, in this embodiment, when a target obstacle is detected, a designated identification mark is performed in the environment map to indicate that the obstacle may move away, when a preset condition is met, the human body proximity sensor is still used to detect whether the target obstacle at the position of the designated identification mark in the environment map still exists, and if the target obstacle does not exist, cleaning processing is performed, so that the current position of the target obstacle can be cleaned in time. And the corresponding appointed mark in the environment map is cleared, so that the sweeping robot can still carry out sweeping treatment when working next time.

Therefore, through the embodiment, the human body proximity sensor can detect the human body in time, the human body is not collided, and the user is prevented from being disturbed; and whether the target obstacle exists can be detected again, so that cleaning treatment can be performed when the target obstacle does not exist, cleaning in place is guaranteed, and use experience of a user is enhanced.

In one embodiment of the present invention, the marking of the target obstacle with the designated identification at the corresponding designated position in the environment map in step S110 includes: and the target obstacle is marked in the environment map according to the size range of the circle.

In practical applications, the obstacles may have a range of sizes, i.e. occupy the area of the moving ground. Therefore, in the present embodiment, when marking the target obstacle, the human body sensor is used to perform a circle around the target obstacle, for example, the human body sensor detects that the human body is constantly kept at the right side of the sweeping robot itself, and the operation of the circle around the target obstacle is performed, and then the target obstacle is marked in the environment map according to the size range of the circle. For example, if the target obstacle is a person standing on the ground, the size range around which the sweeping robot is wrapped should be the size range occupied by both feet of the person.

In one embodiment of the present invention, the satisfying of the preset condition shown in fig. 1 includes: the sweeping robot cleans other areas to be cleaned; alternatively, after a preset time interval.

In the present embodiment, satisfying the preset condition includes either of the above two cases. For example, the preset time is 5min, when the sweeping robot marks the target obstacle on the environment map, timing is started, and when the preset time reaches 5min, the robot returns to the position to perform detection again; for another example, when the household sweeping robot finishes the operation of all rooms according to the environment map, the robot returns to the place to be detected.

In one embodiment of the present invention, if the target obstacle is still present, the method shown in fig. 1 further comprises: at intervals of T, detecting whether a target obstacle at the position marked by the designated identification mark still exists in the environment map by using the human body proximity sensor again, and if the target obstacle does not exist, cleaning the corresponding position; the value of the time T is increased if the target obstacle is still present.

When the preset condition is met, the sweeping robot returns, the target obstacle is detected to still exist, and then the target obstacle still needs to be detected until the target obstacle does not exist any more in order to ensure that the sweeping robot can clean in place, so that the sweeping processing is completed. In the present embodiment, a time interval T is preset, and after detecting that the target obstacle is still present, the target obstacle is detected again at each time T. In addition, in this embodiment, if the target obstacle still exists, which indicates that the target obstacle may stay there for a long time, in order to reduce the resource consumption of the sweeping robot, and meanwhile, in order to consider that frequent detection of the target obstacle also disturbs the target obstacle, the preset time interval T is increased every time the target obstacle is still detected, that is, the detection interval of the sweeping robot is lengthened.

For example, the preset time interval is 5min, when the preset condition is met, the sweeping robot detects the target obstacle at the position a, if the target obstacle still exists for the first time, the second detection is performed after 5min, and if the target obstacle still exists, the preset time interval is increased by 5min, namely the time interval is changed into 10 min; after the second detection is finished, detecting the target obstacle for the third time after 10min, if the target obstacle is detected to exist, increasing the preset time interval by 5min, namely changing the time interval into 15 min; after the third detection, detecting the target obstacle for the fourth time after 15 min; and repeating the steps until the target obstacle does not exist, and cleaning the corresponding position.

In addition, in the working process of the sweeping robot, the target position point is usually reached according to the constructed environment map, but the situation that the sweeping robot cannot reach the target position point cannot be avoided, for example, due to the accuracy problem of the map, some passable areas are marked as obstacle areas, and the sweeping robot cannot pass through to reach the target position point. Therefore, the sweeping robot is trapped and cannot get rid of the trapping; or the floor cleaning robot can get rid of the trouble only through multiple times of collision, the success rate of getting rid of the trouble is low, and hardware damage of the floor cleaning robot is easily caused.

In one embodiment of the present invention, the method shown in fig. 1 further comprises: when the sweeping robot cannot reach the target position point according to the current environment map, executing the following escaping processing steps: planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed.

The target position point may be a target position point that the sweeping robot has reached in a previous work, and a historical path is generated, so in this embodiment, when the sweeping robot cannot reach the target position point according to the current environment map, path planning may be performed through the historical path.

In practical application, the invisible obstacle may be considered as a movable obstacle, and the invisible obstacle marked in the environment map may be removed in the current state, that is, the position of the invisible obstacle marked in the environment map may not have an obstacle currently, and the sweeping robot is allowed to pass through. For example, if there are invisible obstacle 1, invisible obstacle 2, and invisible obstacle 3 between the current position of the sweeping robot and the target position point, and the invisible obstacle 1 and the invisible obstacle 2 are accessible, and the invisible obstacle 2 and the invisible obstacle 3 are accessible, the planned path is: current position- > invisible obstacle 1- > invisible obstacle 2- > invisible obstacle 3- > target location point.

In practical applications, the sweeping robot may encounter various trapped scenes, for example, due to the accuracy problem of the map, some passable areas are marked as obstacle areas, and the sweeping robot cannot pass through to reach the target location point; for another example, when the sweeping robot reaches an open area through a narrow passage, all the peripheries in the open area are not marked with obstacles, the sweeping robot is trapped in the area and needs to return through the narrow passage, because the size difference between the narrow passage and the sweeping robot is not large, the sweeping robot cannot accurately enter the passage, and then the robot is trapped, or the passage is also marked as an obstacle in an environment map and cannot reach a target position point on the other side of the passage.

When the sweeping robot cannot reach the target position currently, for example, the scene in the above example, the sweeping robot needs to perform the escaping process. By adopting the embodiment, the path is planned according to the historical path and the invisible barrier, so that the sweeping robot can get rid of the trapped situation through the planned path, the success rate of the sweeping robot for getting rid of the trapped situation can be improved, the hardware damage caused by collision and getting rid of the trapped situation of the sweeping robot can be prevented, and the use experience of a user is enhanced.

In an embodiment of the present invention, the planning one or more routes to the target location point according to the historical route includes: and if one historical path passes through the current position and the target position point of the sweeping robot, taking the part between the current position and the target position point of the sweeping robot of the historical path as one of the paths reaching the target position point.

In this embodiment, in order to enable the sweeping robot to reach the target position point from the current position, whether the current position and the target position point passing through the sweeping robot exist in the historical path or not can be searched, and if the current position and the target position point exist, the historical path can be directly used as one of the planned paths, so that the time consumption of path planning is reduced, and the escaping efficiency is further improved.

In an embodiment of the present invention, the planning one or more routes to the target location point according to the historical route includes: if a historical path passes through the current position and the designated position point of the sweeping robot and the designated position point can be reached according to the environment map, the path between the designated position point and the target position point is planned according to the environment map, and the part between the current position and the designated position point of the sweeping robot in the historical path and the path between the designated position point and the target position point are integrated into a path reaching the target position point.

In the above embodiment, the historical path passing through the current position and the target position point is directly found from the historical path. In this embodiment, whether the current position and the designated position point pass through the historical path is found, and the designated position point and the target position point are reachable at the same time, so that the planned path between the current position and the target position point of the sweeping robot can be that the sweeping robot reaches the designated position point from the current position and then reaches the target position point from the designated position point, so that the sweeping robot reaches the target position point from the current position. For example, if the current position of the sweeping robot is a, the target position point is B, and it is known from the environment map that the specified position point C and the target position B are reachable, it is found whether there is a path passing through the current position a and the specified position point C from the historical path, and if there is a path passing through the current position a and the specified position point C, it is recorded as path position a- > position C, and then the two paths are integrated according to the environment map planning position C- > position B, and then the planned path is position a- > position C- > position B, so that the sweeping robot can reach the target position point from the current position.

In an embodiment of the present invention, the planning one or more routes to the target location point according to the historical route includes: if a historical path passes through the target position point and the designated position point can be reached between the designated position point and the current position of the sweeping robot according to the environment map, the path between the designated position point and the current position of the sweeping robot is planned according to the environment map, and the part between the target position point and the designated position point in the historical path and the path between the designated position point and the current position of the sweeping robot are integrated into a path reaching the target position point.

In this embodiment, an indirect method is also used to plan a path, and whether a historical path passes through the target position point and the designated position point is found, and the designated position point and the current position of the sweeping robot are reachable at the same time, so that the planned path between the current position of the sweeping robot and the target position point may be that the sweeping robot reaches the designated position point from the current position, and then reaches the target position point from the designated position point, so that the sweeping robot reaches the target position point from the current position.

In an embodiment of the present invention, the invisible obstacle is: the first type of sensor preset on the sweeping robot cannot detect the obstacles, but the second type of sensor preset on the sweeping robot detects the obstacles.

In practical applications, the obstacles are not visible to the sensor, i.e. the types of obstacles detectable by different sensors are limited, for example, the detection signal of the infrared sensor is a straight line, usually a certain distance from the ground, for a pen that is inadvertently left by the user, the pen is short on the ground, the detection light of the infrared sensor cannot hit the pen, and the infrared sensor is not visible. But for the collision sensor the above-mentioned pen or the like obstacle is visible. Therefore, when the environment map is constructed, the sweeping robot marks the obstacles according to the difference of the obstacles detected by the sensors, for example, in this embodiment, the preset first type sensor does not detect the obstacles, but the preset second type sensor detects the obstacles whose positions are not visible, so that when the escaping path is planned, the path can be planned according to the invisible obstacles marked in the environment map.

In this embodiment, the invisible obstacle that is not detected by the first sensor and that can be detected by the second sensor is marked as an invisible obstacle, which may be mobile, for example, if the user picks up the pen, the obstacle disappears and the sweeping robot is allowed to pass through, so that the location in the environment map is actually passed through although marked as an invisible obstacle. Therefore, in order to reasonably plan the path in the escaping process and improve the escaping success rate, the path planning is performed according to the unavailable obstacle in the embodiment.

Specifically, the first type of sensor includes: an infrared ranging sensor and/or a laser sensor; the second type of sensor includes: impact sensors and/or ultrasonic sensors.

In an embodiment of the invention, before performing the step of escaping from the stranded state, the method further includes: and judging whether the history from the current position of the sweeping robot to the target position point is accessible, if so, executing the step of getting rid of the trouble, and otherwise, not executing the step of getting rid of the trouble.

In practical applications, the target position itself is inaccessible, that is, no matter how the path is planned, the target position point cannot be reached from the current position, and in order to ensure the effectiveness of the escaping processing and prevent the consumption and waste of system resources in the escaping processing, judgment is performed before the escaping processing step. In this embodiment, before the step of performing the escaping processing, it is first determined whether the history from the current position of the sweeping robot to the target position point is reachable.

Further, the above determining whether the history from the current position of the sweeping robot to the target position point is up to the current position comprises: if the path passing through the current position and the target position point of the sweeping robot exists, determining that the path from the current position to the target position point of the sweeping robot is historically reachable; and if the path passing through the current position and the designated position point of the sweeping robot exists and the path passing through the designated position point can be known to be reachable between the designated position point and the target position point according to the environment map, determining that the path from the current position to the target position point of the sweeping robot is historically reachable.

In this embodiment, when performing the determination, the direct determination may be performed through the history path, or the indirect determination may be performed through the history path. If the historical path has a path passing through the current position and the target position point of the sweeping robot, which indicates that the sweeping robot passes through the path from the current position to the target position point, the current sweeping robot can also reach the target position point from the current position, and then the escaping processing step can be carried out. If a path passing through the current position and the designated position point of the sweeping robot exists and the designated position point and the target position point can be reached, the sweeping robot can indirectly reach the target position point from the current position through the designated position point, that is, the sweeping robot is possible to reach the target position point from the current position, and the difficulty-escaping processing step can be carried out.

For example, when the sweeping robot is currently located on one side of a narrow passage, and the target position point is a wider position point on the other side of the narrow passage, if it is displayed in the historical path of the sweeping robot that the sweeping robot has passed from the target position point to the current position or has passed from the current position to the target position point, it is determined that the sweeping robot has been historically reachable from the current position to the target position point; or, if the sweeping robot is displayed in the historical path from the specified position point near the target position point to the current position once, or the sweeping robot reaches the specified position point near the target position point from the current position and the specified position point and the target position point are reachable, determining that the sweeping robot is historically reachable from the current position to the target position point.

Fig. 2 shows a schematic structural diagram of a sweeping robot according to an embodiment of the present invention. As shown in fig. 2, the sweeping robot 200 includes:

a human proximity sensor 210 adapted to detect whether a target obstacle exists at a designated position; and adapted to detect whether a target obstacle at the location marked with the specified identification in the environment map is still present.

A marking unit 220 adapted to not perform collision processing when it is detected by the human proximity sensor that a target obstacle exists at a designated position, but mark the target obstacle at a designated mark at a corresponding designated position in the environment map.

The processing unit 230 is adapted to detect whether a target obstacle at a position marked with a designated identifier in the environment map still exists by using the human body proximity sensor when a preset condition is satisfied, perform cleaning processing on the corresponding position if the target obstacle does not exist, and clear the corresponding designated identifier in the environment map.

In one embodiment of the present invention, the marking unit 220 is adapted to make one turn around the target obstacle, and mark the target obstacle in the environment map according to the size range of the turn.

In an embodiment of the invention, the satisfying of the preset condition includes: the sweeping robot cleans other areas to be cleaned; alternatively, after a preset time interval.

In one embodiment of the present invention, if the target obstacle still exists, the processing unit 230 is adapted to detect, again using the human proximity sensor, whether the target obstacle at the position marked with the designated identification mark in the environment map still exists at every time T, and if the target obstacle does not exist, perform a cleaning process on the corresponding position; the value of the time T is increased if the target obstacle is still present.

In one embodiment of the present invention, the sweeping robot shown in fig. 2 further comprises:

In an embodiment of the invention, the above-mentioned escaping unit is adapted to, if a historical route passes through the current position and the target position point of the sweeping robot, take a part between the current position and the target position point of the sweeping robot of the historical route as one of the routes to the target position point.

In an embodiment of the invention, the above-mentioned escaping unit is adapted to plan a route between the specified position point and the target position point according to the environment map if a historical route passes through the current position and the specified position point of the sweeping robot and the specified position point is known to be reachable according to the environment map, and integrate a part between the current position and the specified position point of the sweeping robot in the historical route and the route between the specified position point and the target position point into a route reaching the target position point.

In an embodiment of the invention, the above-mentioned escaping unit is adapted to plan a route between the specified position point and the current position of the sweeping robot according to the environment map if a historical route passes through the target position point and the specified position point is known to be reachable between the specified position point and the current position of the sweeping robot according to the environment map, and integrate a part between the target position point and the specified position point in the historical route and a route between the specified position point and the current position of the sweeping robot into a route reaching the target position point.

In an embodiment of the invention, the above-mentioned escaping unit is adapted to further determine whether the history from the current position of the sweeping robot to the target position point is reachable before the escaping processing step is executed, if so, the escaping processing step is executed, otherwise, the escaping processing step is not executed.

Further, the above-mentioned escaping unit is adapted to determine that the current position of the sweeping robot to the target position point is historically reachable if there is a path passing through the current position and the target position point of the sweeping robot; and if the path passing through the current position and the designated position point of the sweeping robot exists and the path passing through the designated position point can be known to be reachable between the designated position point and the target position point according to the environment map, determining that the path from the current position to the target position point of the sweeping robot is historically reachable.

The present invention also provides an electronic device, wherein the electronic device includes:

a processor; and a memory arranged to store computer executable instructions that when executed cause the processor to perform an obstacle handling method for a sweeping robot according to what is shown in figure 1 and embodiments thereof.

Fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. As shown in fig. 3, the electronic device 300 includes:

a processor 310; and a memory 320 arranged to store computer executable instructions (program code), in the memory 320 there being a memory space 330 storing the program code, the program code 330 for performing the method steps according to the invention being stored in the memory space 330, the program code, when executed, causing the processor 310 to perform the obstacle handling method for a sweeping robot according to the embodiment shown in figure 1 and described herein.

Fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. As shown in fig. 4, the computer readable storage medium 400 stores one or more programs (program code) 410, and the one or more programs (program code) 410, when executed by the processor, are configured to perform the method steps according to the present invention, i.e., the obstacle handling method for a sweeping robot shown in fig. 1 and the embodiments thereof.

It should be noted that the embodiments of the electronic device shown in fig. 3 and the computer-readable storage medium shown in fig. 4 are the same as the embodiments of the method shown in fig. 1, and the detailed description is given above and is not repeated here.

In summary, according to the technical solution of the present invention, when the human body proximity sensor detects that the target obstacle exists at the designated position, the collision processing is not performed, but the target obstacle is marked with the designated identifier at the corresponding designated position in the environment map; when the preset conditions are met, detecting whether a target obstacle at the position marked by the appointed identification mark still exists in the environment map by using the human body proximity sensor, if the target obstacle does not exist, cleaning the corresponding position, and clearing the corresponding appointed identification in the environment map. By the technical scheme, the human body proximity sensor can detect the user in time, the user is not collided, and the user is prevented from being disturbed; and whether the target obstacle exists can be detected again, so that cleaning treatment can be performed when the target obstacle does not exist, cleaning in place is guaranteed, and use experience of a user is enhanced.

It should be noted that:

the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that microprocessors or Digital Signal Processors (DSPs) may be used in practice to implement some or all of the functions of some or all of the components of the sweeping robot, electronic device and computer readable storage medium according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

For example, fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device 300 conventionally comprises a processor 310 and a memory 320 arranged to store computer-executable instructions (program code). The memory 320 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Memory 320 has storage space 330 for storing program code 340 for performing the method steps shown in fig. 1 and in any of the embodiments. For example, the storage space 330 for the program code may comprise respective program codes 340 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is generally a computer-readable storage medium 400 such as described in fig. 4. The computer-readable storage medium 400 may have memory segments, memory spaces, etc. arranged similarly to the memory 320 in the electronic device of fig. 3. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores a program code 410 for performing the steps of the method according to the invention, i.e. a program code readable by a processor such as 310, which program code, when executed by an electronic device, causes the electronic device to perform the individual steps of the method described above.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The invention discloses A1 and an obstacle processing method for a sweeping robot, wherein the method comprises the following steps:

A2, the method as in a1, wherein the marking the target obstacle with a specified identity at the corresponding specified location in the environment map comprises:

A3, the method as in A1, wherein the meeting preset conditions comprises:

the sweeping robot cleans other areas to be cleaned;

alternatively, the first and second electrodes may be,

after a preset time interval.

A4, the method of a1, wherein if the target obstacle is still present, the method further comprises:

the value of the time T is increased if the target obstacle is still present.

A5, the method of a1, wherein the method further comprises: when the sweeping robot cannot reach the target position point according to the current environment map, executing the following escaping processing steps:

A6, the method as in A5, wherein the planning one or more paths to a target location point according to historical paths comprises:

A7, the method as in A5, wherein the planning one or more paths to a target location point according to historical paths comprises:

A8, the method of a5, wherein the invisible obstruction is:

A9 the method of A8, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

A10, the method as recited in a5, wherein before the step of performing the escaping processing, the method further comprises:

A11, the method as in a10, wherein the judging whether the history from the current position to the target position of the sweeping robot is up comprises:

The invention also discloses B12 and a sweeping robot, wherein the sweeping robot comprises:

B13, the sweeping robot of B12, wherein,

B14, the sweeping robot of B12, wherein the meeting of the preset conditions includes:

the sweeping robot cleans other areas to be cleaned;

alternatively, the first and second electrodes may be,

after a preset time interval.

B15, the sweeping robot of B12, wherein,

B16, the sweeping robot of B12, wherein the sweeping robot further comprises:

B17, the sweeping robot of B16, wherein,

B18, the sweeping robot of B16, wherein,

B19, the sweeping robot of B16, wherein the invisible obstacle is:

B20, the sweeping robot of B19, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

B21, the sweeping robot as recited in B16, wherein,

B22, the sweeping robot as B21, wherein,

The invention also discloses C23 and an electronic device, wherein the electronic device comprises:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of a 1-a 11.

The invention also discloses D24, a computer readable storage medium, wherein the computer readable storage medium stores one or more programs that when executed by a processor implement the method of any one of a 1-a 11.

Claims

1. An obstacle handling method for a sweeping robot, wherein the method comprises:

when a human body proximity sensor is used for detecting that a target obstacle exists at a specified position, collision processing is not carried out, and the target obstacle is marked with a specified mark at the corresponding specified position in an environment map; wherein the designated identifier is used to distinguish the target obstacle from other obstacles;

when a preset condition is met, detecting whether a target obstacle at a position marked by an appointed identification mark in an environment map still exists by using a human body proximity sensor, if the target obstacle does not exist, cleaning the corresponding position, and clearing the corresponding appointed identification in the environment map;

wherein said marking the target obstacle with a specified identification at a corresponding said specified location in the environment map comprises:

the target obstacle is marked in the environment map according to the size range of the circle;

wherein if the target obstacle is still present, the method further comprises:

the value of the time T is increased if the target obstacle is still present.

2. The method of claim 1, wherein the meeting of the preset condition comprises:

the sweeping robot cleans other areas to be cleaned;

alternatively, the first and second electrodes may be,

after a preset time interval.

3. The method of claim 1, wherein the method further comprises: when the sweeping robot cannot reach the target position point according to the current environment map, executing the following escaping processing steps:

traversing the planned path to the target position point in sequence, if the planned path can reach the target position point, the escaping is successful, and if the planned path can not reach the target position point, the escaping is failed;

wherein the invisible obstacles are:

4. The method of claim 3, wherein planning one or more paths to a target location point based on the historical paths comprises:

5. The method of claim 3, wherein planning one or more paths to a target location point based on the historical paths comprises:

6. The method of claim 3, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

7. The method of claim 3, wherein the method further comprises, prior to performing the de-trapping process step:

8. The method of claim 7, wherein the determining whether the history is reachable from the current location of the sweeping robot to the target location point comprises:

9. A sweeping robot, wherein the sweeping robot comprises:

a marking unit adapted to not perform collision processing when it is detected by a human body proximity sensor that a target obstacle exists at a specified position, but mark the target obstacle at a specified mark in a corresponding specified position in an environment map; wherein the designated identifier is used to distinguish the target obstacle from other obstacles;

the processing unit is suitable for detecting whether a target obstacle at the position marked by the appointed identification in the environment map still exists or not by using the human body proximity sensor when a preset condition is met, cleaning the corresponding position if the target obstacle does not exist, and clearing the corresponding appointed identification in the environment map;

wherein the marking unit is suitable for moving around the target obstacle for one circle and marking the target obstacle in the environment map according to the size range of the circle;

wherein the content of the first and second substances,

10. The sweeping robot of claim 9, wherein the satisfaction of the preset conditions comprises:

the sweeping robot cleans other areas to be cleaned;

alternatively, the first and second electrodes may be,

after a preset time interval.

11. The sweeping robot of claim 9, further comprising:

the escaping unit is suitable for executing the following escaping processing steps when the sweeping robot cannot reach the target position point according to the current environment map: planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; traversing the planned path to the target position point in sequence, if the planned path can reach the target position point, the escaping is successful, and if the planned path can not reach the target position point, the escaping is failed;

wherein the invisible obstacles are:

12. The sweeping robot of claim 11,

13. The sweeping robot of claim 11,

14. The sweeping robot of claim 11,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

15. The sweeping robot of claim 12,

16. The sweeping robot of claim 15,

17. An electronic device, wherein the electronic device comprises:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of claims 1 to 8.

18. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-8.