CN108763571B - Operation map updating method - Google Patents
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- CN108763571B CN108763571B CN201810570465.9A CN201810570465A CN108763571B CN 108763571 B CN108763571 B CN 108763571B CN 201810570465 A CN201810570465 A CN 201810570465A CN 108763571 B CN108763571 B CN 108763571B
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Abstract
The embodiment of the invention relates to an operation map updating method, which comprises the following steps: receiving cleaning task information and generating cleaning path information; the environment sensing module detects the cleaning environment information to obtain barrier information; judging whether the acquired position information of the obstacle coincides with the position information of the calibrated obstacle or not; when the fixed obstacles do not overlap, performing detour cleaning on the fixed obstacles, recording the position information of the fixed obstacles, and storing the position information in a cleaning operation log; the server updates the marking times of the fixed obstacles in the list of the fixed obstacles to be calibrated; and when the marking times of the fixed obstacles reach a preset time threshold value, updating the map information of the cleaning area. The invention can record the uncalibrated fixed obstacles in the map in the cleaning operation log, and mark the uncalibrated obstacles in the cleaning area map when the recording times reach the threshold value, thereby updating the area map in time and saving the electric quantity and the cleaning time of the cleaning device in the cleaning process.
Description
Technical Field
The invention relates to the field of data processing, in particular to an operation map updating method.
Background
Along with the development of economy and the progress of science and technology, people's requirement on living environment quality is higher and higher, and along with the rise of artificial intelligence, the market also more and more focuses on the technique of cleaning based on artificial intelligence technique, in current intelligent cleaning technique, adopt the robot of sweeping the floor to realize cleaning in the small size usually, to cleaning of large tracts of land such as road, still need the manual work to clean, use the mode that the manual work cleaned the road surface, not only the human cost is high, and the dust that produces when the manual work is cleaned can seriously influence cleaner's healthy, inevitable can cause the secondary pollution of environment.
Moreover, with the development of urban scale, the manpower cost is continuously increased, and the demand for the intelligent unmanned sweeper is particularly urgent. The existing unmanned sweeper can only sweep according to an operation map generated by pre-detection, when fixed obstacles which do not exist in the map are added in a sweeping area, the sweeper needs to detect the fixed obstacles each time and replan a sweeping path, so that waste of electric quantity and time is caused; moreover, the sweeper can only adopt a single sweeping mode, and cannot intelligently and efficiently complete a sweeping task.
Disclosure of Invention
The invention aims to provide an operation map updating method, which can record uncalibrated fixed obstacles in a map in a cleaning operation log, and mark the uncalibrated obstacles in a cleaning area map when the recording times reach a threshold value, so as to update the area map in time, save the electric quantity and the cleaning time of a cleaning device in the cleaning process, and can match an optimal cleaning mode according to a cleaning task, thereby intelligently and efficiently completing the cleaning task.
In order to achieve the above object, the present invention provides a method for updating a work map, including:
the server receives cleaning task information and generates cleaning path information according to the cleaning task information; the cleaning task information comprises cleaning area map information; the cleaning area map information comprises area boundary information and calibration obstacle information;
acquiring a device ID of a corresponding cleaning device in a region-device list according to the cleaning region map information, and sending the generated cleaning path information to the corresponding cleaning device; wherein the area-device list stores therein cleaning area map information and a device ID of a corresponding cleaning device;
the cleaning device cleans according to the cleaning path information;
an environment sensing module of the cleaning device detects cleaning environment information to obtain obstacle information;
judging attribute information of the obstacle; the attribute information of the obstacle comprises a fixed obstacle and a moving obstacle;
when the attribute information of the barrier is a moving barrier, avoiding the moving barrier;
when the attribute information of the obstacle is a fixed obstacle, acquiring the position information of the fixed obstacle;
judging whether the acquired position information of the obstacle coincides with the position information of the calibrated obstacle or not;
when the information is overlapped, cleaning is carried out according to the cleaning path information;
when the fixed obstacles do not overlap, performing detour cleaning on the fixed obstacles, recording the position information of the fixed obstacles, and storing the position information in a cleaning operation log;
sending the cleaning operation log to the server according to preset time;
the server analyzes the cleaning operation log to obtain the position information of the fixed obstacle, and updates the marking times of the fixed obstacle in a list of the fixed obstacle to be calibrated; the method comprises the steps that position information and marking times of fixed obstacles are stored in a list of the fixed obstacles to be calibrated;
when the marking times of the fixed obstacles reach a preset time threshold, defining the fixed obstacles as calibrated obstacles, and updating the map information of the cleaning area according to the position information of the calibrated obstacles.
Preferably, the cleaning task information further includes cleaning intensity information; the generating of the cleaning path information according to the cleaning task information specifically includes:
acquiring corresponding cleaning mode information in a cleaning mode list according to the cleaning intensity information; the cleaning mode list stores the association relationship among cleaning intensity information, cleaning mode information, cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information;
acquiring preset cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information according to the cleaning mode information;
and generating cleaning path information according to the cleaning track information, the cleaning speed parameter information and the side brush rotating speed parameter information.
Preferably, the cleaning task information includes cleaning time limit information; the generating of the cleaning path information according to the cleaning task information specifically includes:
determining the information of the area to be cleaned according to the area boundary information and the calibrated obstacle information in the map information of the cleaning area;
cleaning time information of a unit area is determined according to the area information to be cleaned and the cleaning time limit information;
acquiring cleaning mode information meeting the cleaning time information of the unit area in a cleaning mode list; the cleaning mode list comprises cleaning mode information, corresponding cleaning time information of unit area, cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information;
acquiring preset cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information according to the cleaning mode information;
and generating cleaning path information according to the cleaning track information, the cleaning speed parameter information and the side brush rotating speed parameter information.
Further preferably, the acquiring of the cleaning mode information satisfying the cleaning time information per unit area in the cleaning mode list specifically includes:
acquiring cleaning mode information of which the preset cleaning time information of a unit area is not more than the cleaning time information of the unit area in a cleaning mode list;
sorting the cleaning mode information according to the length of the preset cleaning time information of the unit area;
and selecting the cleaning mode information with the longest preset cleaning time information of the unit area.
Preferably, after determining whether the acquired position information of the obstacle coincides with the position information of the calibrated obstacle, the method further includes:
when the fixed obstacles do not coincide, performing bypassing cleaning on the fixed obstacles, and recording the position information of the fixed obstacles;
and generating fixed obstacle prompt information according to the position information, and sending the fixed obstacle prompt information to the server.
Preferably, the method further comprises:
the cleaning device comprises a positioning module, a storage module and a control module, wherein the positioning module of the cleaning device acquires cleaning position information of the cleaning device in real time;
generating actual cleaning track information according to the cleaning position information, and sending the actual cleaning track information to the server;
and the server establishes an incidence relation between the actual cleaning track information for the cleaning task information and stores the actual cleaning track information.
Preferably, the method further comprises:
the environment sensing module detects a calibrated obstacle in the cleaning area;
when the calibration obstacle is not detected, cleaning the area where the calibration obstacle is located;
and acquiring the position information of the calibrated obstacle and storing the position information in a cleaning operation log.
Further preferably, after the sending the cleaning job log to the server according to the preset time, the method further includes:
the server analyzes the cleaning operation log to obtain the calibrated obstacle and corresponding position information;
deleting the calibrated obstacle in the cleaning area map information according to the position information of the calibrated obstacle, and updating the cleaning area map information.
Preferably, before the server receives the cleaning task information, the method further includes:
and the user terminal receives the cleaning task information input by the user and sends the cleaning task information to the server.
According to the operation map updating method provided by the embodiment of the invention, the uncalibrated fixed obstacles in the map can be recorded in the cleaning operation log, and when the recording times reach the threshold value, the uncalibrated obstacles are marked in the cleaning area map, so that the area map is updated in time, the electric quantity and the cleaning time of the cleaning device in the cleaning process are saved, and the optimal cleaning mode can be matched according to the cleaning task, so that the cleaning task is intelligently and efficiently completed.
Drawings
Fig. 1 is a flowchart of an operation map updating method according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The operation map updating method provided by the embodiment of the invention is executed between the cleaning device and the server, wherein the cleaning device can be understood as an unmanned intelligent sweeper and can clean the operation area according to a cleaning task issued by the server, the cleaning device generates logs of fixed obstacles which do not exist in a cleaning area map and reports the logs, and the server updates the map according to the logs.
Fig. 1 is a flowchart of an operation map updating method according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
the cleaning task information includes cleaning area map information designated by the user. The cleaning area map information comprises area boundary information and calibration obstacle information; the area boundary information is used for limiting the area range of cleaning operation, the calibration obstacle information refers to contour information of calibration obstacles and is used for representing the occupied area of the fixed obstacles, the number of the calibration obstacles can be multiple, the boundary information of the area to be cleaned and the contour information of the calibration obstacles are collected in advance and marked in map information, for example, a slide is arranged in a square, the slide is the fixed obstacle, the boundary information of the square is limited in the map information, and the contour information of the slide is marked in the square.
The cleaning task information can be input by a user through terminal equipment, and the user terminal receives the cleaning task information input by the user and sends the cleaning task information to the server. The terminal device may be an intelligent device with a networking function, such as a smart phone, a tablet computer, and the like. And the terminal equipment performs data interaction with the cleaning device through the network according to the equipment ID capable of determining the identity information of the terminal equipment.
Different users have different cleaning requirements for different cleaning areas or the same cleaning area, for example, if the area is dirty, strong cleaning is selected, and if the area is clean, general cleaning intensity is selected for cleaning, so that cleaning intensity information is also included in the cleaning task information, the cleaning intensity information is used for representing the intensity of cleaning, each cleaning intensity corresponds to one cleaning mode information, and each cleaning intensity corresponds to different cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information. And the cleaning intensity information and the corresponding cleaning mode information, cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information are in pre-established association relationship, and a cleaning mode list is generated according to the association relationship.
The cleaning track information refers to the type of the cleaning track during cleaning operation, and may include, for example, "bow" and "return" shapes, where when the "bow" shaped track is used for cleaning, the distance between two adjacent cleaning tracks is large, and the cleaning areas formed by the two adjacent cleaning tracks are relatively connected but not coincident; when the cleaning device adopts the 'return' shaped track to clean, the distance between two adjacent cleaning tracks is smaller, and the cleaning areas formed by the two adjacent cleaning tracks are overlapped, namely, repeated cleaning is carried out at some places. The sizes of the overlapped cleaning surfaces formed by the adjacent cleaning tracks are different for different cleaning strengths. The cleaning speed information is a speed parameter of the cleaning device during cleaning, and the cleaner the cleaning speed is, the slower the cleaning speed is. The side brush rotating speed information refers to rotating speed parameters of the bottom side brush when the cleaning device cleans, and the faster the side brush rotates, the cleaner the cleaning is. In addition, the cleaning path information may further include water application amount information, the water application amount information is a water application parameter of the cleaning device during cleaning, and the water application amount may be specifically set as needed.
Specifically, the server acquires corresponding cleaning mode information from a cleaning mode list according to the cleaning intensity information; acquiring preset cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information according to the cleaning mode information; the cleaning path information is generated according to the cleaning path information, the cleaning speed parameter information and the side brush rotating speed parameter information, that is, the cleaning path information can be understood as multi-attribute cleaning path information.
In a preferred embodiment, the cleaning task information includes cleaning time limit information, which refers to a time limit for cleaning operation, and can be divided into an absolute time limit and a relative time limit, such as cleaning the square five hours earlier or cleaning the square two hours later. When the cleaning intensity is not specified, the cleaning device can adopt the strongest force to clean the path for absolute time limitation; for the relative time limitation, the cleaning mode with the strongest cleaning force is preferably adopted in a limited time range, the process depends on a cleaning mode list generated in advance, and the cleaning mode list comprises cleaning mode information, cleaning time information of corresponding unit area, cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information; the cleaning time information of the unit area corresponding to different cleaning modes is different, and the stronger the cleaning force, the closer the distance between the adjacent cleaning tracks is, and the larger the overlapping area between the cleaning areas formed by the adjacent cleaning tracks is, so that the cleaning time of the unit area is longer.
Specifically, firstly, determining the information of the area to be cleaned according to the area boundary information and the calibrated obstacle information in the map information of the cleaning area; determining cleaning time information of a unit area according to the information of the area to be cleaned and the cleaning time limit information; acquiring cleaning mode information meeting cleaning time information of a unit area in a cleaning mode list, specifically acquiring cleaning mode information of which preset cleaning time information of the unit area is not more than the cleaning time information of the unit area in the cleaning mode list; sorting the cleaning mode information according to the length of the preset cleaning time information in unit area; and selecting the cleaning mode information with the longest preset cleaning time information in unit area. Acquiring preset cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information according to the cleaning mode information; and generating cleaning path information according to the cleaning track information, the cleaning speed parameter information and the side brush rotating speed parameter information, so that the strongest cleaning mode of the cleaning force is adopted in a limited time range.
each cleaning device has a device ID for identifying the cleaning device and for assigning cleaning tasks, reporting cleaning logs, and the like.
In order to facilitate the distribution of cleaning tasks, each cleaning area is provided with a dedicated cleaning device which is responsible for the cleaning work of the cleaning area, the cleaning area map information and the device ID of the corresponding cleaning device are in a pre-association relationship, an area-device list is generated, the device ID of the corresponding cleaning device is acquired in the area-device list according to the cleaning area map information in the cleaning tasks, and the generated cleaning path information is sent to the corresponding cleaning device.
103, cleaning by the cleaning device according to the cleaning path information;
specifically, the cleaning device analyzes the cleaning path information to obtain cleaning track information, cleaning speed parameter information, and side brush rotation speed parameter information, and performs cleaning operation based on the cleaning track information, the cleaning speed parameter information, and the side brush rotation speed parameter information.
104, detecting cleaning environment information by an environment sensing module of the cleaning device to obtain obstacle information;
in order to ensure the safety in the cleaning process, the cleaning device is provided with an environment sensing module which can comprise a radar and a camera, wherein the radar can be an ultrasonic radar and a laser radar, and a plurality of radars can be arranged around the cleaning device to detect and identify surrounding obstacles; the camera can be a plurality of, sets up respectively around cleaning device, assists the check-up to the data of laser radar and ultrasonic radar perception.
in the cleaning process, a radar and a camera detect and collect information of an operation environment, when an obstacle is sensed, attribute information of the obstacle is judged, the attribute information of the obstacle comprises a fixed obstacle and a movable obstacle, the judgment can be specifically carried out through the stay time of the obstacle, when the stay time of the obstacle at one position point reaches a preset time threshold value, the obstacle is judged to be the fixed obstacle, otherwise, the obstacle is the movable obstacle; the fixed barrier may be a temporarily placed trash can, or may be a temporarily parked vehicle, etc., and the moving barrier may be a pedestrian or a driven vehicle, etc.
When the attribute information of the obstacle is a moving obstacle, step 106 is executed. When the attribute information of the obstacle is a fixed obstacle, step 107 is executed.
106, avoiding the moving barrier;
and when the attribute information of the obstacle is judged to be the moving obstacle, the moving obstacle is avoided, and after the moving obstacle does not occupy the cleaning track, the operation cleaning is continuously carried out along the cleaning track information.
and when the attribute information of the obstacle is judged to be the fixed obstacle, acquiring the position information of the fixed obstacle through the environment sensing module.
specifically, in the cleaning area map information, it is determined whether the sensed position information of the fixed obstacle is within the position information of the pre-calibrated obstacle, and if the sensed position information of the fixed obstacle is within the position information of the pre-calibrated obstacle, it is determined that the position information of the obstacle coincides with the position information of the calibrated obstacle, step 109 is executed; when the sensed position information of the fixed obstacle is not within the position information occupied by the pre-calibrated obstacle, i.e. the position information of the obstacle is considered not to coincide with the position information of the calibrated obstacle, step 110 is executed.
if the position information of the obstacle coincides with the position information of the calibrated obstacle, it is described that the recognized fixed obstacle is an obstacle calibrated in advance in the map, and the fixed obstacle is taken into consideration in route planning, so that cleaning may be performed based on preset cleaning route information.
the position information of the obstacle is not overlapped with the position information of the marked obstacle, which indicates that an unmarked fixed obstacle exists in the cleaning area, and the cleaning device records the position information of the fixed obstacle and stores the position information in the cleaning operation log for facilitating the subsequent map updating, and performs the detour cleaning on the fixed obstacle. The cleaning log stores therein a device ID, cleaning task information, and position information of the detected uncalibrated fixed obstacle.
the preset time can be set by a person skilled in the art according to needs, for example, the preset time can be set to 23:00 per night, and at 23:00 per night, all cleaning devices upload cleaning operation logs to the server.
the list of fixed obstacles to be calibrated is used for storing the position information and the marking times of the fixed obstacles.
Specifically, the server analyzes the cleaning operation log to obtain position information of a fixed obstacle, the server judges whether the fixed obstacle list to be calibrated has the obstacle or not, if not, the obstacle is detected for the first time, the obstacle and the corresponding position information are added into the fixed obstacle list to be calibrated, and the corresponding marking times are recorded as 1 time; if the fixed obstacle is detected before the fixed obstacle is detected, updating the marking times of the fixed obstacle in the fixed obstacle list to be calibrated.
And step 113, when the marking times of the fixed obstacles reach a preset time threshold, defining the fixed obstacles as calibrated obstacles, and updating the map information of the cleaning area according to the position information of the calibrated obstacles.
In a specific example, the cleaning device determines that the dustbin is a fixed obstacle to bypass in the cleaning process, records the position information of the dustbin on the cleaning log and uploads the position information to the server, the server marks the position of the dustbin in the list of the fixed obstacles to be calibrated and records the marking times, when the cleaning device cleans the cleaning area again next time, the dustbin is detected again, the position of the dustbin is continuously recorded in the cleaning log and reported to the server, when the marking times of the position of the obstacle by the server reach a preset threshold value, such as 4 times, the fixed obstacle is defined as a calibrated obstacle, the dustbin is marked as the fixed obstacle in the map, the map of the cleaning area is updated, so that the cleaning track can be replanned according to the updated map, the fixed obstacle is not required to be identified, avoided and reported every time, the time and the electric quantity of cleaning operation are saved, and the cleaning efficiency is improved.
In a preferred embodiment, in order to update the map of the cleaning area in time and plan the cleaning path in time, after determining whether the acquired position information of the obstacle coincides with the position information of the calibrated obstacle in step 108, if the acquired position information of the obstacle does not coincide with the position information of the calibrated obstacle, the cleaning device performs detour cleaning on the fixed obstacle, records the position information of the fixed obstacle, generates prompt information of the fixed obstacle according to the position information, and sends the prompt information to the server, so that the server can update the marking times of the fixed obstacle in the list of the fixed obstacle to be calibrated in time, and further update the map of the cleaning area in time.
The updating of the map not only increases the calibration of the fixed obstacle, but also cancels the calibrated obstacle, and specifically, the environment sensing module detects the calibrated obstacle in the cleaning area; when the calibration obstacle is not detected, cleaning the area where the calibration obstacle is located; acquiring position information of a calibrated obstacle, storing the position information in a cleaning operation log, and analyzing the cleaning operation log by a server after the cleaning operation log is sent to the server according to preset time to obtain the calibrated obstacle and corresponding position information; and deleting the calibrated obstacle in the cleaning area map information according to the position information of the calibrated obstacle, and updating the cleaning area map information. If the calibrated obstacle is not detected, if the calibrated obstacle does not exist, for example, a garbage bin marked in a map is removed, the cleaning device continues to clean according to the original map, and the area where the calibrated obstacle is located is missed.
In order to accurately record the actual cleaning track of the cleaning device, the cleaning device is also provided with a positioning module, specifically two differential GPS modules, and the positioning module of the cleaning device acquires the cleaning position information of the cleaning device in real time; generating actual cleaning track information according to the cleaning position information, and sending the actual cleaning track information to a server; and the server establishes an incidence relation between the actual cleaning track information for the cleaning task information and stores the actual cleaning track information. Therefore, when the server receives the same cleaning task, the cleaning track can be directly issued to the cleaning device for cleaning, and a data basis is provided for the optimization processing of the cleaning track.
According to the operation map updating method provided by the embodiment of the invention, the uncalibrated fixed obstacles in the map can be recorded in the cleaning operation log, and when the recording times reach the threshold value, the uncalibrated obstacles are marked in the cleaning area map, so that the area map is updated in time, the electric quantity and the cleaning time of the cleaning device in the cleaning process are saved, and the optimal cleaning mode can be matched according to the cleaning task, so that the cleaning task is intelligently and efficiently completed.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for updating a work map, the method comprising:
the server receives cleaning task information and generates cleaning path information according to the cleaning task information; the cleaning task information comprises cleaning area map information; the cleaning area map information comprises area boundary information and calibration obstacle information;
acquiring a device ID of a corresponding cleaning device in a region-device list according to the cleaning region map information, and sending the generated cleaning path information to the corresponding cleaning device; wherein the area-device list stores therein cleaning area map information and a device ID of a corresponding cleaning device;
the cleaning device cleans according to the cleaning path information;
an environment sensing module of the cleaning device detects cleaning environment information to obtain obstacle information;
judging attribute information of the obstacle; the attribute information of the obstacle comprises a fixed obstacle and a moving obstacle;
when the attribute information of the barrier is a moving barrier, avoiding the moving barrier;
when the attribute information of the obstacle is a fixed obstacle, acquiring the position information of the fixed obstacle;
judging whether the acquired position information of the obstacle coincides with the position information of the calibrated obstacle or not;
when the information is overlapped, cleaning is carried out according to the cleaning path information;
when the fixed obstacles do not overlap, performing detour cleaning on the fixed obstacles, recording the position information of the fixed obstacles, and storing the position information in a cleaning operation log;
sending the cleaning operation log to the server according to preset time;
the server analyzes the cleaning operation log to obtain the position information of the fixed obstacle, and updates the marking times of the fixed obstacle in a list of the fixed obstacle to be calibrated; the method comprises the steps that position information and marking times of fixed obstacles are stored in a list of the fixed obstacles to be calibrated;
when the marking times of the fixed obstacle reach a preset time threshold, defining the fixed obstacle as a calibrated obstacle, and updating the map information of the cleaning area according to the position information of the calibrated obstacle;
the cleaning task information also comprises cleaning intensity information; the generating of the cleaning path information according to the cleaning task information specifically includes:
acquiring corresponding cleaning mode information in a cleaning mode list according to the cleaning intensity information; the cleaning mode list stores the association relationship among cleaning intensity information, cleaning mode information, cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information;
acquiring preset cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information according to the cleaning mode information;
and generating cleaning path information according to the cleaning track information, the cleaning speed parameter information and the side brush rotating speed parameter information.
2. The work map updating method according to claim 1, wherein the cleaning task information includes cleaning time limit information; the generating of the cleaning path information according to the cleaning task information specifically includes:
determining the information of the area to be cleaned according to the area boundary information and the calibrated obstacle information in the map information of the cleaning area;
cleaning time information of a unit area is determined according to the area information to be cleaned and the cleaning time limit information;
acquiring cleaning mode information meeting the cleaning time information of the unit area in a cleaning mode list; the cleaning mode list comprises cleaning mode information, corresponding cleaning time information of unit area, cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information;
acquiring preset cleaning track information, cleaning speed parameter information and side brush rotating speed parameter information according to the cleaning mode information;
and generating cleaning path information according to the cleaning track information, the cleaning speed parameter information and the side brush rotating speed parameter information.
3. The work map updating method according to claim 2, wherein the acquiring of the cleaning mode information satisfying the cleaning time information per unit area in the cleaning mode list specifically includes:
acquiring cleaning mode information of which the preset cleaning time information of a unit area is not more than the cleaning time information of the unit area in a cleaning mode list;
sorting the cleaning mode information according to the length of the preset cleaning time information of the unit area;
and selecting the cleaning mode information with the longest preset cleaning time information of the unit area.
4. The method according to claim 1, wherein after determining whether the acquired position information of the obstacle coincides with position information of a calibration obstacle, the method further comprises:
when the fixed obstacles do not coincide, performing bypassing cleaning on the fixed obstacles, and recording the position information of the fixed obstacles;
and generating fixed obstacle prompt information according to the position information, and sending the fixed obstacle prompt information to the server.
5. The work map updating method according to claim 1, further comprising:
the cleaning device comprises a positioning module, a storage module and a control module, wherein the positioning module of the cleaning device acquires cleaning position information of the cleaning device in real time;
generating actual cleaning track information according to the cleaning position information, and sending the actual cleaning track information to the server;
and the server establishes an incidence relation between the actual cleaning track information for the cleaning task information and stores the actual cleaning track information.
6. The work map updating method according to claim 1, further comprising:
the environment sensing module detects a calibrated obstacle in the cleaning area;
when the calibration obstacle is not detected, cleaning the area where the calibration obstacle is located;
and acquiring the position information of the calibrated obstacle and storing the position information in a cleaning operation log.
7. The work map updating method according to claim 6, wherein after the sending of the cleaning work log to the server according to a preset time, the method further comprises:
the server analyzes the cleaning operation log to obtain the calibrated obstacle and corresponding position information;
deleting the calibrated obstacle in the cleaning area map information according to the position information of the calibrated obstacle, and updating the cleaning area map information.
8. The work map updating method according to claim 1, wherein before the server receives the cleaning task information, the method further comprises:
and the user terminal receives the cleaning task information input by the user and sends the cleaning task information to the server.
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| CN112506182B (en) * | 2020-10-29 | 2023-03-21 | 久瓴(江苏)数字智能科技有限公司 | Floor sweeping robot positioning method and device, computer equipment and storage medium |
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| CN112198882B (en) * | 2020-12-09 | 2021-12-07 | 苏州优智达机器人有限公司 | Method for robot to execute task, control device, robot and storage medium |
| CN113406953B (en) * | 2021-02-04 | 2022-08-05 | 湖南三一路面机械有限公司 | Obstacle avoidance control method and obstacle avoidance control system for unmanned road roller |
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| KR100791382B1 (en) * | 2006-06-01 | 2008-01-07 | 삼성전자주식회사 | Method for classifying and collecting of area features as robot's moving path and robot controlled as the area features, apparatus and method for composing user interface using area features |
| KR102306709B1 (en) * | 2014-08-19 | 2021-09-29 | 삼성전자주식회사 | Robot cleaner, control apparatus, control system, and control method of robot cleaner |
| CN106863305B (en) * | 2017-03-29 | 2019-12-17 | 赵博皓 | Floor sweeping robot room map creating method and device |
| CN107491049B (en) * | 2017-08-29 | 2020-08-11 | 湖南格兰博智能科技有限责任公司 | Multi-equipment cooperative operation method and cooperative operation device |
| CN107378953A (en) * | 2017-09-20 | 2017-11-24 | 深圳市杉川机器人有限公司 | Clean control method, device, sweeping robot and readable storage medium storing program for executing |
| CN107728615B (en) * | 2017-09-26 | 2019-12-13 | 上海思岚科技有限公司 | self-adaptive region division method and system |
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