CN109471429A - A kind of robot cleaning method, device and electronic equipment - Google Patents
A kind of robot cleaning method, device and electronic equipment Download PDFInfo
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- CN109471429A CN109471429A CN201811149838.1A CN201811149838A CN109471429A CN 109471429 A CN109471429 A CN 109471429A CN 201811149838 A CN201811149838 A CN 201811149838A CN 109471429 A CN109471429 A CN 109471429A
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- sweep
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004140 cleaning Methods 0.000 title claims abstract description 33
- 230000007613 environmental effect Effects 0.000 claims abstract description 144
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 20
- 230000008859 change Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
The invention discloses a kind of robot cleaning method, device and electronic equipments, the described method includes: there are when blind area in environmental map, control robot enters blind area, obtain the environmental information of blind area, wherein, blind area be the region surrounded by visual impediments and/or in environmental map shortage of data region；According to environmental information, sweep-out pattern is planned in blind area；It controls robot and cleans the blind area along the sweep-out pattern.Enter blind area by controlling robot, obtain the environmental information of blind area, sweep-out pattern is planned in blind area according to environmental information, it controls robot and cleans blind area along the sweep-out pattern, then realize the cleaning to blind area, solving in the prior art cannot be to the region surrounded by visual impediments and/or the technical issues of the region of shortage of data cleans in the environmental map, reached can clean the region surrounded by visual impediments and/or in the environmental map region of shortage of data technical effect.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot cleaning methods, device and electronic equipment.
Background technique
Now, various robots have been applied in all trades and professions, and enter daily life
In, such as sweeping robot, it is very big convenient to bring to people's lives.In the sweeping robot course of work, usually basis
The environmental map constructed completes work.But in the prior art, sweeping robot cannot be to being surrounded by visual impediments
The region and/or region of shortage of data is cleaned in the environmental map.
Summary of the invention
In view of the above problems, the present invention is proposed to overcome the above problem in order to provide one kind or at least be partially solved
Robot cleaning method, device and the electronic equipment of the above problem.
The first aspect of the present invention provides a kind of robot cleaning method, comprising:
There are when blind area, controlling the robot to enter blind area in environmental map, the environment letter of the blind area is obtained
Breath, wherein the blind area be the region surrounded by visual impediments and/or in the environmental map shortage of data region；
According to the environmental information, sweep-out pattern is planned in the blind area；
It controls the robot and cleans the blind area along the sweep-out pattern.
Optionally, before the control robot enters blind area, the method also includes:
The blind area is found based on the environmental map.
Optionally, the environmental information for obtaining the blind area, comprising:
It controls the robot to walk in the blind area based on logic of getting rid of poverty, and acquires the letter of the environment in the blind area
Breath；
The environmental information is updated in the environmental map.
Optionally, after finding the blind area based on environmental map described, enter in the control robot blind
Before area, the method also includes:
The blind area is labeled as range coverage in the environmental map；
Plan that a reachable path reaches the boundary of the blind area based on the environmental map.
It is optionally, described to plan that a reachable path reaches the boundary of the blind area based on the environmental map, comprising:
Obtain the boundary on the boundary of current location point and the blind area of the robot in the environmental map
Point；
Based on the environmental map, plan from the current location point to a plurality of reachable to routing of the boundary point
Diameter；
A minimum path to be selected of motion cost is selected from a plurality of path to be selected as the reachable road
Diameter, wherein the motion cost indicates that the robot walks from the current location point to electricity consumed by the boundary point
Energy.
The second aspect of the present invention provides a kind of robot clearing apparatus, comprising:
Obtain dead zone information module, in environmental map there are when blind area, controlling the robot to enter blind area,
Obtain the environmental information of the blind area, wherein the blind area is the region surrounded by visual impediments and/or in the environment
The region of shortage of data in map；
Sweep-out pattern module is planned, for planning sweep-out pattern in the blind area according to the environmental information；
Blind area module is cleaned, cleans the blind area along the sweep-out pattern for controlling the robot.
Optionally, described device further include:
Blind area module is found, for being looked for before the control robot enters blind area based on the environmental map
To the blind area.
Optionally, the acquisition dead zone information module is also used to:
It controls the robot to walk in the blind area based on logic of getting rid of poverty, and acquires the letter of the environment in the blind area
Breath；
The environmental information is updated in the environmental map.
Optionally, described device further include:
Mark blind area up to module, for it is described the blind area is found based on environmental map after, in the control institute
It states robot to enter before blind area, the blind area is labeled as range coverage in the environmental map；
Reachable path module is planned, for planning that a reachable path reaches the blind area based on the environmental map
Boundary.
Optionally, the planning reachable path module is also used to:
Obtain the boundary on the boundary of current location point and the blind area of the robot in the environmental map
Point；
Based on the environmental map, plan from the current location point to a plurality of reachable to routing of the boundary point
Diameter；
A minimum path to be selected of motion cost is selected from a plurality of path to be selected as the reachable road
Diameter, wherein the motion cost indicates that the robot walks from the current location point to electricity consumed by the boundary point
Energy.
The third aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with computer program,
The step of any of the above-described the method is realized when the program is executed by processor.
The fourth aspect of the present invention a kind of electronic equipment, including memory, processor and storage are on a memory and can be
The computer program run on processor, the processor realize the step of any of the above-described the method when executing described program
Suddenly.
The technical solution provided in the embodiment of the present application, has at least the following technical effects or advantages:
The embodiment of the invention provides a kind of robot cleaning method, device and electronic equipments, which comprises
There are when blind area in environmental map, control robot enters blind area, obtains the environmental information of blind area, wherein blind area be from
Region that barrier surrounds and/or in environmental map shortage of data region；According to environmental information, planned in blind area clear
Sweep route；It controls robot and cleans the blind area along the sweep-out pattern.Enter blind area by controlling robot, obtains blind
The environmental information in area plans that sweep-out pattern, control robot clean blind along the sweep-out pattern according to environmental information in blind area
Area then realizes the cleaning to blind area, solve in the prior art cannot to the region surrounded by visual impediments and/or
The technical issues of region of shortage of data is cleaned in the environmental map has reached to clean and enclosed by visual impediments
At region and/or in the environmental map region of shortage of data technical effect.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are general for this field
Logical technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to this hair
Bright limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of robot cleaning method flow chart provided in an embodiment of the present invention；
Fig. 2 shows the sweep-out patterns that the embodiment of the present invention is planned in blind area；
Fig. 3 shows a kind of frame structure schematic diagram of robot clearing apparatus 200 provided in an embodiment of the present invention；
Fig. 4 shows the frame structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The exemplary embodiment opened, it being understood, however, that may be realized in various forms the disclosure without the implementation that should be illustrated here
Example is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the disclosure
Range is fully disclosed to those skilled in the art.
The embodiment of the invention provides the embodiment of the invention provides a kind of robot cleaning method, device and electronics to set
It is standby, to solve in the prior art cannot to the region surrounded by visual impediments and/or in the environmental map data lack
The technical issues of region of mistake is cleaned.
As a kind of optional embodiment, a kind of robot cleaning method provided by the invention, including as described in Fig. 1
Step S100~step S300 is illustrated step S100~step S300 below in conjunction with Fig. 1.
Step S100: there are when blind area, controlling the robot to enter blind area in environmental map, the blind area is obtained
Environmental information, wherein the blind area is the region surrounded by visual impediments and/or data lack in the environmental map
The region of mistake.
In embodiments of the present invention, before control robot enters blind area, blind area is first found based on environmental map.By
There are visual impediments and/or shortage of data in blind area, shortage of data is presented without environmental information, environmental data etc., then cannot
Sweep-out pattern is planned in blind area based on environmental map, and in environmental map, label blind area is unreachable region, in general, machine
People, which encounters blind area, to be left, and blind area will not be entered.In embodiments of the present invention, it is found described based on environmental map described
After blind area, before the control robot enters blind area, the method also includes: it will in the environmental map
The blind area is labeled as range coverage；Plan that a reachable path reaches the boundary of the blind area based on the environmental map.Such as
This, controls robot along the reachable path and enters blind area.
Optionally, plan that a reachable path reaches the specific implementation on the boundary of the blind area based on the environmental map
Mode is: obtaining the boundary on the boundary of current location point and the blind area of the robot in the environmental map
Point；Based on the environmental map, a plurality of reachable path to be selected from the current location point to the boundary point is planned；From
A minimum path to be selected of motion cost is selected in a plurality of path to be selected as the reachable path, wherein institute
Stating motion cost indicates the robot from current location point walking to electric energy consumed by the boundary point.
In embodiments of the present invention, the boundary point on the boundary of blind area has multiple, is based on environmental map, plans from present bit
The a plurality of reachable path to be selected for a little arriving boundary point is set, it is a plurality of to can be the planning from current location point to one of boundary point
Path to be selected is also possible to plan a plurality of path to be selected respectively from current location point to multiple boundary points.
Robot walks to electric energy consumed by boundary point from current location point and can be obtained by the way of estimating, example
Such as, by obtaining from the walking of current location point to the distance of boundary point, calculating robot is from current location point row according to this distance
Go to electric energy consumed by boundary point；By obtaining the length from the walking of current location point to the path of boundary point, with the length
Calculating robot walks from current location point to electric energy consumed by boundary point.
As an alternative embodiment, the motion cost specific embodiment of to acquisite approachs is:
Obtain each boundary point to the current location point distance, and using the distance as the movement generation
Valence.Robot, which walks from current location point to electric energy consumed by boundary point, is equal to the distance institute of robot ambulation unit length
The electric energy of consumption is walked with from current location point to the product at a distance from boundary point, due to the distance of robot ambulation unit length
Consumed electric energy is fixed, it is possible to using the distance from the walking of current location point to boundary point as the boundary point
Motion cost.
As another optional embodiment, the motion cost of each boundary point is obtained, comprising:
Control robot moves towards boundary point, in the set time period, electric energy consumed by robot is obtained, with the consumption
Electric energy as motion cost.
In embodiments of the present invention, it walks from current location point to the distance of boundary point, also refers to from current location
Point arrives the straightway distance of boundary point, from the walking of current location point to the length in the path of boundary point, also refers to from current
Location point to boundary point boundary point minimum length reachable path length.
As an alternative embodiment, obtaining the concrete mode of the environmental information of the blind area is: controlling the machine
Device people is walked in the blind area based on logic of getting rid of poverty, and acquires the environmental information in the blind area；More by the environmental information
In the new extremely environmental map.
It controls robot and control Robot may is that based on the specific embodiment that logic of getting rid of poverty is walked in blind area
The walking of preset direction, when encountering barrier, robot changes direction of travel, wherein when barrier is encountered by robot
Direction of travel is different from the direction of travel after changing.The walking side after direction of travel and change when barrier is encountered by robot
To difference, it can moved back and forth between two points for a long time in blind area to avoid robot, guarantee that robot goes over blind area.
Control robot walks in blind area, obtains environmental information by the environment acquisition device of robot, wherein machine
The environment acquisition device of device people includes visible image capturing head, infrared sensor, black and white night vision cam, laser sensor, ultrasound
At least one of wave rangefinder, gyroscope, crash sensor, when barrier is encountered by robot, robot changes walking side
To.In this way, robot acquires the geodata in blind area in walking, environmental information is obtained according to the geodata.Specifically
, there are one-to-one relationships with environmental map data for the geodata in blind area, specifically, in blind area a point ground
Reason data correspond to the environmental information of a point in environmental map, the geodata of the point in blind area are mapped to corresponding with the point
Point in environmental map, obtains the environmental information of the point in environmental map.Change direction of travel for robot, robot touches
Direction of travel when to barrier is different from the direction of travel after change.In this way, by robot constantly in blind area expert
It walks, collides, change direction of travel and walk on, blind area can be gone over, it is possible thereby to obtain the environmental data of entire blind area.
Step S200: according to the environmental information, sweep-out pattern is planned in the blind area.
As an alternative embodiment, planning that sweep-out pattern is specific in the blind area according to the environmental information
Are as follows: obtain the corresponding environmental information of each location point in blind area, wherein environmental information includes coordinate information, is based on location information
Sweep-out pattern is planned in blind area, the specific can be that: according to coordinate information, according to successively from left to right, from right to left, from
Each point connection is formed planning sweep-out pattern by lower and upper or top-down sequence.As shown in Fig. 2, Fig. 2 is the present invention
The sweep-out pattern that embodiment is planned in blind area.Wherein, arrow represents the cleaning direction of sweeping robot.
Step S300: the robot is controlled along the sweep-out pattern and cleans the blind area.
Robot cleans blind area along cleaning direction represented by the arrow in Fig. 2.
As an implementation, robot cleaning method further include: after robot covers the sweep-out pattern, sentence
The disconnected cleaning whether completed to blind area walks out the blind area or exits cleaning state if completing；Otherwise, to unclear in blind area
The region swept is cleaned.Specifically, then be arranged to clean by the point in every cleaned in blind area the point of robot,
It is unmarked at having cleaned with the presence or absence of point in check frequency, and if it exists, then to indicate the point after robot covers sweep-out pattern
It does not clean also, control robot cleans the point.
As one embodiment, it is shown in Fig. 2 in the room 00 that one is surrounded by wall 000 there are two blind areas, one
A is the blind area 0 surrounded by barrier 02, and there is also a barriers 02 in blind area 0, the other is the number in environmental map
According to the blind area 1 of missing, there is also a barrier 02 in blind area 1, blind area 1 is the region that dotted line surrounds in Fig. 2, and blind area 1 is that have
Boundary.In the present embodiment, wall 000 is also regarded as a kind of barrier.
It controls robot 2 and enters blind area 1, then robot 2 is walked in blind area 1 based on logic of getting rid of poverty, in the present embodiment
In, it is to there is boundary to be considered a kind of barrier by blind area 1.When controlling edge of the robot 2 to encounter blind area 1 with robot 2
The vertical direction in direction is direction of travel, is walked along the boundary of blind area 1, and when encountering barrier, robot 2 changes walking
Direction, wherein direction of travel when barrier is encountered by robot 2 is different from the direction of travel after change, while acquiring blind area 1
Geodata is mapped to the point in environmental map corresponding with the point, obtains the ring of the point in environmental map by interior geodata
Border information plans that sweep-out pattern, obtained sweep-out pattern can be as shown in the routes 05 in Fig. 2 based on environmental information, wherein arrow
Leader, which is known, cleans direction.
It controls robot 3 and enters blind area 0, then robot 3 is walked in blind area 0 based on logic of getting rid of poverty.Control robot 3
Enter to hurry from the gap of barrier 02 for surrounding blind area 0 and go 0, direction of motion when entering blind area 0 with robot 3 is walking
Direction, direction of travel is in the vertical direction in direction when edge to encounter blind area 1 with robot 2, along the side of barrier 02
Edge, when encountering barrier, robot 3 changes direction of travel, wherein direction of travel when barrier is encountered by robot 3 with change
Direction of travel after change is different, while acquiring the geodata in blind area 0, and geodata is mapped to environment corresponding with the point
Point in map, obtains the environmental information of the point in environmental map, plans sweep-out pattern, obtained cleaning based on environmental information
Route can be as shown in the sweep-out pattern 03 and sweep-out pattern 04 in Fig. 2, and wherein arrow logo cleans direction.Wherein, it cleans
Route 04 is the path of getting rid of poverty that robot 3 plans after encountering barrier 2.Specifically, side of the robot 3 along barrier 02
Edge walking, and the geodata at the edge of barrier 02 is obtained, geodata is mapped in environmental map corresponding with the point
Point obtains the environmental information of the point in environmental map, the sweep-out pattern based on environmental information planning cut-through object 2.
By using above scheme, the embodiment of the invention provides a kind of robot cleaning methods, by being believed according to environment
Breath, plans sweep-out pattern in blind area；It controls robot and cleans the blind area along the sweep-out pattern.By controlling machine
People enters blind area, obtains the environmental information of blind area, plans sweep-out pattern in blind area according to environmental information, controls Robot
The sweep-out pattern clean blind area, then realize the cleaning to blind area, solving in the prior art cannot clean blind area
The technical issues of, reach the technical effect that can clean blind area.
A kind of robot cleaning method is provided for above-described embodiment, the embodiment of the present application also correspondence provides a kind of machine
People's clearing apparatus 200.Referring to FIG. 3, the device includes:
Obtain dead zone information module 210, in environmental map there are when blind area, control the robot enter it is blind
Area obtains the environmental information of the blind area, wherein the blind area is the region surrounded by visual impediments and/or in the ring
The region of shortage of data in the figure of condition；
Sweep-out pattern module 220 is planned, for planning sweep-out pattern in the blind area according to the environmental information；
Blind area module 230 is cleaned, cleans the blind area along the sweep-out pattern for controlling the robot.
Wherein, dead zone information module 210, planning sweep-out pattern module 220 are obtained and is cleaned and is connected between blind area module 230
It connects.Wherein,
Described device further include:
Blind area module is found, for being looked for before the control robot enters blind area based on the environmental map
To the blind area.
The acquisition dead zone information module 210 is also used to:
It controls the robot to walk in the blind area based on logic of getting rid of poverty, and acquires the letter of the environment in the blind area
Breath；
The environmental information is updated in the environmental map.
Described device further include:
Mark blind area up to module, for it is described the blind area is found based on environmental map after, in the control institute
It states robot to enter before blind area, the blind area is labeled as range coverage in the environmental map；
Reachable path module is planned, for planning that a reachable path reaches the blind area based on the environmental map
Boundary.
The planning reachable path module is also used to:
Obtain the boundary on the boundary of current location point and the blind area of the robot in the environmental map
Point；
Based on the environmental map, plan from the current location point to a plurality of reachable to routing of the boundary point
Diameter；
A minimum path to be selected of motion cost is selected from a plurality of path to be selected as the reachable road
Diameter, wherein the motion cost indicates that the robot walks from the current location point to electricity consumed by the boundary point
Energy.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in the related party
It is described in detail in the embodiment of method, no detailed explanation will be given here.
The embodiment of the invention also provides a kind of electronic equipment, as shown in figure 4, include memory 504, processor 502 and
It is stored in the computer program that can be run on memory 504 and on processor 502, the processor 502 executes described program
The step of either Shi Shixian robot cleaning method described previously method.
Wherein, in Fig. 4, bus architecture (is represented) with bus 500, and bus 500 may include any number of interconnection
Bus and bridge, bus 500 will include the one or more processors represented by processor 502 and what memory 504 represented deposits
The various circuits of reservoir link together.Bus 500 can also will peripheral equipment, voltage-stablizer and management circuit etc.
Etc various other circuits link together, these are all it is known in the art, therefore, herein no longer to it into one
Step description.Bus interface 505 provides interface between bus 500 and receiver 501 and transmitter 503.Receiver 501 and hair
It send device 503 to can be the same element, i.e. transceiver, the list for communicating over a transmission medium with various other devices is provided
Member.Processor 502 is responsible for management bus 500 and common processing, and memory 504 can be used for storage processor 502 and exist
Execute used data when operation.
The embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step of either robot cleaning method described previously method is realized when sequence is executed by processor.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this
The preferred forms of invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, knot is not been shown in detail
Structure and technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
In the above description of the exemplary embodiment of the present invention, each feature of the invention is grouped together into single reality sometimes
It applies in example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: being wanted
Ask protection the present invention claims features more more than feature expressly recited in each claim.More precisely, such as
As following claims reflect, inventive aspect is all features less than single embodiment disclosed above.
Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment, wherein each right is wanted
Ask itself all as a separate embodiment of the present invention.
Those skilled in the art will understand that adaptivity can be carried out to the module in the equipment in embodiment
Ground changes and they is arranged in one or more devices different from this embodiment.It can be the module in embodiment
Or unit or assembly is combined into a module or unit or component, and furthermore they can be divided into multiple submodule or sons
Unit or sub-component.It, can be with other than such feature and/or at least some of process or unit exclude each other
Using any combination to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and such as
All process or units of any method or apparatus of the displosure are combined.Unless expressly stated otherwise, this specification
Each feature disclosed in (including the accompanying claims, abstract and drawings) can be by providing identical, equivalent, or similar purpose
Alternative features replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means to be in model of the invention
Within enclosing and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to transport on one or more processors
Capable software module is realized, or is implemented in a combination thereof.It will be understood by those of skill in the art that can be in practice
Realized using microprocessor or digital signal processor (DSP) some in device according to an embodiment of the present invention or
The some or all functions of whole components.The present invention is also implemented as one for executing method as described herein
Point or whole device or device programs (for example, computer program and computer program product).Such this hair of realization
Bright program can store on a computer-readable medium, or may be in the form of one or more signals.It is such
Signal can be downloaded from an internet website to obtain, and is perhaps provided on the carrier signal or is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and this
Field technical staff can be designed alternative embodiment without departing from the scope of the appended claims.In claim
In, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In element or step not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple
Such element.The present invention can be by means of including the hardware of several different elements and by means of properly programmed calculating
Machine is realized.In the unit claims listing several devices, several in these devices can be by same
Hardware branch embodies.The use of word first, second, and third does not indicate any sequence.It can be by these word solutions
It is interpreted as title.
The invention discloses A1, a kind of robot cleaning method characterized by comprising
There are when blind area, controlling the robot to enter blind area in environmental map, the environment letter of the blind area is obtained
Breath, wherein the blind area be the region surrounded by visual impediments and/or in the environmental map shortage of data region；
According to the environmental information, sweep-out pattern is planned in the blind area；
It controls the robot and cleans the blind area along the sweep-out pattern.
A2, robot cleaning method according to a1, which is characterized in that enter in the control robot blind
Before area, the method also includes:
The blind area is found based on the environmental map.
A3, the robot cleaning method according to A1 or 2, which is characterized in that the environment letter for obtaining the blind area
Breath, comprising:
It controls the robot to walk in the blind area based on logic of getting rid of poverty, and acquires the letter of the environment in the blind area
Breath；
The environmental information is updated in the environmental map.
A4, the robot cleaning method according to A2, which is characterized in that it is described found based on environmental map it is described
After blind area, before the control robot enters blind area, the method also includes:
The blind area is labeled as range coverage in the environmental map；
Plan that a reachable path reaches the boundary of the blind area based on the environmental map.
A5, robot cleaning method according to a4, which is characterized in that described based on environmental map planning one
Reachable path reaches the boundary of the blind area, comprising:
Obtain the boundary on the boundary of current location point and the blind area of the robot in the environmental map
Point；
Based on the environmental map, plan from the current location point to a plurality of reachable to routing of the boundary point
Diameter；
A minimum path to be selected of motion cost is selected from a plurality of path to be selected as the reachable road
Diameter, wherein the motion cost indicates that the robot walks from the current location point to electricity consumed by the boundary point
Energy.
B6, a kind of robot clearing apparatus characterized by comprising
Obtain dead zone information module, in environmental map there are when blind area, controlling the robot to enter blind area,
Obtain the environmental information of the blind area, wherein the blind area is the region surrounded by visual impediments and/or in the environment
The region of shortage of data in map；
Sweep-out pattern module is planned, for planning sweep-out pattern in the blind area according to the environmental information；
Blind area module is cleaned, cleans the blind area along the sweep-out pattern for controlling the robot.
B7, the robot clearing apparatus according to B6, which is characterized in that described device further include:
Blind area module is found, for being looked for before the control robot enters blind area based on the environmental map
To the blind area.
B8, the robot clearing apparatus according to B6 or B7, which is characterized in that the acquisition dead zone information module is also
For:
It controls the robot to walk in the blind area based on logic of getting rid of poverty, and acquires the letter of the environment in the blind area
Breath；
The environmental information is updated in the environmental map.
B9, the robot clearing apparatus according to B7, which is characterized in that described device further include:
Mark blind area up to module, for it is described the blind area is found based on environmental map after, in the control institute
It states robot to enter before blind area, the blind area is labeled as range coverage in the environmental map；
Reachable path module is planned, for planning that a reachable path reaches the blind area based on the environmental map
Boundary.
B10, the robot clearing apparatus according to B9, which is characterized in that the planning reachable path module is also used
In:
Obtain the boundary on the boundary of current location point and the blind area of the robot in the environmental map
Point；
Based on the environmental map, plan from the current location point to a plurality of reachable to routing of the boundary point
Diameter；
A minimum path to be selected of motion cost is selected from a plurality of path to be selected as the reachable road
Diameter, wherein the motion cost indicates that the robot walks from the current location point to electricity consumed by the boundary point
Energy.
C11, a kind of computer readable storage medium, are stored thereon with computer program, which is characterized in that the program quilt
The step of any one of claim A1-A5 the method is realized when processor executes.
D12. a kind of electronic equipment, which is characterized in that on a memory and can be including memory, processor and storage
The computer program run on processor, the processor are realized described in any one of claim A1-A5 when executing described program
The step of method.
Claims (10)
1. a kind of robot cleaning method characterized by comprising
There are when blind area, controlling the robot to enter blind area in environmental map, the environmental information of the blind area is obtained,
In, the blind area be the region surrounded by visual impediments and/or in the environmental map shortage of data region；
According to the environmental information, sweep-out pattern is planned in the blind area；
It controls the robot and cleans the blind area along the sweep-out pattern.
2. robot cleaning method according to claim 1, which is characterized in that enter in the control robot blind
Before area, the method also includes:
The blind area is found based on the environmental map.
3. robot cleaning method according to claim 1 or 2, which is characterized in that the environment for obtaining the blind area
Information, comprising:
It controls the robot to walk in the blind area based on logic of getting rid of poverty, and acquires the environmental information in the blind area；
The environmental information is updated in the environmental map.
4. robot cleaning method according to claim 2, which is characterized in that it is described found based on environmental map it is described
After blind area, before the control robot enters blind area, the method also includes:
The blind area is labeled as range coverage in the environmental map；
Plan that a reachable path reaches the boundary of the blind area based on the environmental map.
5. robot cleaning method according to claim 4, which is characterized in that described based on environmental map planning one
Reachable path reaches the boundary of the blind area, comprising:
Obtain the boundary point on the boundary of current location point and the blind area of the robot in the environmental map；
Based on the environmental map, a plurality of reachable path to be selected from the current location point to the boundary point is planned；
A minimum path to be selected of motion cost is selected from a plurality of path to be selected as the reachable path,
In, the motion cost indicates that the robot walks from the current location point to electric energy consumed by the boundary point.
6. a kind of robot clearing apparatus characterized by comprising
Dead zone information module is obtained, for, there are when blind area, controlling the robot to enter blind area, obtaining institute in environmental map
State the environmental information of blind area, wherein the blind area is the region surrounded by visual impediments and/or the number in the environmental map
According to the region of missing；
Sweep-out pattern module is planned, for planning sweep-out pattern in the blind area according to the environmental information；
Blind area module is cleaned, cleans the blind area along the sweep-out pattern for controlling the robot.
7. robot clearing apparatus according to claim 6, which is characterized in that described device further include:
Blind area module is found, for finding institute based on the environmental map before the control robot enters blind area
State blind area.
8. robot clearing apparatus according to claim 7, which is characterized in that described device further include:
Mark blind area up to module, for it is described the blind area is found based on environmental map after, in the control machine
Device people enters before blind area, and the blind area is labeled as range coverage in the environmental map；
Reachable path module is planned, for planning that a reachable path reaches the boundary of the blind area based on the environmental map.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of any one of claim 1-5 the method is realized when row.
10. a kind of electronic equipment, which is characterized in that on a memory and can be in processor including memory, processor and storage
The computer program of upper operation, the processor realize the step of any one of claim 1-5 the method when executing described program
Suddenly.
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| CN201811149838.1A CN109471429A (en) | 2018-09-29 | 2018-09-29 | A kind of robot cleaning method, device and electronic equipment |
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| CN201811149838.1A CN109471429A (en) | 2018-09-29 | 2018-09-29 | A kind of robot cleaning method, device and electronic equipment |
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| CN111329398A (en) * | 2020-03-27 | 2020-06-26 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
| CN111487984A (en) * | 2020-06-15 | 2020-08-04 | 北京云迹科技有限公司 | Equipment control method and device and electronic equipment |
| CN111954188A (en) * | 2020-07-30 | 2020-11-17 | 深圳优地科技有限公司 | Robot control method, device, terminal and medium |
| CN114764239A (en) * | 2020-12-31 | 2022-07-19 | 深圳市普渡科技有限公司 | Cleaning robot control method, cleaning robot control device, computer equipment and storage medium |
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