CN110811447B - Cleaning method, cleaning robot, and computer-readable storage medium - Google Patents
Cleaning method, cleaning robot, and computer-readable storage medium Download PDFInfo
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- CN110811447B CN110811447B CN201911001374.4A CN201911001374A CN110811447B CN 110811447 B CN110811447 B CN 110811447B CN 201911001374 A CN201911001374 A CN 201911001374A CN 110811447 B CN110811447 B CN 110811447B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 201
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000008569 process Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 11
- 238000010276 construction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The invention relates to the field of cleaning equipment, and discloses a cleaning method, a cleaning robot and a computer-readable storage medium. The cleaning method is applied to a cleaning robot and comprises the following steps: constructing a clean map, and marking a target room in the clean map, wherein a door of the target room is provided with a door opener; and cleaning according to the cleaning map, and controlling the door opener to open the door when detecting that the door of the target room is closed. The cleaning method, the cleaning robot and the computer readable storage medium provided by the embodiment of the invention have the advantages of ensuring the room privacy and effectively improving the cleaning effect of the cleaning robot.
Description
Technical Field
The present invention relates to the field of cleaning devices, and in particular, to a cleaning method, a cleaning robot, and a computer-readable storage medium.
Background
At present, cleaning robots are more and more commonly used as intelligent appliances, and can automatically complete floor cleaning work in rooms by means of certain artificial intelligence. In general, a cleaning robot performs a cleaning operation in a preset time and charges itself, and a sensor is installed in front of the cleaning robot to detect an obstacle, such as a wall or other obstacles, and turn itself to clean a room according to a preset plan. In the prior art, the sensors mostly adopt built-in cameras for detection and laser ranging, and the two means are used for scanning indoor environment and drawing indoor maps and avoiding when encountering obstacles.
However, the inventor of the present invention has found that, in order to protect the privacy of a specific room, the door of the room is in a closed state for a long time, and the cleaning robot in the prior art can only wait for the owner to open the door during the cleaning process, and can only bypass the room without cleaning even when the owner is not present, thereby greatly reducing the cleaning effect of the cleaning robot.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a cleaning method, a cleaning robot, and a computer-readable storage medium, which can effectively improve the cleaning effect of the cleaning robot while ensuring room privacy.
In order to solve the above technical problem, an embodiment of the present invention provides a cleaning method applied to a cleaning robot, including: constructing a clean map, and marking a target room in the clean map, wherein a door of the target room is provided with a door opener; and cleaning according to the cleaning map, and controlling the door opener to open the door when detecting that the door of the target room is closed.
Embodiments of the present invention also provide a cleaning robot including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a cleaning method as previously described.
Embodiments of the present invention also provide a computer-readable storage medium, storing a computer program, which when executed by a processor, implements a cleaning method as described above.
Compared with the prior art, the method and the device have the advantages that the target room is marked in the cleaning map when the cleaning map is built, and the door opening and closing device is arranged on the door of the target room, so that the door opening and closing device is controlled to open the door of the target room when the cleaning robot cleans according to the cleaning map and detects that the door of the target room is closed, the cleaning robot can enter the room, the problem that the cleaning robot cannot clean the room due to the fact that the door is closed is avoided, and the cleaning effect of the cleaning robot is effectively improved. In addition, the cleaning robot can automatically open the door when the room is cleaned, so that the door of a specific room is closed when the cleaning robot does not need to clean, and the privacy of a master is effectively protected.
In addition, before cleaning according to the cleaning map, the method further comprises the following steps: setting at least part of the target rooms as rooms to be cleaned according to user instructions; when detecting that the door in target room is closed, control the door opener opens the door specifically includes: when the door of the target room is detected to be closed, judging whether the target room is the room to be cleaned; and if so, controlling a door opening and closing device of the room to be cleaned to open the door of the room to be cleaned. According to the user instruction, at least part of the target room is set as the room to be cleaned, and only when the target room is the room to be cleaned, the door opening and closing device is controlled to open the door, so that the user can selectively control the cleaning robot to open the door and enter the room, and the privacy of the user is effectively protected.
In addition, the marking of the target room in the cleaning map specifically includes: detecting positioning labels in real time in the process of constructing the cleaning map, wherein the positioning labels and the door openers are arranged in a one-to-one correspondence manner; when the positioning tag is detected, marking the room where the door openers and the door openers which are arranged in one-to-one correspondence with the positioning tag are located as the target room; the cleaning according to the cleaning map specifically includes: controlling the cleaning robot to clean along the cleaning map and detect the positioning tag in real time; when the positioning tag is detected, judging whether a door of a target room where the door opener is located, which is arranged in one-to-one correspondence with the positioning tag, is closed; if so, controlling the door opener to open the door. When the cleaning robot detects the positioning tag, the door of the target room where the door opener is located is controlled to be opened, wherein the door opener is arranged in one-to-one correspondence with the positioning tag, so that the cleaning robot is prevented from opening doors of other target rooms irrelevant to the current positioning tag, and the privacy of a user is effectively protected.
In addition, the positioning tag is a short-range wireless communication tag and/or the door opener.
In addition, control after the door opener opens the door, still include: judging whether the cleaning robot passes through the door; if yes, controlling the door opening and closing device to close the door. After the cleaning robot passes through the door, the door opening and closing device is controlled to close the door, so that the closing state of the door is kept in the room cleaning process, and the privacy of a user is effectively protected.
In addition, control after the door opener closes the door, still include: judging whether the target room is cleaned; if the target room is cleaned, controlling the door opener to open the door again; judging whether the cleaning robot passes through the door again; and if the cleaning robot passes through the door, controlling the door opener to close the door again.
In addition, control after the door opener opens the door, still include: judging whether the target room is cleaned; if the target room is cleaned, judging whether the cleaning robot is located in the target room; and if the cleaning robot is not positioned in the target room, controlling the door opener to close the door. After the target room is cleaned, if the cleaning robot is judged not to be located in the target room, the door opening and closing device is controlled to close the door, and therefore the safety of the target room is effectively guaranteed.
In addition, control after the door opener closes the door, still include: judging whether the door is successfully closed; if not, giving out a door closing failure alarm. And when the door is not closed successfully, a door closing failure alarm is sent out, so that the safety of the target room is further ensured.
Drawings
FIG. 1 is a flowchart of a cleaning method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a cleaning method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a cleaning method according to a third embodiment of the present invention;
FIG. 4 is a flowchart of a cleaning method according to a fourth embodiment of the present invention;
FIG. 5 is a flowchart of a cleaning method provided by a fifth embodiment of the present invention;
FIG. 6 is a flowchart of a cleaning method according to a sixth embodiment of the present invention;
FIG. 7 is a flowchart of a cleaning method according to a seventh embodiment of the present invention;
fig. 8 is a schematic structural view of a cleaning robot according to an eighth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the invention relates to a cleaning method. The specific process is shown in fig. 1, and comprises the following steps:
step S101: and constructing a clean map, and marking the target rooms in the clean map.
Specifically, in this step, the target room is a room in which a door is provided with a door opener. It should be noted that, in this embodiment, the door opener is a mechanical structure disposed on the door, and can drive the door to open and close by the action of force.
Further, in the step, the construction of the cleaning map specifically includes that the corner point of the area to be cleaned, which is found by the cleaning robot firstly, is used as a reference system, and a coordinate system is established; recording collision points, corner points of a room and the top points of obstacles in the construction process according to the driving path of the sweeping robot; and finally, constructing a cleaning map of the area to be cleaned according to the recorded collision points, the corner points of the room and the top points of the obstacles.
Furthermore, in the present embodiment, the target room is marked in the clean map, specifically: the cleaning robot detects the positioning tag in real time in the process of constructing the cleaning map, and when the positioning tag is detected, the rooms where the door openers and the door closings are located, which are arranged in one-to-one correspondence to the positioning tag, are obtained, for example: and acquiring information such as the room number of the room where the door opener is located, which is set in one-to-one correspondence with the positioning tag, and marking the room where the door opener is located, which is set in one-to-one correspondence with the positioning tag, as a target room.
Specifically, in this step, the positioning tag is a near field communication tag (i.e., an NFC tag). Because the communication distance of short-distance wireless communication label is nearer, cleaning machines people is at the in-process that detects, is difficult to once detect a plurality of short-distance wireless communication labels to reduce cleaning machines people and open the emergence of a plurality of doors simultaneously. It should be understood that the positioning tag is a short-range wireless communication tag, which is only a specific example in this embodiment, and is not limited thereto, and in other embodiments of the present invention, the positioning tag may also be other types of tags, for example, the positioning tag is directly a door opener, and a method of directly detecting the door opener using a device such as bluetooth, etc., which is not illustrated herein, and specifically, can be flexibly set according to actual needs.
Step S102: and cleaning according to the cleaning map.
Specifically, in this step, the cleaning robot sweeps the area to be cleaned in the cleaning map from the initial starting point.
Step S103: and when the door of the target room is detected to be closed, controlling the door opener to open the door.
Specifically, in this embodiment, the cleaning robot detects the door opening/closing state of the target room in real time during the cleaning process according to the cleaning map, and controls the corresponding door opener to open the door when detecting that the door of the target room is closed.
Further, in the present embodiment, a state monitoring device is provided on a door of the target room, and the state monitoring device may detect an open/close state of the door and transmit the open/close state of the door to the cleaning robot. It should be understood that the above described embodiment is only a specific implementation of detecting the opening and closing state of the door of the target room, and is not limited thereto, and in other embodiments of the present invention, the opening and closing state of the door of the target room may be detected by other means, for example, when the cleaning robot detects an obstacle and determines that the obstacle is the door of the target room, that is, the door of the target room is detected to be closed.
Preferably, in the present embodiment, the cleaning robot detects the positioning tag in real time during the cleaning process. Wherein, the positioning label is arranged corresponding to the door opening and closing device one by one. And when the positioning tag is detected, acquiring a room where the door openers arranged in one-to-one correspondence with the positioning tag are located as a target room, judging whether the door of the target room is closed, and if the door of the target room is closed, controlling the door openers of the target room to open the door.
Further, in this embodiment, the cleaning robot directly sends a door opening command to the door opener, so as to control the door opener to open the door of the target room. It can be understood that the cleaning robot directly sends the door opening instruction to the door opener/closer is only a specific example in this embodiment, and is not limited to this embodiment, and in other embodiments of the present invention, both the cleaning robot and the door opener/closer may be connected to a wireless network such as an intelligent home network, the cleaning robot sends the door opening instruction to the intelligent home network, and the intelligent home network sends the door opening instruction to the door opener/closer.
Compared with the prior art, the cleaning method provided by the first embodiment of the invention marks the room provided with the door opener as the target room in the process of constructing the cleaning map, detects whether the door of the target room is in a closed state or not in the process of cleaning according to the cleaning map, and controls the door opener to open the door when detecting that the door of the target room is in the closed state, so that the cleaning robot can enter the room for cleaning conveniently, the problem that the cleaning robot cannot clean the room due to closing of the door is effectively prevented, and the cleaning effect of the cleaning robot is improved.
A second embodiment of the invention relates to a cleaning method. The specific process is shown in fig. 2, and comprises the following steps:
step S201: and constructing a clean map, and marking the target rooms in the clean map.
It is understood that this step is substantially the same as step S101 in the first embodiment, and is not described herein again, and the setting may be specifically performed with reference to step S101 in the first embodiment.
Step S202: at least part of the target room is set as a room to be cleaned.
Specifically, in this step, the user may designate at least part of the target room as the room to be cleaned on the cleaning robot as needed, and the cleaning robot sets at least part of the target room as the room to be cleaned according to the user instruction.
Step S203: and cleaning according to the cleaning map.
Step S204: when it is detected that the door of the target room is closed, it is determined whether the target room is a room to be cleaned, and if so, step S205 is executed.
Specifically, in this step, when it is detected that the door of the target room is closed, the cleaning robot determines whether the target room is a room to be cleaned before controlling the door opener of the target room to open the door, if the target room is the room to be cleaned, step S205 is performed, and if the target room is not the room to be cleaned, the cleaning robot bypasses the target room and does not clean the target room.
Step S205: the door opener for controlling the room to be cleaned opens the door of the room to be cleaned.
Specifically, in this step, after determining that the target room is the room to be cleaned, the cleaning robot controls the door opener of the room to be cleaned to open the door of the room to be cleaned.
Compared with the prior art, the second embodiment of the invention maintains all technical effects of the first embodiment, sets at least part of the target room as the room to be cleaned according to the user instruction, judges whether the target room is the room to be cleaned before opening the door of the target room, and controls the door opener of the room to be cleaned to open the door only when the target room is the room to be cleaned, so that the door of the room to be cleaned which is permitted to be opened by the user can be opened according to the setting of the user, and the privacy of the user is effectively protected.
A third embodiment of the present invention relates to a cleaning method, and the third embodiment is substantially the same as the first embodiment, and has a specific flow as shown in fig. 3, including the steps of:
step S301: and constructing a clean map, marking target rooms in the clean map, and marking door opening positions corresponding to the target rooms one by one in the clean map.
Specifically, in this step, the cleaning robot detects the door opener in real time in the process of constructing the cleaning map, determines the position of the door opener when the door opener is detected, and marks the position of the door opener as the position of the target room in the cleaning map. And acquiring the position of the cleaning robot when the cleaning robot detects the door opener, and taking the position of the cleaning robot as the door opening position corresponding to the door opener.
Step S302: and cleaning according to the cleaning map.
Step S303: when it is detected that the door of the target room is closed, it is determined whether the cleaning robot is in the door-open position, and if so, step S304 is performed.
Step S304: and acquiring a current door opening position of the cleaning robot as a current door opening position, and acquiring a target room corresponding to the current door opening position as a current target room.
Specifically, in this embodiment, after acquiring the current door opening position where the cleaning robot is located, the cleaning robot acquires the door opener corresponding to the current door opening position, and takes the target room corresponding to the door opener corresponding to the current door opening position as the current target room.
Step S305: and controlling a door opener of the current target room to open the door of the current target room.
Compared with the prior art, the cleaning method provided by the third embodiment of the invention keeps all the technical effects of the first embodiment, judges whether the cleaning robot is in the door opening position corresponding to the current target room before the door of the control target room is opened, and controls the door opener of the current target room to open the door of the current target room only when the cleaning robot is in the door opening position corresponding to the current target room, so as to prevent the cleaning robot from opening the doors of a plurality of target rooms at one time in the cleaning process, thereby effectively protecting the privacy of a user.
A fourth embodiment of the present invention is directed to a cleaning method. The specific flow is shown in fig. 4, and includes the following steps:
step S401: and constructing a clean map, and marking the target rooms in the clean map.
Step S402: and cleaning according to the cleaning map.
Step S403: and when the door of the target room is detected to be closed, controlling the door opener to open the door.
It is to be understood that steps S401 to S403 in this embodiment are substantially the same as steps S101 to S103 in the first embodiment, and detailed description thereof is omitted, and specific contents may refer to the detailed description in the first embodiment.
Step S404: and judging whether the cleaning robot passes through the door, if so, executing the step S405.
Specifically, in this step, the cleaning robot enters the target room after the door of the control target room is opened, and determines whether or not the door of the target room has been passed. Wherein the door of the target room has been passed, i.e. the cleaning robot has entered the target room without interfering with the normal closing of the door of the target room. When it is determined that the cleaning robot has passed through the door of the target room, step S405 is performed.
Step S405: the door opening and closing device is controlled to close the door.
Compared with the prior art, the cleaning method provided by the fourth embodiment of the invention keeps all technical effects of the first embodiment, and controls the door to be closed after the cleaning robot passes through the door of the target room, so that the door of the target room is prevented from being opened in the process of cleaning the target room by the cleaning robot, and the privacy of a user is further protected.
A fifth embodiment of the present invention is directed to a cleaning method. The specific flow is shown in fig. 5, and includes the following steps:
step S501: and constructing a clean map, and marking the target rooms in the clean map.
Step S502: and cleaning according to the cleaning map.
Step S503: and when the door of the target room is detected to be closed, controlling the door opener to open the door.
Step S504: and judging whether the cleaning robot passes through the door, if so, executing step S505.
Step S505: the door opening and closing device is controlled to close the door.
It is to be understood that steps S501 to S505 in the present embodiment are substantially the same as steps S401 to S405 in the fourth embodiment, and detailed description is omitted here, and specific contents may refer to the detailed description in the fourth embodiment.
Step S506: and judging whether the target room is cleaned, if so, executing step S507.
Specifically, in this step, the cleaning robot compares the cleaning map with the cleaning map in the process of cleaning the target room, determines whether all the positions of the target room have been cleaned, and if so, determines that the scenario of the target room is completed, and then executes step S507.
Step S507: the door opening and closing device is controlled to open the door.
Step S508: and judging whether the cleaning robot passes through the door, if so, executing step S509, and if not, executing step S508.
Step S509: the door opening and closing device is controlled to close the door.
Compared with the prior art, the fifth embodiment of the present invention maintains all technical effects of the fourth embodiment, and controls the door of the target room to be opened after the cleaning robot has cleaned the target room, and controls the door to be closed again after the cleaning robot has passed through the door, so that the door of the target room is kept closed after the cleaning of the target room is completed, and further the privacy of the user is protected.
A sixth embodiment of the present invention is directed to a cleaning method. The specific flow is shown in fig. 6, and includes the following steps:
step S601: and constructing a clean map, and marking the target rooms in the clean map.
Step S602: and cleaning according to the cleaning map.
Step S603: and when the door of the target room is detected to be closed, controlling the door opener to open the door.
It is to be understood that steps S601 to S603 in the present embodiment are substantially the same as steps S101 to S103 in the first embodiment, and detailed description thereof is omitted, and specific contents may refer to the detailed description in the fourth embodiment.
Step S604: and judging whether the cleaning of the target room is finished, if so, executing step S605, and if not, executing step S604.
Step S605: and judging whether the cleaning robot is positioned in the target room, if not, executing step S606, and if so, executing step S605.
Step S606: and controlling the door opening and closing device to close the door of the target room.
Compared with the prior art, the sixth embodiment of the invention keeps all the technical effects of the first embodiment, judges whether the cleaning robot is positioned in the target room after the cleaning robot cleans the target room, controls the door opener to close the door of the target room when judging that the cleaning robot is not positioned in the target room, and ensures that the door of the target room is closed after the cleaning robot cleans the target room, thereby further protecting the privacy of users.
A seventh embodiment of the invention relates to a cleaning method. The specific flow is shown in fig. 7, and includes the following steps:
step S701: and constructing a clean map, and marking the target rooms in the clean map.
Step S702: and cleaning according to the cleaning map.
Step S703: and when the door of the target room is detected to be closed, controlling the door opener to open the door.
Step S704: and judging whether the cleaning robot passes through the door, if so, executing the step S705.
Step S705: the door opening and closing device is controlled to close the door.
It is to be understood that steps S701 to S705 in the present embodiment are substantially the same as steps S401 to S405 in the fourth embodiment, and detailed description is not repeated here, and specific contents may refer to the detailed description in the first embodiment.
Step S706: and judging whether the door is successfully closed, if not, executing the step S707.
Step S707: and giving an alarm of door closing failure.
Compared with the prior art, the seventh embodiment of the invention keeps all the technical effects of the fourth embodiment, judges whether the door is successfully closed or not after controlling the door to be closed, and sends out the door closing failure alarm when the door is not successfully closed. Therefore, the user is timely informed that the door of the target room is not successfully closed, and the privacy of the user and the safety of the target room are effectively protected.
An eighth embodiment of the present invention relates to a cleaning robot, as shown in fig. 8, including: at least one processor 801; and a memory 802 communicatively coupled to the at least one processor 801; the memory 802 stores instructions executable by the at least one processor 801, wherein the instructions are executable by the at least one processor 801 to enable the at least one processor 801 to perform the cleaning method as described above.
The memory 802 and the processor 801 are coupled by a bus, which may include any number of interconnecting buses and bridges that couple one or more of the various circuits of the processor 801 and the memory 802 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 801 is transmitted over a wireless medium through an antenna, which receives the data and transmits the data to the processor 801.
The processor 801 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 802 may be used to store data used by processor 801 in performing operations.
A ninth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A cleaning method is characterized by being applied to a cleaning robot and comprising the following steps:
constructing a clean map, marking target rooms in the clean map, and marking door opening positions corresponding to the target rooms one by one in the clean map, wherein doors of the target rooms are provided with door openers;
and cleaning according to the cleaning map, judging whether the cleaning robot is in the door opening position or not when the door of the target room is detected to be closed, if so, acquiring the current door opening position of the cleaning robot as the current door opening position, acquiring the target room corresponding to the current door opening position as the current target room, and controlling the door opener of the current target room to open the door of the current target room.
2. The cleaning method according to claim 1, wherein before the cleaning according to the cleaning map, further comprising:
setting at least part of the target rooms as rooms to be cleaned according to user instructions;
when detecting that the door in target room is closed, control the door opener opens the door specifically includes:
when the door of the target room is detected to be closed, judging whether the target room is the room to be cleaned;
and if so, controlling a door opening and closing device of the room to be cleaned to open the door of the room to be cleaned.
3. The cleaning method according to claim 1, wherein the marking of the target room in the cleaning map specifically comprises:
detecting positioning labels in real time in the process of constructing the cleaning map, wherein the positioning labels and the door openers are arranged in a one-to-one correspondence manner;
when the positioning tag is detected, marking the room where the door openers and the door openers which are arranged in one-to-one correspondence with the positioning tag are located as the target room;
the cleaning according to the cleaning map specifically includes:
controlling the cleaning robot to clean along the cleaning map and detect the positioning tag in real time;
when the positioning tag is detected, judging whether a door of a target room where the door opener is located, which is arranged in one-to-one correspondence with the positioning tag, is closed;
and if so, controlling the door opening and closing device which is arranged in one-to-one correspondence to the positioning label to open the door of the target room.
4. The cleaning method according to claim 3, wherein the positioning tag is a short-range wireless communication tag and/or the door opener.
5. The cleaning method according to claim 1, wherein after controlling the door opener to open the door, the method further comprises:
judging whether the cleaning robot passes through the door;
if yes, controlling the door opening and closing device to close the door.
6. The cleaning method according to claim 5, wherein after controlling the door opener to close the door, the method further comprises:
judging whether the target room is cleaned;
if the target room is cleaned, controlling the door opener to open the door again;
judging whether the cleaning robot passes through the door again;
and if the cleaning robot passes through the door, controlling the door opener to close the door again.
7. The cleaning method according to claim 1, wherein after controlling the door opener to open the door, the method further comprises:
judging whether the target room is cleaned;
if the target room is cleaned, judging whether the cleaning robot is located in the target room;
and if the cleaning robot is not positioned in the target room, controlling the door opener to close the door.
8. The cleaning method according to any one of claims 5 to 7, wherein after controlling the door opener to close the door, the method further comprises:
judging whether the door is successfully closed;
if not, giving out a door closing failure alarm.
9. A cleaning robot, characterized by comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the cleaning method of any one of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the cleaning method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911001374.4A CN110811447B (en) | 2019-10-21 | 2019-10-21 | Cleaning method, cleaning robot, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911001374.4A CN110811447B (en) | 2019-10-21 | 2019-10-21 | Cleaning method, cleaning robot, and computer-readable storage medium |
Publications (2)
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| CN114115225A (en) * | 2021-10-13 | 2022-03-01 | 深圳优地科技有限公司 | Path planning method for robot, robot and storage medium |
| CN114339593A (en) * | 2021-12-21 | 2022-04-12 | 美智纵横科技有限责任公司 | Mobile device, control method thereof, control device thereof, and readable storage medium |
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| CN204427945U (en) * | 2014-12-26 | 2015-07-01 | 董醒华 | Sweep the floor or clean robot structure |
| CN109008779A (en) * | 2017-06-12 | 2018-12-18 | 德国福维克控股公司 | Automatically the system that the vehicle to advance in the environment and the door in environment are constituted |
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| KR102061511B1 (en) * | 2013-04-26 | 2020-01-02 | 삼성전자주식회사 | Cleaning robot, home monitoring apparatus and method for controlling the same |
| DE102015220840B4 (en) * | 2015-10-26 | 2018-11-15 | Siemens Schweiz Ag | Control of cleaning robots |
| EP3223099B1 (en) * | 2016-03-23 | 2021-09-15 | Advanced Digital Broadcast S.A. | System and method for an autonomous cleaning apparatus |
| US10878294B2 (en) * | 2018-01-05 | 2020-12-29 | Irobot Corporation | Mobile cleaning robot artificial intelligence for situational awareness |
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| CN109008779A (en) * | 2017-06-12 | 2018-12-18 | 德国福维克控股公司 | Automatically the system that the vehicle to advance in the environment and the door in environment are constituted |
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