CN111035317A - Method and device for detecting and processing local predicament and computing equipment - Google Patents
Method and device for detecting and processing local predicament and computing equipment Download PDFInfo
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- CN111035317A CN111035317A CN201811191254.0A CN201811191254A CN111035317A CN 111035317 A CN111035317 A CN 111035317A CN 201811191254 A CN201811191254 A CN 201811191254A CN 111035317 A CN111035317 A CN 111035317A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000012545 processing Methods 0.000 title abstract description 19
- 238000010408 sweeping Methods 0.000 claims abstract description 203
- 230000009429 distress Effects 0.000 claims abstract description 52
- 238000004140 cleaning Methods 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 43
- 230000001276 controlling effect Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
Abstract
The embodiment of the application provides a method, a device and computing equipment for detecting and processing local predicament, and relates to the technical field of robots. The method comprises the following steps: and determining whether the sweeping robot is in a local distress, executing a trap-free operation if the sweeping robot is determined to be in the local distress, and executing a corresponding operation if the trap-free operation fails so as to enable the sweeping robot to successfully trap. According to the embodiment of the application, whether the floor sweeping robot is in the local predicament or not is detected, and when the floor sweeping robot is detected to be in the local predicament, the floor sweeping robot can successfully get rid of the predicament, and user experience can be improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a method, a device and a computing device for detecting and processing local predicaments.
Background
Along with the development of information technology and the continuous improvement of people on the quality of life requirement, intelligent house product appears gradually in people's daily life, and wherein, representative robot of sweeping the floor receives people's liking more and more, and the robot of sweeping the floor carries out the work of cleaning to ground along specific route.
However, when the sweeping robot performs the sweeping operation, the sweeping robot may enter a local dilemma, for example, after the sweeping robot enters a certain room, a door is closed, or the sweeping robot enters a very narrow area, and after the sweeping robot enters the local dilemma, the sweeping robot may not perform the sweeping operation according to a planned path, so how to detect whether the sweeping robot enters the local dilemma, and how to perform corresponding processing after detecting that the sweeping robot enters the "local dilemma" becomes a key problem.
Disclosure of Invention
The application provides a method, a device and computing equipment for detecting and processing local predicament, which are used for solving the problems of how to detect whether a sweeping robot enters the local predicament or not and how to perform corresponding processing after detecting that the sweeping robot enters the local predicament.
The technical scheme is as follows:
in a first aspect, a method of detecting and handling local distress is provided, the method comprising:
determining whether the sweeping robot is in a local predicament or not;
if the floor sweeping robot is determined to be in a local predicament, executing the operation of getting rid of the predicament;
if the escaping operation fails, corresponding operation is executed, so that the sweeping robot can successfully escape.
Specifically, determining whether the sweeping robot is in a local dilemma includes at least one of:
when a first preset condition is met, determining that the sweeping robot is in a local predicament;
when a second preset condition is met, determining that the sweeping robot is in a local predicament;
the first preset condition includes: detecting that the sweeping robot can reach a first preset area; detecting that a cleanable area currently exists in a first preset area; detecting that the sweeping robot and the corresponding charging device are not in a communication area, and detecting that the first preset area and the current area where the sweeping robot is located are not in the communication area;
the second preset condition includes: and detecting that the sweeping robot is still in a second preset area within preset time.
Specifically, if the operation of getting rid of difficulty fails, corresponding operations are executed, so that the sweeping robot can get rid of difficulty successfully, including:
if the operation of getting rid of poverty fails, determining whether a cleanable area exists in the current area;
if the current area has the cleanable area, controlling the sweeping robot to execute corresponding cleaning operation;
when the cleaning operation is detected to be finished, executing the trapped eliminating operation again;
and if the difficulty-escaping operation fails, outputting a notification message, wherein the notification message is used for indicating that the sweeping robot is currently in a local distress.
In one possible implementation, determining whether there is a cleanable area in the current area further includes:
and if no cleanable area exists in the current area, outputting a notification message.
In one possible implementation, the method further includes:
and if the escaping operation is successful, controlling the sweeping robot to perform the sweeping operation in a first preset area, or controlling the sweeping robot to continue to perform the action before the escaping operation.
Specifically, the escaping operation includes:
determining at least one target point;
and traversing each target point to get rid of difficulties.
Specifically, the escaping operation includes:
planning at least one escaping path based on the environment map and/or the historical escaping paths;
and escaping based on the planned at least one escaping path.
Specifically, the escaping operation comprises:
determining the current position and at least one target position of the sweeping robot;
planning a trap-free path corresponding to the sweeping robot from the current position to each target position;
and removing the difficulty based on at least one difficulty removing path at the planning place.
In a second aspect, there is provided an apparatus for detecting and handling local distress, the apparatus comprising:
the determining module is used for determining whether the sweeping robot is in a local predicament or not;
the execution escaping operation module is used for executing escaping operation when the determining module determines that the sweeping robot is in local predicament;
and the execution corresponding operation module is used for executing corresponding operation when the escaping operation fails so as to enable the sweeping robot to successfully escape from the difficulties.
The sweeping robot comprises a determining module, a judging module and a judging module, wherein the determining module is specifically used for determining that the sweeping robot is in a local predicament when a first preset condition is met; and/or the presence of a gas in the gas,
the determining module is specifically used for determining that the sweeping robot is in a local predicament when a second preset condition is met;
the first preset condition includes: detecting that the sweeping robot can reach a first preset area; detecting that a cleanable area currently exists in a first preset area; detecting that the sweeping robot and the corresponding charging device are not in a communication area, and detecting that the first preset area and the current area where the sweeping robot is located are not in the communication area;
the second preset condition includes: and detecting that the sweeping robot is still in a second preset area within preset time.
Specifically, the executing the corresponding operation module includes: the device comprises a determining unit, a control execution cleaning operation unit, an execution escaping operation unit and an output unit;
a determination unit for determining whether there is a cleanable area in the current area when the trap removal operation fails;
a control execution cleaning operation unit for controlling the cleaning robot to execute corresponding cleaning operation when the determination unit determines that a cleanable area exists in the current area;
the execution escaping operation unit is used for executing escaping operation again when the cleaning operation is detected to be finished;
and the output unit is used for outputting a notification message when the execution of the trap-removing operation unit fails, wherein the notification message is used for indicating that the sweeping robot is currently in a local predicament.
In one possible implementation manner, the output unit is further configured to output a notification message when there is no cleanable area in the current area.
In one possible implementation, the apparatus further includes: a control module;
and the control module is used for controlling the sweeping robot to carry out sweeping operation in a first preset area or controlling the sweeping robot to continue to carry out actions before the escaping operation when the escaping operation is successful.
Specifically, the escaping operation includes:
determining at least one target point;
and traversing each target point to get rid of difficulties.
Specifically, the escaping operation includes:
planning at least one escaping path based on the environment map and/or the historical escaping paths;
and escaping based on the planned at least one escaping path.
Specifically, the escaping operation comprises:
determining the current position and at least one target position of the sweeping robot;
planning a trap-free path corresponding to the sweeping robot from the current position to each target position;
and removing the difficulty based on at least one difficulty removing path at the planning place.
In a third aspect, a computing device is provided, the computing device comprising:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: a method of detecting and handling local distress according to the first aspect is performed.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the method of detecting and handling local distress of the first aspect.
The beneficial effect that technical scheme that this application provided brought is:
the application provides a method, a device and a computing device for detecting and processing local distress, and the method, the device and the computing device determine whether a sweeping robot is in the local distress, then execute a distress removing operation if the sweeping robot is determined to be in the local distress, and then execute corresponding operation when the distress removing operation fails so that the sweeping robot can successfully get rid of the distress. Whether this application can detect the robot of sweeping the floor at present is in local predicament state to can control execution operation of getting rid of poverty and other operations when detecting that the robot of sweeping the floor is at local predicament at present, in order to guarantee that the robot of sweeping the floor successfully gets rid of poverty, thereby can make the robot of sweeping the floor successfully get rid of poverty, and then can promote user experience.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a flowchart illustrating a method for detecting and handling local distress according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an apparatus for detecting and handling local distress according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of another apparatus for detecting and handling local distress according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a computing device for detecting and handling local distress according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
An embodiment of the present application provides a method for detecting and handling local distress, as shown in fig. 1, the method includes:
and step S101, determining whether the sweeping robot is in a local dilemma.
For example, the first scenario: the sweeping robot enters a certain room through an opened door, but for a certain reason, after entering the room, the door is closed, and then the sweeping robot is in a local predicament at the moment; still alternatively, the second case: the sweeping robot enters a particularly narrow area and cannot go out of the narrow area, and the sweeping robot is in a local predicament at the moment, and the situation that the sweeping robot is in the local predicament is not limited to the two situations.
And S102, if the floor sweeping robot is determined to be in a local predicament, executing a trap removal operation.
The details of the operation of getting rid of difficulty are shown in the sixth embodiment, which is not limited in this embodiment.
And S103, if the escaping operation fails, executing corresponding operation so that the sweeping robot can successfully escape from the difficulties.
The embodiment of the application provides a method for detecting and processing local distress, and the embodiment of the application determines whether a sweeping robot is in the local distress or not, then executes a distress relieving operation if the sweeping robot is determined to be in the local distress, and then executes corresponding operation when the distress relieving operation fails so as to enable the sweeping robot to successfully relieve the distress. The embodiment of the application can detect whether the sweeping robot is currently in a local dilemma state or not, and can control execution of the escaping operation and other operations when the sweeping robot is currently in the local dilemma state, so that the sweeping robot can be successfully escaped, and user experience can be improved.
Example two
The embodiment of the present application provides another possible implementation manner, and on the basis of the first embodiment, the method further includes the operation shown in the second embodiment, wherein,
step S101 may specifically include at least one of step S1011 (not shown) and step S1012 (not shown), wherein,
and step S1011, when the first preset condition is met, determining that the sweeping robot is in a local predicament.
Wherein, the first preset condition comprises: detecting that the sweeping robot can reach a first preset area; detecting that a cleanable area currently exists in a first preset area; the method comprises the steps of detecting that the sweeping robot and a charging device corresponding to the sweeping robot are not in a communication area, and detecting that the first preset area and the area where the sweeping robot is located currently are not in the communication area.
For the embodiment of the application, the first preset area may be determined based on the current cleaning work of the cleaning robot.
For example, in a first scenario, the first preset area may be an area other than the room.
For the embodiment of the application, whether the sweeping robot can reach the first preset area or not is detected based on at least one of the environment map, the current working route of the sweeping robot, the historical working route of the sweeping robot and the working route which is set for the sweeping robot and executes the sweeping task at this time.
For the embodiment of the application, whether the first preset area currently has the cleanable area or not is detected based on the current working route of the cleaning task executed by the cleaning robot or the current cleaning task of the cleaning robot.
For example, the current working route of the sweeping robot for performing the sweeping task includes the first preset area, and based on the current working route, it is detected that there is an area which can be swept in the first preset area.
For the embodiment of the application, whether the sweeping robot and the corresponding charging device are in a communication area or not is determined based on the environment map.
And step S1012, when a second preset condition is met, determining that the sweeping robot is in a local predicament.
Wherein the second preset condition comprises: and detecting that the sweeping robot is still in a second preset area within preset time.
For the embodiment of the application, the driving path of the sweeping robot in the preset time is obtained, and whether the sweeping robot is still in the second preset area in the preset time is determined based on the obtained driving path of the sweeping robot in the preset time.
For the embodiment of the application, the preset time can be set by a user or a sweeping robot. The embodiments of the present application are not limited.
For example, the preset time may be 1 minute, 3 minutes, or 10 minutes.
For the embodiment of the present application, the second predetermined region refers to a region of a predetermined area, and does not refer to a certain region. In this embodiment of the application, the size of the preset area may be set by a user, or may be set by a sweeping robot, which is not limited herein.
To this application embodiment, satisfy first preset condition and/or second preset condition when detecting the robot of sweeping the floor, can determine whether the robot of sweeping the floor is in local predicament state to can be when the robot of sweeping the floor is in local predicament, in time carry out corresponding operation of getting rid of poverty, thereby can make the robot of sweeping the floor in time get rid of poverty, and then can promote user experience.
EXAMPLE III
Another possible implementation manner of the embodiment of the present application further includes, on the basis of the first embodiment or the second embodiment, the operation shown in the third embodiment, wherein,
in step S103, based on the execution result of the trap-freeing operation, corresponding operations are executed, including: step S1031 (not shown), step S1032 (not shown), step S1033 (not shown), and step S1034 (not shown), wherein,
and step S1031, if the escaping operation fails, determining whether a cleanable area exists in the current area.
For the embodiment of the application, whether the cleanable area exists in the current area is determined based on the environment map and/or the current working route of the cleaning task executed by the sweeping robot.
For example, the current area may be an in-room area in the first case described above, or may be a second preset area in the second case.
Step S1032, if there is a cleanable area in the current area, controlling the sweeping robot to perform a corresponding cleaning operation.
For the embodiment of the application, the sweeping robot can be controlled to perform corresponding sweeping operation in the current area based on the working route before the execution of the trap-escaping operation, and also can be controlled to re-plan the working route for the sweeping robot based on the environment map, control the sweeping robot based on the re-planned working route, and perform the sweeping operation in the current area.
Step S1033, when it is detected that the cleaning operation is finished, the escaping operation is performed again.
For the embodiment of the application, when the end of the cleaning operation is detected (including the fact that no cleanable area exists in the current area), the escaping operation is executed again.
The details of the trap-escaping operation in the embodiment of the present application are shown in the sixth embodiment, and are not described in detail in the embodiment of the present application.
Step S1034, if the trap-escaping operation fails, a notification message is output.
Wherein the notification message is used for indicating that the sweeping robot is currently in a local distress.
For example, when the trap-escaping operation fails, a notification message may be sent to the terminal device bound by the sweeping robot to inform the user that the sweeping robot is currently in a local distress; a notification message can also be sent to the upper system to inform the sweeping robot that the sweeping robot is currently in a local distress.
For the embodiment of the application, after the trouble-free process fails, cleaning operation is firstly performed on the cleanable area in the current area, after the cleaning is finished, the trouble-free process is performed again, and when the trouble-free process fails again, the notification message is output, so that the frequency of sending the notification message to the bound terminal equipment or the upper system can be reduced, the cleaning operation completed in the current area can be ensured, and the user experience can be further improved.
Example four
Another possible implementation manner of the embodiment of the present application further includes, on the basis of the operation shown in the third embodiment, the operation shown in the fourth embodiment, wherein,
step S1031 is followed by step Sa (not shown in the figure), wherein,
and step Sa, if no cleanable area exists in the current area, outputting a notification message.
For the description of step Sa, see the third embodiment, which is not described in detail in this embodiment.
EXAMPLE five
Another possible implementation manner of the embodiment of the present application further includes the operation shown in the fifth embodiment on the basis of any one of the second to fourth embodiments, wherein,
the method further comprises the following steps: step Sb (not shown in the figure), in which,
and Sb, if the escaping operation is successful, controlling the sweeping robot to perform sweeping operation in a first preset area, or controlling the sweeping robot to continue to perform actions before the escaping operation.
For the embodiment of the present application, step Sb may be performed after step S102, or may be performed after step S1033. The embodiments of the present application are not limited.
For the embodiment of the application, when the sweeping robot is detected to reach the target point (target position), the sweeping robot is represented to successfully get rid of the trouble.
For the embodiment of the application, if the escaping is successful, the sweeping robot is controlled to perform the sweeping operation in the first preset area according to the previously determined working route, or the sweeping robot is controlled to continue to perform the action before the escaping operation. In the embodiment of the application, the sweeping robot performs the sweeping operation before the escaping operation, and then continues to perform the sweeping operation; and if the wall-extending operation is performed by the sweeping robot before the escaping operation, the wall-extending operation is continuously performed.
For the embodiment of the application, when the user successfully gets rid of the floor, the floor sweeping robot is controlled to continue to execute the action before the operation of getting rid of the floor, so that the situation that the user plans the path for the floor sweeping robot again can be avoided, the situation that the user departs the operation instruction again can also be avoided, the calculated amount of the floor sweeping robot can be reduced, and the user experience can be improved.
EXAMPLE six
Another possible implementation manner of the embodiment of the present application further includes, on the basis of any one of the first to fifth embodiments, the operation shown in the sixth embodiment, wherein,
the escaping operation comprises the following steps: determining at least one target point; and traversing each target point to get rid of difficulties. And/or the presence of a gas in the gas,
the escaping operation comprises the following steps: planning at least one escaping path based on the environment map and/or the historical escaping paths; and escaping based on the planned at least one escaping path. And/or the presence of a gas in the gas,
an out-of-bounds operation comprising: determining the current position and at least one target position of the sweeping robot; planning a trap-free path corresponding to the sweeping robot from the current position to each target position; and removing the difficulty based on at least one difficulty removing path at the planning place.
For the embodiment of the application, at least one target point is determined based on the environment map, and the sweeping robot is controlled to try to get rid of difficulties from all the target points.
For the embodiment of the application, at least one escaping path is planned for the sweeping robot based on the environment map, and escaping is carried out.
For the embodiment of the application, a path including the current position and the target point position is selected from the historical trapped-free paths as a trapped-free path.
For the embodiment of the application, the planning of at least one escaping route based on the environment map and/or the historical escaping routes comprises: if a historical path passes through the current position and the designated position point of the sweeping robot and the designated position point can be reached according to the environment map, the path between the designated position point and the target position point is planned according to the environment map, and the part between the current position and the designated position point of the robot in the historical path and the path between the designated position point and the target position point are integrated into a path reaching the target position point.
For the embodiment of the application, planning the escaping paths corresponding to the sweeping robot from the current position to each destination position respectively may specifically include: and the environment map and/or the historical escaping paths can be combined to re-plan the escaping paths corresponding to the sweeping robot from the current position to each target position.
EXAMPLE seven
As shown in fig. 2, the apparatus 20 for detecting and processing local distress in this embodiment may include: a determination module 201, an execute trapped-off action module 202, and an execute corresponding action module 203, wherein,
a determination module 201, configured to determine whether the sweeping robot is in a local distress.
And a trapped object escaping operation module 202, configured to perform trapped object escaping operation when the determining module 201 determines that the sweeping robot is in the local distress.
And the corresponding operation module 203 is executed, and is used for executing corresponding operation when the execution of the trap-escaping operation by the trap-escaping operation module 202 fails, so that the sweeping robot can successfully escape from the trap.
The embodiment of the application provides a device for detecting and processing local predicament, and the embodiment of the application determines whether a sweeping robot is in the local predicament or not, then if the sweeping robot is in the local predicament, executes the delicacy removal operation, and then executes corresponding operation when the delicacy removal operation fails, so that the sweeping robot can successfully get rid of the delicacy. The embodiment of the application can detect whether the sweeping robot is currently in a local dilemma state or not, and can control execution of the escaping operation and other operations when the sweeping robot is currently in the local dilemma state, so that the sweeping robot can be successfully escaped, and user experience can be improved.
The device for detecting and processing local predicament in the embodiment of the present application can execute the method for detecting and processing local predicament provided in the embodiment of the present application, and the implementation principles are similar, and are not repeated here.
Example eight
As shown in fig. 3, another device for detecting and processing local distress in an embodiment of the present application is a schematic structural diagram of a device for detecting and processing local distress 30, where the device for detecting and processing local distress in an embodiment of the present application may include: a determination module 301, an execute out of bounds operation module 302, and an execute corresponding operation module 303, wherein,
a determination module 301, configured to determine whether the sweeping robot is in a local distress.
Wherein, the determining module 301 in fig. 3 has the same or similar function as the determining module 201 in fig. 2.
A trapped-escaping operation executing module 302, configured to execute trapped escaping operation when the determining module 301 determines that the sweeping robot is in a local distress.
The execution trapped-free operation module 302 in fig. 3 has the same or similar function as the execution trapped-free operation module 202 in fig. 2.
And the corresponding operation module 303 is executed, and is used for executing corresponding operation when the execution of the trap-escaping operation by the trap-escaping operation module 302 fails, so that the sweeping robot can successfully escape from the trap.
Wherein the corresponding operation module 303 in fig. 3 performs the same or similar function as the corresponding operation module 203 in fig. 2.
Specifically, the determining module 301 is specifically configured to determine that the sweeping robot is in a local predicament when a first preset condition is met; and/or the presence of a gas in the gas,
the determining module 301 is specifically further configured to determine that the sweeping robot is in a local predicament when a second preset condition is met.
Wherein, the first preset condition comprises: detecting that the sweeping robot can reach a first preset area; detecting that a cleanable area currently exists in a first preset area; the method comprises the steps of detecting that the sweeping robot and a charging device corresponding to the sweeping robot are not in a communication area, and detecting that the first preset area and the area where the sweeping robot is located currently are not in the communication area.
Wherein the second preset condition comprises: and detecting that the sweeping robot is still in a second preset area within preset time.
To this application embodiment, satisfy first preset condition and/or second preset condition when detecting the robot of sweeping the floor, can determine whether the robot of sweeping the floor is in local predicament state to can be when the robot of sweeping the floor is in local predicament, in time carry out corresponding operation of getting rid of poverty, thereby can make the robot of sweeping the floor in time get rid of poverty, and then can promote user experience.
Specifically, as shown in fig. 3, the executing the corresponding operation module 303 includes: a determination unit 3031, a control execution cleaning operation unit 3032, an execution escaping operation unit 3033 and an output unit 3034, wherein,
a determination unit 3031 is configured to determine whether a cleanable zone exists in the current zone when the trap removal operation fails.
And a control execution cleaning operation unit 3032 used for controlling the sweeping robot to execute corresponding cleaning operation when the determining unit determines 3031 that a cleanable area exists in the front area.
A escaping operation unit 3033 for performing escaping operation again when the end of the cleaning operation is detected.
An output unit 3034, configured to output a notification message when the execution of the trap removal operation by the trap removal operation unit fails.
Wherein the notification message is used for indicating that the sweeping robot is currently in a local distress.
For the embodiment of the application, after the trouble-free process fails, cleaning operation is firstly performed on the cleanable area in the current area, after the cleaning is finished, the trouble-free process is performed again, and when the trouble-free process fails again, the notification message is output, so that the frequency of sending the notification message to the bound terminal equipment or the upper system can be reduced, the cleaning operation completed in the current area can be ensured, and the user experience can be further improved.
In one possible implementation, the output unit 3034 is further configured to output a notification message when there is no cleanable zone within the current zone.
Further, as shown in fig. 3, the apparatus 30 further includes: the control module 304 may, among other things,
the control module 304 is configured to control the sweeping robot to perform a sweeping operation in a first preset area or control the sweeping robot to continue to perform actions before the escaping operation when the escaping operation is successful.
For the embodiment of the application, when the user successfully gets rid of the floor, the floor sweeping robot is controlled to continue to execute the action before the operation of getting rid of the floor, so that the situation that the user plans the path for the floor sweeping robot again can be avoided, the situation that the user departs the operation instruction again can also be avoided, the calculated amount of the floor sweeping robot can be reduced, and the user experience can be improved.
In one possible implementation, the escaping operation includes: determining at least one target point; and traversing each target point to get rid of difficulties.
In one possible implementation, the escaping operation includes: planning at least one escaping path based on the environment map and/or the historical escaping paths; and escaping based on the planned at least one escaping path.
In one possible implementation, the escaping operation includes: determining the current position and at least one target position of the sweeping robot; planning a trap-free path corresponding to the sweeping robot from the current position to each target position; and removing the difficulty based on at least one difficulty removing path at the planning place.
The embodiment of the application provides a device for detecting and processing local distress, and the embodiment of the application determines whether a sweeping robot is in the local distress or not, then executes the distress removing operation if the sweeping robot is determined to be in the local distress, and then executes corresponding operation when the distress removing operation fails so as to enable the sweeping robot to successfully remove the distress. The embodiment of the application can detect whether the sweeping robot is currently in a local dilemma state or not, and can control execution of the escaping operation and other operations when the sweeping robot is currently in the local dilemma state, so that the sweeping robot can be successfully escaped, and user experience can be improved.
The apparatus for detecting and processing local distress in this embodiment may perform the method for detecting and processing local distress shown in any one of the first to sixth embodiments of the present application, which has similar implementations, and therefore, the details are not repeated herein.
Example nine
An embodiment of the present application provides a computing device, and as shown in fig. 4, a computing device 4000 shown in fig. 4 includes: a processor 4001 and a memory 4003. Processor 4001 is coupled to memory 4003, such as via bus 4002. Optionally, the computing device 4000 may also include a transceiver 4004. It should be noted that the transceiver 4004 is not limited to one in practical applications, and the structure of the computing device 4000 is not limited to the embodiment of the present application.
The processor 4001 is applied in the embodiment of the present application, and is configured to implement the determining module shown in fig. 2 or 3, the escaping operation module, and the corresponding operation module, and/or the control module shown in fig. 3. The transceiver 4004 comprises a receiver and a transmitter, and the transceiver 4004 is used in the embodiments of the present application to exchange information with other devices.
The memory 4003 is used for storing application codes for executing the scheme of the present application, and the execution is controlled by the processor 4001. Processor 4001 is configured to execute application code stored in memory 4003 to perform the actions of the apparatus for detecting and handling local distress provided by the embodiments illustrated in fig. 2 or 3.
The embodiment of the application provides a computing device, and the embodiment of the application determines whether a sweeping robot is in a local predicament or not, then executes a delicacy removing operation if the sweeping robot is determined to be in the local predicament, and then executes a corresponding operation when the delicacy removing operation fails, so that the sweeping robot can successfully get rid of the delicacy. The embodiment of the application can detect whether the sweeping robot is currently in a local dilemma state or not, and can control execution of the escaping operation and other operations when the sweeping robot is currently in the local dilemma state, so that the sweeping robot can be successfully escaped, and user experience can be improved.
The computing device of this embodiment may execute the method for detecting and handling local dilemma shown in any one of the first to sixth embodiments of the present application, which has similar implementations, and therefore, the details are not described herein.
Example ten
An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for detecting and handling local distress according to any one of the first to sixth embodiments.
The embodiment of the application provides a computer-readable storage medium, and the embodiment of the application determines whether a sweeping robot is in a local predicament or not, then executes a trap-free operation if the sweeping robot is determined to be in the local predicament, and then executes a corresponding operation when the trap-free operation fails, so that the sweeping robot can successfully get rid of the trap. The embodiment of the application can detect whether the sweeping robot is currently in a local dilemma state or not, and can control execution of the escaping operation and other operations when the sweeping robot is currently in the local dilemma state, so that the sweeping robot can be successfully escaped, and user experience can be improved.
The embodiment of the application provides a computer-readable storage medium which is suitable for any embodiment of the method. And will not be described in detail herein.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of detecting and addressing local distress, comprising:
determining whether the sweeping robot is in a local predicament or not;
if the floor sweeping robot is determined to be in a local predicament, executing a trap removal operation;
and if the escaping operation fails, executing corresponding operation so that the sweeping robot can successfully escape.
2. The method of claim 1, wherein determining whether the sweeping robot is in local distress comprises at least one of:
when a first preset condition is met, determining that the sweeping robot is in a local predicament;
when a second preset condition is met, determining that the sweeping robot is in a local predicament;
the first preset condition includes: detecting that the sweeping robot can reach a first preset area; detecting that a cleanable area currently exists in the first preset area; detecting that the sweeping robot and the corresponding charging device are not in a communication area, and the first preset area and the area where the sweeping robot is currently located are not in the communication area;
the second preset condition includes: and detecting that the sweeping robot is still in a second preset area within preset time.
3. The method according to claim 1 or 2, wherein if the trap-escaping operation fails, the corresponding operation is executed to enable the sweeping robot to successfully escape from the trap, and the method comprises the following steps:
if the operation of getting rid of poverty fails, determining whether a cleanable area exists in the current area;
if the cleanable area exists in the current area, controlling the sweeping robot to execute corresponding cleaning operation;
when the cleaning operation is detected to be finished, executing the trapped eliminating operation again;
and if the escaping operation fails, outputting a notification message, wherein the notification message is used for indicating that the sweeping robot is currently in a local distress.
4. The method of claim 3, wherein determining whether there is a cleanable area within the current area further comprises:
and if no cleanable area exists in the current area, outputting the notification message.
5. The method according to any one of claims 2-4, further comprising:
and if the escaping operation is successful, controlling the sweeping robot to perform sweeping operation in the first preset area, or controlling the sweeping robot to continue to perform actions before escaping operation.
6. The method of any one of claims 1-5, wherein the de-trapping operation comprises:
determining at least one target point;
and traversing each target point to get rid of difficulties.
7. The method of any one of claims 1-5, wherein the de-trapping operation comprises:
planning at least one escaping path based on the environment map and/or the historical escaping paths;
and escaping based on the planned at least one escaping path.
8. An apparatus for detecting and addressing local distress, comprising:
the determining module is used for determining whether the sweeping robot is in a local predicament or not;
the execution escaping operation module is used for executing escaping operation when the determining module determines that the sweeping robot is in a local predicament;
and the execution corresponding operation module is used for executing corresponding operation when the escaping operation fails so as to enable the sweeping robot to successfully escape from the difficulties.
9. A computing device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: method of performing the detection and handling of local distress according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of detecting and handling local distress of any one of claims 1 to 7.
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