CN111248819A - Cleaning path execution method and cleaning robot - Google Patents
Cleaning path execution method and cleaning robot Download PDFInfo
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- CN111248819A CN111248819A CN202010175748.0A CN202010175748A CN111248819A CN 111248819 A CN111248819 A CN 111248819A CN 202010175748 A CN202010175748 A CN 202010175748A CN 111248819 A CN111248819 A CN 111248819A
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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 present invention relates to the field of cleaning robot technology, and in particular, to a cleaning path execution method, a cleaning robot, and a storage medium. The cleaning path execution method and the cleaning robot provided by the embodiment of the invention can control the cleaning robot to clean the boundary along the area to be cleaned according to the coordinate of the boundary point, can determine whether the cleaning robot is positioned outside the area to be cleaned in real time in the process of cleaning the boundary of the cleaning robot, and control the cleaning robot to clean along the boundary point of the area to be cleaned if the cleaning robot is positioned outside the area to be cleaned. The accuracy of the cleaning robot along the traveling path of the boundary of the area to be cleaned is ensured, so that the cleaning of the cleaning robot outside the area to be cleaned is reduced, and the cleaning efficiency of the cleaning robot is improved.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning path execution method and a cleaning robot.
Background
With the development of science and technology, the requirements of people on the quality of life are continuously improved, and smart homes gradually appear in the daily life of people. Among them, the cleaning robot is very popular with people as a representative of smart home. Generally, a robot that performs cleaning, dust suction, and floor wiping work is collectively called a cleaning robot.
During the cleaning process, the cleaning robot can identify other areas such as a cleaned area, a barrier area and the like through the horizontal and vertical coordinates to create a grid map, search an uncleaned area according to the filling state of the grid map, and gradually realize full-coverage cleaning so as to pertinently and efficiently complete the full-coverage cleaning work of the area to be cleaned. Generally, in order to ensure that the sweeping robot can efficiently complete the cleaning task of a designated area, the cleaning path of the cleaning robot is planned in advance before starting the cleaning work. On the one hand, collision of the cleaning robot with obstacles in the area to be cleaned can be avoided; on the other hand, the cleaning repetition rate can be reduced, and the cleaning efficiency can be improved.
In the prior art, a cleaning robot usually executes a cleaning path based on a region to be cleaned with a regular shape, and when the shape of the region to be cleaned is irregular or the edge of the region to be cleaned is irregular, the region to be cleaned cannot be effectively and comprehensively cleaned, the outside of the region to be cleaned is easily cleaned, meanwhile, the cleaning leakage or the repeated cleaning is easily caused, and the cleaning efficiency of the cleaning robot is reduced.
Disclosure of Invention
In order to overcome the problem that a cleaning robot cannot effectively clean an irregularly-shaped area to be cleaned, embodiments of the present invention provide a cleaning path execution method and a cleaning robot, which can ensure the accuracy of a cleaning path when the robot cleans along the boundary of the area to be cleaned, reduce the number of times of repeated cleaning by the cleaning robot, and improve the cleaning efficiency of the cleaning robot.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:
in a first aspect, an embodiment of the present invention provides a cleaning path execution method, applied to a cleaning robot, the method including:
acquiring boundary point coordinates of an area to be cleaned;
determining a sweeping starting point of the area to be cleaned according to the boundary point coordinates;
controlling the cleaning robot to clean the boundary along the area to be cleaned from the sweeping starting point;
and in the boundary cleaning process, determining whether the cleaning robot is positioned outside the area to be cleaned in real time, and if the cleaning robot is positioned outside the area to be cleaned, controlling the cleaning robot to clean along boundary points of the area to be cleaned.
Optionally, the determining whether the cleaning robot is located outside the area to be cleaned includes:
and determining whether the cleaning robot is positioned outside the area to be cleaned according to the current position coordinate of the cleaning robot and the boundary point coordinate of the area to be cleaned.
Optionally, the current position coordinate comprises an x-axis position coordinate xnowAnd y-axis position coordinate ynowThe boundary point coordinates include x-axis boundary point coordinates and y-axis boundary point coordinates, the x-axis boundary point coordinatesnowThe ynowThe x-axis boundary point coordinates and the y-axis boundary point coordinates are based on the same coordinate system;
the determining whether the cleaning robot is located outside the area to be cleaned according to the current position coordinates of the cleaning robot and the boundary point coordinates of the area to be cleaned includes:
determining whether at least one of the boundary point coordinates is present with the xnowThe same x-axis boundary point coordinates;
if not, the cleaning robot is positioned outside the area to be cleaned;
if yes, according to the ynowAnd the x-axis boundary point coordinates and the xnowThe y-axis boundary point coordinates of the same boundary point determine whether the robot to be cleaned is located outside the area to be cleaned.
Optionally, said is according to said ynowAnd the x-axis boundary point coordinates and the xnowDetermining whether the robot to be cleaned is located outside the area to be cleaned based on the same y-axis boundary point coordinates of the boundary points, including:
determining the x-axis boundary point coordinates and the xnowWhether the same boundary point includes the y-axis boundary point coordinate and the ynowThe same boundary points;
if so, determining that the cleaning robot is positioned outside the area to be cleaned;
if not, determining the maximum y-axis boundary point coordinate with the maximum y-axis boundary point coordinate and the minimum y-axis boundary point coordinate with the minimum y-axis boundary point coordinate in the boundary points;
if said y isnowGreater than the maximum y-axis boundary point coordinate, or the ynowIf the coordinate of the boundary point of the minimum y axis is smaller than the coordinate of the boundary point of the minimum y axis, determining that the cleaning robot is positioned outside the area to be cleaned;
if said y isnowLess than the maximum y-axis boundary point coordinate and greater than the minimum y-axis boundary point coordinate, determining the x-axis boundary point coordinate and the x-axis boundary point coordinatenowValid boundaries in the same boundary point and according to said ynowAnd the y-axis boundary point coordinates of the effective boundary determine whether the cleaning robot is located outside the area to be cleaned.
Optionally, the effective boundary is a boundary point or a boundary line segment having a first x-axis boundary point coordinate, and at least there are a first boundary point and a second boundary point adjacent to each other, where the x-axis boundary point coordinate is different from the first x-axis boundary point coordinate, and the x-axis boundary point coordinate of the first boundary point is different from that of the second boundary point.
Optionally, said according to said ynowAnd the y-axis boundary point coordinates of the effective boundary determining whether the cleaning robot is located outside the area to be cleaned, comprising:
if the effective boundary is a boundary line segment, acquiring the y-axis boundary point coordinate of any boundary point on the effective boundary as the y-axis boundary point coordinate of the effective boundary;
sequentially arranging the y-axis boundary point coordinates of the effective boundary from small to large, wherein the arrangement ordinal number of the y-axis boundary point coordinates of the effective boundary is represented by an integer;
determining the y-axis boundary point coordinate ratio to the ynowParity of the ranking ordinals of the active boundary that are small and closest to the current position of the robot;
if the arrangement ordinal number is an even number, the cleaning robot is positioned in the area to be cleaned;
and if the arrangement ordinal number is odd, the cleaning robot is positioned outside the area to be cleaned.
Optionally, the boundary cleaning includes boundary point cleaning and edge cleaning, and the controlling the cleaning robot to perform the boundary cleaning along the boundary point of the area to be cleaned from the sweeping starting point includes:
controlling the cleaning robot to clean along boundary points of the area to be cleaned from the sweeping starting point;
judging whether the cleaning robot collides with an obstacle or not;
and if so, controlling the cleaning robot to clean along the edge along the boundary of the obstacle.
Optionally, the determining the sweeping starting point of the area to be cleaned according to the boundary point coordinates includes:
acquiring an initial position of the cleaning robot;
and determining a point which is closest to the initial position in the boundary point coordinates as the cleaning starting point.
Optionally, the method further includes:
recording track points passed by the cleaning robot;
determining whether the cleaning robot returns to the cleaning starting point or not according to the track point;
if yes, acquiring a clean inner area surrounded by the track points according to the track points;
cleaning the clean inner area.
Optionally, the method further includes:
determining whether an uncleaned area to be cleaned which can be reached by the cleaning robot exists according to the track points passed by the cleaning robot and the area to be cleaned;
if so, sequentially cleaning the uncleaned areas to be cleaned.
In a second aspect, an embodiment of the present invention provides a cleaning robot including:
a main body;
the driving wheel component is arranged on the main body and drives the cleaning robot to move on a surface to be cleaned;
the cleaning component is arranged on one surface of the main body facing the surface to be cleaned, and the cleaning component is configured to clean dirt on the surface to be cleaned;
a storage part communicating with the cleaning part and configured to store the contaminants cleaned by the cleaning part;
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a robotic cleaning path execution method provided by any of the embodiments of the invention.
The beneficial effects of the embodiment of the invention are as follows: different from the situation in the prior art, the cleaning path execution method and the cleaning robot provided by the embodiment of the invention can control the cleaning robot to perform boundary cleaning along the area to be cleaned according to the coordinates of the boundary points, can determine whether the cleaning robot is located outside the area to be cleaned in real time in the process of performing boundary cleaning by the cleaning robot, and control the cleaning robot to perform cleaning along the boundary points of the area to be cleaned if the cleaning robot is located outside the area to be cleaned. The accuracy of the cleaning robot along the traveling path of the boundary of the area to be cleaned is ensured, so that the cleaning of the cleaning robot outside the area to be cleaned is reduced, and the cleaning efficiency of the cleaning robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present invention;
fig. 2 is a cleaning path planning method according to an embodiment of the present invention;
fig. 3 is a method for determining a position of the cleaning robot relative to the cleaning region according to coordinates of a current position of the cleaning robot and coordinates of boundary points of the cleaning region, according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a grid map of an area to be cleaned according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a hardware structure of a cleaning robot according to an embodiment of the present invention;
FIG. 6 is a perspective view of a cleaning robot in accordance with an embodiment of the present invention;
fig. 7 is a bottom view of a cleaning robot in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
When the cleaning robot works, the cleaning area is generally required to be fully covered and the cleaning paths are not overlapped according to the map of the area to be cleaned. The cleaning robot can reach the end point from the starting point and pass through all non-obstacle areas on the premise of ensuring the cleaning path to be reasonable and optimal as far as possible, and the cleaning robot needs to clean all areas in the designated environment, so that an optimized full-coverage route is needed to ensure that the cleaning task is efficiently completed. At present, the cleaning robot is simple in a way of executing a cleaning path and an obstacle avoidance process, and generally cleans an area to be cleaned (e.g. a rectangle) with a regular shape. When the shape of the area to be cleaned is complex or the boundary of the cleaning area is irregular, the cleaning robot cannot effectively and comprehensively clean the area to be cleaned, so that the problems of low cleaning coverage rate, high repetition rate, low cleaning efficiency and the like are caused.
Fig. 1 is a schematic diagram of an application environment of a clean path planning method according to an embodiment of the present invention. In fig. 1, a cleaning operation performed by a cleaning robot is described as an example.
As shown in fig. 1, the application environment includes: the cleaning robot 10, the area to be cleaned 20, and the obstacles W31, W32, W33, W34, and W35. Wherein the obstacles W31, W32 and W33 are located partly in the area 20 to be cleaned, and the obstacle W34 divides the area 20 to be cleaned into two mutually independent sub-areas. The cleaning region 20 refers to a region that needs to be cleaned by the cleaning robot 10, such as a certain room or living room in a home. The boundary of the region to be cleaned 20 may be formed in any irregular shape.
The cleaning robot 10 in the embodiment of the present invention generally refers to an intelligent device having a sweeping, dust-collecting and/or floor-wiping function. The cleaning robot 10 may construct a corresponding global coordinate system with a certain position in the cleaning region 20 as a coordinate origin. In performing the cleaning, the cleaning robot 10 may represent the geographical position of the cleaning robot by the corresponding positioning coordinates. The cleaning robot 10 may implement the cleaning path execution method logic provided by the embodiments of the present invention by installing software, APP, or writing program code in a corresponding device.
The cleaning robot 10 in the embodiment of the present invention has a function of creating a grid map, and can divide an area to be cleaned into a plurality of grids to generate corresponding grid data. After receiving the cleaning instruction, the cleaning robot 10 performs cleaning along boundary points along the boundary of the area to be cleaned 20 based on the grid map; during walking, if an obstacle (e.g., W31 and W32) is encountered, edgewise cleaning is performed along the edge of the obstacle. Cleaning robot 10 can record the track point that passes through when walking the round along the border of waiting to clean regional 20 to clean the clean region that encloses to the track point, ensure that all can arrive wait to clean regional 20 and can both be cleaned, avoid the condition of missing the sweeping.
Of course, those skilled in the art can also apply the cleaning path execution method provided by the embodiment of the invention to other different robots or other different work tasks. Modifications, combinations or simple changes to the technical solution of the embodiments of the present invention for application to different robots or work tasks are all alternatives which can be easily imagined by a person skilled in the art and belong to the protection scope of the present invention.
The core points of the cleaning path execution method, the cleaning robot and the storage medium provided by the embodiment of the invention are as follows: in the process of performing the edgewise cleaning along the obstacle boundary, the cleaning robot 10 can determine whether the cleaning robot is located outside the region to be cleaned, and switch the edgewise cleaning mode to the edgewise point cleaning mode in real time if the cleaning robot is located outside the region to be cleaned. The cleaning robot is effectively prevented from walking out of the area to be cleaned, so that the accuracy of the walking path of the cleaning robot along the boundary is ensured, and the cleaning efficiency is improved. To facilitate the reader's understanding of the invention, reference will now be made to specific examples.
Referring to fig. 2, fig. 2 is a diagram illustrating a cleaning path executing method applied to a cleaning robot according to an embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:
s11: acquiring boundary point coordinates of an area to be cleaned;
in this embodiment, the cleaning robot has acquired the grid map of the environment of the area to be cleaned before cleaning the area to be cleaned, the acquired grid map of the environment of the area to be cleaned may be a historical grid map called by the cleaning robot, or a boundary of the area to be cleaned manually drawn by a user through a mobile terminal, and is sent to the cleaning robot through cloud service, and the cleaning robot cleans the area defined by the specified boundary of the area to be cleaned. The boundary of the environment map of the area to be cleaned is mapped into edge grid points in the grid map, and the boundary point coordinates of the area to be cleaned can be obtained according to the coordinates of the edge grid points.
S12: determining a sweeping starting point of the area to be cleaned according to the boundary point coordinates;
in some embodiments, step S12 includes the steps of:
s121: acquiring an initial position of the cleaning robot;
the initial position of the cleaning robot may be a position where the cleaning robot receives a sweeping command. The initial position information of the cleaning robot includes coordinate information of the cleaning robot. The initial position of the cleaning robot may be automatically determined by the system according to the grid points corresponding to the initial position. The initial position of the cleaning robot may also be a user-specified position.
S122: and determining a point which is closest to the initial position in the boundary point coordinates as the cleaning starting point.
In order to enable the cleaning robot to reach the cleaning starting point from the initial position quickly, in this embodiment, the boundary point closest to the initial position of the cleaning robot is selected as the cleaning starting point from the boundary points of the area to be cleaned. In other embodiments, the sweeping starting point may also be a boundary point at which the boundary path of the cleaning robot to the area to be cleaned is shortest after the cleaning robot bypasses the obstacle from the initial position.
S13: controlling the cleaning robot to clean along boundary points of the area to be cleaned from a cleaning starting point;
in this embodiment, after receiving the cleaning instruction, the cleaning robot performs rotation to adjust the forward direction, then reaches the cleaning start point of the area to be cleaned from the current position, and performs cleaning along the boundary point on the boundary of the area to be cleaned in the clockwise (counterclockwise) direction along the edge grid point.
The body of the cleaning robot in the embodiment of the invention is a wireless machine, and the shape of the cleaning robot can be any suitable shape, such as a disc shape or a convex polygon shape. The cleaning robot can be operated by using a rechargeable battery, and the operation mode can be remote control or an operation panel on the robot body. Various sensors are arranged on and in the body of the cleaning robot, such as an infrared sensor, a gyroscope, an acceleration sensor, a collision sensor and the like, and can be used for detecting the travel distance, the travel angle, the body state and the like of the obstacle and the cleaning robot. When the cleaning robot touches a wall or other obstacles, the cleaning robot can turn by itself and walk different cleaning routes according to different settings, so that an area to be cleaned is effectively cleaned.
S14: judging whether the cleaning robot collides with an obstacle or not;
in some embodiments, the cleaning robot is provided with a collision sensor for detecting a collision, which may be physical collision detection or non-contact detection of ultrasonic waves, laser light, or the like. The physical collision detection can generate different IO levels to the circuit when bouncing up and pressing down through the spring structural part of the internal hardware, so that the robot can judge whether the collision with the barrier occurs.
S15: if so, controlling the cleaning robot to perform edgewise cleaning along the boundary of the obstacle, determining whether the cleaning robot is located outside the area to be cleaned in real time in the edgewise cleaning process, and if so, controlling the cleaning robot to clean along the boundary point.
In the embodiment of the invention, if the cleaning robot is located on the boundary point or outside the region enclosed by the boundary point of the region to be cleaned, the cleaning robot is called to be located outside the region to be cleaned. During the course of the edge cleaning process, the traveling path of the cleaning robot may be deviated from the boundary of the area to be cleaned. Therefore, in the process of performing the edgewise cleaning along the boundary of the obstacle, the cleaning robot needs to judge whether the cleaning robot travels out of the area to be cleaned, and if the cleaning robot travels out of the area to be cleaned, it indicates that the edgewise cleaning is finished, and the cleaning robot needs to return to the boundary point to continue to perform the cleaning along the boundary point. Therefore, the cleaning robot needs to acquire the position information of the cleaning robot relative to the area to be cleaned in the process of cleaning along the edge, and if the cleaning robot is outside the area to be cleaned, the position of the cleaning robot is adjusted to the boundary in real time, so that the accuracy of the cleaning robot along the cleaning path of the boundary point is ensured, and the cleaning robot is prevented from cleaning the area outside the boundary.
In some embodiments, if the distance between two adjacent obstacle regions is smaller than the diameter of the cleaning robot, the cleaning robot cannot pass between them, two obstacles may be recognized as one obstacle. It is easily understood that an object, such as a wall, a household appliance, etc., capable of blocking the movement of the cleaning robot may be regarded as an obstacle.
In some embodiments, the method of determining whether the cleaning robot is located outside the region to be cleaned includes: and determining whether the cleaning robot is positioned outside the area to be cleaned according to the current position coordinate and the boundary point coordinate of the cleaning robot.
For example, the cleaning robot may be set to the forward direction of the X axis in the forward direction of the cleaning robot, and the right direction of the cleaning robot may be set to the forward direction of the Y axis in the plan view. The cleaning robot cleans along the boundary point with the sweeping start point as a start point for cleaning the area to be cleaned. For example, fig. 3 is a schematic diagram of a grid map of an area to be cleaned according to an embodiment of the present invention. In fig. 3, the environment map of the area to be cleaned is divided into a plurality of grids, and a coordinate system is established with a point M as the origin of the coordinate system, a transverse direction as the x-axis, and a longitudinal direction as the y-axis; wherein, the edge grid of the grid map represents the boundary point of the area to be cleaned, and the coordinate of the edge grid represents the coordinate of the boundary point. The cleaning robot performs edgewise cleaning along the boundary of the area to be cleaned according to the coordinates of the boundary points.
Let the current position coordinate of the cleaning robot be x-axis position coordinate xnowAnd y-axis position coordinate ynowExpressing that the coordinates of the boundary point of the area to be cleaned are expressed by the coordinates of the boundary point of the x axis and the coordinates of the boundary point of the y axis, wherein the x axisnow、ynowThe x-axis boundary point coordinates and the y-axis boundary point coordinates are based on the same coordinate system. In some embodiments, x may be passednow、ynowAnd judging whether the cleaning robot is positioned in the area to be cleaned or outside the area to be cleaned by the x-axis boundary point coordinate and the y-axis boundary point coordinate. In practical application, because the boundary point coordinates are more, the boundary point coordinates can be stored in the key value container for convenient calculation.
In the following with xnow、ynowThe coordinate system where the x-axis boundary point coordinate and the y-axis boundary point coordinate are located is a two-dimensional rectangular coordinate system, and an algorithm for storing the boundary point coordinate of the region to be cleaned in the key value container is taken as an example, and the detailed description will be given of the current position coordinate (x-axis boundary point coordinate) of the cleaning robotnowAnd ynow) And boundary point coordinates (x-axis boundary point coordinates and y-axis boundary point coordinates) of the area to be cleaned. Referring to fig. 4, fig. 4 is a schematic diagram illustrating a pass x according to an embodiment of the present inventionnow、ynowAnd judging whether the cleaning robot is positioned outside the area to be cleaned or not by the x-axis boundary point coordinate and the y-axis boundary point coordinate. As shown in fig. 4, the method comprises the steps of:
s121: storing the abscissa of the boundary point and the ordinate of the boundary point with the same abscissa as the key and the value of the key value pair in a key value container respectively;
in this embodiment, the x-axis boundary point coordinate is an x-axis abscissa, and the y-axis boundary point coordinate is a y-axis ordinate. And storing the abscissa and the ordinate of all boundary points with the same abscissa in a key value vector table, wherein the key of the key value pair is x, and the value of the key value pair is value (x), and the vector table comprises the ordinates of all boundary points with the abscissa of x. x and value (x) form a key-value pair. Value (x) can be found in the key value container through the key of the key value pair, so that the ordinate of all boundary points with the abscissa of x can be obtained.
For example, in fig. 3, the black areas are edge grids representing the boundaries of the area to be cleaned, each grid representing one coordinate point. In the figure, the abscissa values of all the boundary points are represented as x1, x2, x3, x4, x5, x6, x7, x8, x9, and x10, and all the abscissa x values constitute keys of key-value pairs, i.e., keysm＝xm，m∈[1，10]. For example, the ordinate of a point with x4 as the abscissa is arranged in descending order and is y [0 ]]、y[1]、y[2]And y 3]Then key4X4 by key4Y 0 may be obtained in the vector table]、y[1]、y[2]And y 3]。
S122: determining whether x is present in the key-value containernowA key of equal value;
s123: if not, the robot is positioned outside the area to be cleaned;
for example, in FIG. 3, if
Then there is no x in the key-value containernowKeys with equal values, the cleaning robot is positioned outside the area to be cleaned.
S124: if yes, according to ynowAnd said and xnowAnd judging whether the robot is positioned outside the area to be cleaned or not according to the value corresponding to the key with the equal value.
In some embodiments, the step S124 includes the following steps:
s1241: determining value (x)now) Whether or not to include with ynowThe ordinate with equal value;
s1242: if so, the cleaning robot is positioned outside the area to be cleaned;
s1243: if not, determining the maximum y coordinate with the maximum y coordinate and the minimum y coordinate with the minimum y coordinate in the boundary points;
if said y isnowGreater than or equal toLarge y coordinate, or said ynowAnd if the minimum y coordinate is less than the minimum y coordinate, determining that the cleaning robot is positioned outside the area to be cleaned.
If said y isnowLess than the maximum y coordinate and greater than the minimum y coordinate, determining the x coordinate and the x coordinatenowEffective boundaries in the same boundary point and according to ynowAnd the y-coordinate of the effective boundary determining whether the cleaning robot is located outside the area to be cleaned;
the effective boundary is a boundary point or a boundary line segment with a first x coordinate, at least a first boundary point and a second boundary point which are adjacent and have different x coordinates from the first x coordinate exist in the effective boundary, and the x coordinates of the first boundary point and the second boundary point are different.
In some embodiments, according to ynowAnd said y-coordinate of the effective boundary determining whether the cleaning robot is located outside said area to be cleaned comprises the steps of:
and acquiring the ordinate of each effective boundary, wherein if the effective boundary is a boundary point, the ordinate of a single boundary point is acquired, and if the effective boundary is a boundary line segment, the ordinate of any boundary point on the effective boundary is acquired as the ordinate of the effective boundary. Sequentially marking the obtained vertical coordinates of all effective boundaries as y [ i ], wherein i belongs to [0, n ], and n is an integer;
let y < n-1 > be less than y < n >, then,
when y [ i ]]＜ynow＜y[i+1]If yes, judging the parity of i;
if i is an odd number, the cleaning robot is located outside the boundary;
if i is an even number, the cleaning robot is located in the area within the boundary.
For example, in FIG. 3, if xnowE { x1, x2, x3, x4, x5, x6, x7, x8, x9, x10}, assuming xnowX4, then pass ynowValue y [0 ] corresponding to x4]、y[1]、y[2]And y 3]Whether the cleaning robot is located outside the area to be cleaned is judged. If ynowIs equal to y 0]、y[1]、y[2]And y 3]One of them, i.e. ynow∈{y[0]，y[1]，y[2]，y[3]}, then the cleaning robotThe point where the current position is located is a boundary point. Therefore, the cleaning robot is located outside the region to be cleaned. If ynow＜y[0]Or ynow＞y[3]If so, the cleaning robot is positioned outside the area to be cleaned; if y [0 ]]＜ynow＜y[1]Or y 2]＜ynow＜y[3]Since 0 and 2 are even numbers, the cleaning robot is located in the area to be cleaned; if y [ 1]]＜ynow＜y[2]Since 1 is odd, the cleaning robot is located outside the region to be cleaned. For example, assume that the ordinate of points a, b, c, d and e are ya、yb、yc、ydAnd ye. Due to ya＜y[0]，ye＞y[3]Thus, both points a and e are located outside the area to be cleaned; for points b and d, y [0 ]]＜yb＜y[1]，y[2]＜yd＜y[3]Since 0 and 2 are both even numbers, point b and point d are located within the area to be cleaned; for point c, y [ 1]]＜yc＜y[2]Since 1 is an odd number, point c is located outside the boundary.
In this embodiment, if the abscissa is xnowThe left side and the right side of the boundary point are not provided with other adjacent boundary points, the upper side and the lower side of the boundary point are communicated areas, namely the areas on the upper side and the lower side of the boundary point are both in the area to be cleaned or are both outside the area to be cleaned. For example, there is no adjacent boundary point on the right side of the point P in fig. 3, and the upper and lower sides of the point are areas communicating with each other, and therefore, the position of the cleaning robot with respect to the area to be cleaned cannot be determined by the parity of the ordinate of the point. In addition, the left side of the line segment L in fig. 3 does not include adjacent boundary points, and the upper and lower sides of the line segment L are areas communicating with each other, so the parity of the ordinate of the upper boundary point of the line segment L cannot be used to determine the position of the cleaning robot relative to the area to be cleaned.
In the embodiment of the present invention, a boundary point where adjacent other boundary points exist on both sides, and a boundary line segment where adjacent other boundary points exist on both sides and which is composed of adjacent boundary points with the same abscissa is referred to as an effective boundary (e.g., a line segment l, a point S in fig. 3). By ynowAnd judging whether the cleaning robot is positioned outside the area to be cleaned or not according to the ordinate of the effective boundary.
Referring to fig. 3, for example, in fig. 3, the boundary points with x5 on the abscissa have three points, i.e., point O, point P and point Q, and it is assumed that the ordinate of the three points is yO、yPAnd yQSince there is no adjacent boundary point to the right of point P, point P is not a valid boundary. Thus, y is not adoptedPAnd only y is usedOAnd yQAnd judging the current position of the coordinate cleaning robot. Then at this time, yQIs y 0]，yOIs y 1]If y isnow＜y[0]Or ynow＞y[1]The cleaning robot is located outside the boundary of the area to be cleaned; if y [0 ]]＜ynow＜y[1]And since 0 is an even number, the cleaning robot is located within the area to be cleaned.
For example, the point with x8 on the abscissa in fig. 3 includes the point R, the point S, and all boundary points on the boundary line segment L, and the boundary line segment L does not belong to the effective boundary because the left side of the boundary line segment L is not defined by adjacent boundary points. Therefore, when xnowWhen x8, it is determined whether the cleaning robot is outside the region to be cleaned, only the ordinate of the point R and the point S are used, and the ordinate of the boundary point on the boundary line segment L is not used. The ordinate of points S and R are labeled y 0]And y [ 1]]When y isnow＜y[0]Or ynow＞y[1]The cleaning robot is located outside the boundary of the area to be cleaned; when y is 0]＜ynow＜y[1]And since 0 is an even number, the cleaning robot is located within the area to be cleaned.
As another example, when xnowWhen x6, the point with x6 as abscissa includes point N and 4 boundary points on boundary line segment l, and since there are adjacent boundary points on both sides of boundary line segment l, boundary line segment l is an effective boundary, and the ordinate of any point on boundary line segment l is marked as y [ i [ ]]For example, the ordinate of point N may be labeled y [0 ]]The ordinate of any point on the boundary line segment l is marked as y [ 1]]Then y isnow＜y[1]Denotes ynowSmaller than the ordinate, y, of each point on the boundary line segment lnow＞y[1]Denotes ynowLarger than the ordinate of each point on the boundary line segment i. Then when y isnow＜y[0]Or ynow＞y[1]The cleaning robot is located outside the boundary of the area to be cleaned(ii) a When y is 0]＜ynow＜y[1]And since 0 is an even number, the cleaning robot is located within the area to be cleaned.
In some embodiments, the coordinate values of the boundary points adjacent to both sides of the boundary point may be calculated from the coordinates of the boundary point, and the left and right adjacent coordinate points involved in this embodiment include coordinate points of left upper, left lower, right upper, right lower and right lower. And comparing the coordinate values of 6 adjacent coordinate points on the left side and the right side of the boundary point with the coordinate values of the boundary point to judge whether two sides of one boundary point have adjacent coordinate points. For a boundary line segment, as long as the left side of a boundary point on the boundary line segment has an adjacent boundary point, and the right side of a boundary point has an adjacent boundary point, the boundary line segment is determined to be an effective boundary.
Suppose that the coordinate value of a certain point X is (X)0，y0) Then the coordinate point adjacent to the left side of the point is (x)0-1，y0-1)，(x0-1，y0) And (x)0-1，y0+1), the adjacent coordinate point on the right side of the point is (x)0+1，y0-1)，(x0+1，y0) And (x)0+1，y0+1). With x0-1 and x0+1 key of key value pair, x can be obtained in the key value container0-1 and x0+1 boundary point ordinate, if x is abscissa0The ordinate of the boundary point of-1 comprises y0-1、y0Or y0+1, the point X has an adjacent boundary point to the left, if the abscissa is X0The ordinate of the boundary point of +1 includes y0-1、y0Or y0+1, then point X has an adjacent boundary point to the right.
For example, in FIG. 3, assuming that the coordinates of point P are (-2, 6), the coordinates of three adjacent coordinate points on the upper left, left and lower left of point P are (-3, 7), (-3, 6) and (-3, 5), respectively, and the coordinates of three adjacent coordinate points on the upper right, right and lower right of point P are (-1, 7), (-1, 6) and (-1, 5), respectively. Then, a value corresponding to the key value with the key value of 3 is searched for in the key value container, if one of 5, 6 or 7 is included in the value corresponding to the key value with the key value of 3, an adjacent boundary point exists on the left side of the point P, similarly, a value corresponding to the key value with the key value of-1 is searched for in the key value container, and if one of 5, 6 or 7 is included in the value corresponding to the key value with the key value of-1, an adjacent boundary point exists on the right side of the point P. If one of 5, 6, or 7 is included in the value corresponding to the key value of key-3 and one of 5, 6, or 7 is also included in the value corresponding to the key value of key-1, both sides of the point P include adjacent boundary points.
In this embodiment, the cleaning robot can determine whether the cleaning robot is located on, in, or out of the boundary through the current position coordinate of the cleaning robot and the coordinate of the boundary point in the processes of edge cleaning and edge point cleaning, and if the cleaning robot is not located on the boundary, the position of the cleaning robot is adjusted to the boundary in real time. The accuracy of cleaning the path along the boundary of the cleaning robot can be improved, and cleaning outside the area can not occur, so that the cleaning repetition rate is reduced, and the cleaning efficiency is improved.
In some embodiments, the cleaning path execution method further comprises the steps of:
s16: recording track points through which the cleaning robot passes;
s17: determining whether the cleaning robot returns to the cleaning starting point or not according to the track point;
s18: if so, acquiring a clean inner area defined by the track points according to the track points;
s19: cleaning the clean inner area.
In this embodiment, the cleaning robot records the coordinate value of each track point on the path that the cleaning robot has walked or cleaned in the process of sweeping along the boundary point or sweeping along the boundary, and the coordinate of the track point may be the position coordinate of the center point of the cleaning robot. And the cleaning robot can judge whether the cleaning robot returns to the cleaning starting point or not according to the current position coordinate, the coordinate of the cleaning starting point and the cleaning state in the process of cleaning along the boundary point. And if the cleaning state of the cleaning starting point is cleaned and the current position coordinate of the cleaning robot is the same as the coordinate of the cleaning starting point, determining that the cleaning robot returns to the cleaning starting point.
For example, in a grid map, the position of each grid is typically represented by coordinates (x, y). In some embodiments, the position of the grid and the cleaning state may also be described by (x, y, k), for example, the value of k may be 0 or 1, where k is 0 to indicate that the grid position with coordinates (x, y) is not cleaned, and k is 1 to indicate that the grid position is cleaned. If the sweep start point is marked as (x)0，y01), the current position coordinate of the cleaning robot is (x)0，y0) It indicates that the cleaning robot has returned to the cleaning start point.
If the cleaning robot returns to the cleaning starting point, the cleaning robot is indicated to walk along the boundary of the area to be cleaned for one circle, and the boundary of the area to be cleaned is cleaned completely. Therefore, the walking path of the cleaning robot is adjusted to the area in the closed path curve, and the uncleaned area in the closed path curve is subjected to traversal cleaning. In this embodiment, the region in the closed path curve may be cleaned by traversing in a "zigzag" cleaning manner,
in some embodiments, the method for performing clean path planning further includes the following steps:
s20: determining whether there is an accessible unclean area to be cleaned;
s21: if so, sequentially cleaning the uncleaned areas to be cleaned.
For example, in fig. 1, the area to be cleaned 20 is divided by the barrier area W34 into two areas to be cleaned 21 and 22 separated from each other. When the cleaning robot finishes cleaning the cleaning region 21, a sweeping start point of the cleaning region 22 is acquired, and the cleaning region 22 is cleaned. The cleaning path execution method can be the same or different and the cleaning path execution method can be used to perform traversal cleaning on the cleaning region 21 and the cleaning region 22. In some embodiments, there may be situations where the area to be cleaned cannot be reached, for example, in fig. 1, if the cleaning robot has a diameter smaller than the distance between the obstacles W34 and W35, the cleaning robot may not reach the area to be cleaned 22. Therefore, before cleaning the cleaning area of the cleaning robot, whether the cleaning area can reach or not can be judged, and if the cleaning area cannot reach, an alarm can be sent to remind a user.
The embodiment of the invention provides a robot cleaning path execution method, which is simple and efficient, and can be used for completely covering and cleaning an area to be cleaned on the basis of historical cleaning of an existing grid map and a given irregular area to be cleaned, so that cleaning outside the area can not occur, and a user can clean the completely customized area. The cleaning robot firstly cleans a circle along the boundary of the area to be cleaned, records a closed path curve in the process of cleaning the circle, and then cleans the area in the closed path curve. In the process of cleaning along the boundary of the area to be cleaned, if the cleaning robot encounters an obstacle, the cleaning robot performs edgewise cleaning along the edge of the obstacle, then continues to perform edgewise cleaning after the edgewise cleaning is finished, and updates the boundary map of the reachable area to be cleaned in the process of edgewise cleaning, so that the collision between the cleaning robot and the obstacle in the boundary area can be reduced, and the cleaning efficiency is improved.
Referring to fig. 5, 6 and 7, fig. 5 is a schematic hardware structure diagram of a cleaning robot for performing a cleaning path performing method according to an embodiment of the present invention, fig. 6 is a perspective view of the cleaning robot according to an embodiment of the present invention, and fig. 7 is a bottom view of the cleaning robot according to an embodiment of the present invention. The cleaning robot 100 comprises a main body 110, a driving wheel component 30 which is arranged on the main body 110 and drives the cleaning robot 100 to move on a surface to be cleaned, a cleaning component 50 which is arranged on one surface of the main body 110 facing the surface to be cleaned and is configured to clean dirt on the surface to be cleaned, a dirt storage component 40 which is communicated with the cleaning component 50 and is configured to store the dirt cleaned by the cleaning component 50, at least one processor 101 and a memory 102 which is in communication connection with the at least one processor 101. The body 110 may have a substantially circular shape, and in other embodiments, the body 110 may have a substantially oval, triangular, D-shaped, or other shape. The surface to be cleaned can be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned.
The driving wheel assembly 30 includes left and right driving wheels 31 and omni wheels 32, the left and right driving wheels 31 are installed at left and right sides of the bottom of the main body 110, and the left and right driving wheels 31 are configured to be at least partially extendable and retractable to the bottom of the main body 110. The omni-directional wheel 32 is installed at a front position of the bottom of the main body 110, and the omni-directional wheel 32 is a movable caster wheel that can horizontally rotate 360 degrees, so that the cleaning robot 100 can flexibly steer. The left and right driving wheels 31 and the omni-directional wheel 32 are installed to form a triangle, so that the traveling stability of the cleaning robot 100 is improved.
The cleaning member 50 includes a rolling brush 51 and an edge brush 52, the rolling brush 51 is disposed in a first receiving groove formed in a bottom of the main body 110, the first receiving groove is formed by being recessed from the bottom of the main body 110 toward a top thereof, the main body 110 is further provided with a second receiving groove, the second receiving groove is communicated with the first receiving groove through a suction port, the storage member 40 is mounted in the second receiving groove, the storage member 40 is provided with a dust inlet, and the dust inlet is in butt joint with the suction port so that the storage member 40 is communicated with the cleaning member 50. The rolling brush 51 may be any one or a combination of a brush and a glue brush, and the rolling brush 51 is driven to rotate around an axis substantially perpendicular to the advancing direction of the cleaning robot by an internally installed rolling brush driving motor. The side brushes 52 are disposed at the left and/or right front portions of the main body 110. The side brushes 52 may rotate along an axis substantially perpendicular to the body 110. The side brush 52 has a plurality of long bristles spaced around the shaft, the long bristles extend outwards beyond the outline of the main body 110 and are used for sweeping dirt on the surface to be cleaned beyond the coverage range of the outline of the main body 110 to a first containing groove position at the bottom of the main body 110, and the rolling brush 51 further sweeps the garbage to the storage part 40. It is conceivable that the cleaning robot 100 may be provided without the roll brush 51 and extend a dust suction duct from the suction port to clean the surface to be cleaned. The dirt may include garbage, debris, particles, etc. that a user does not need and can be cleaned by the cleaning robot 100. The cleaning member 50 may further include a wiping member 53 mounted at a rear portion of the main body 110 for wiping and cleaning a surface to be cleaned by the roller brush 51 or the side brush 52. In other embodiments, the cleaning robot 100 may be provided with only the mop 53 to perform mop cleaning on a surface to be cleaned, and the mop 53 may also be installed at the front or middle position of the main body 110.
In fig. 5, one processor 101 is taken as an example. The processor 101 and the memory 102 may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus as an example. The memory 102, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the cleaning path execution method in the embodiments of the present invention. The processor 101 executes various functional applications of the server and data processing by running the nonvolatile software programs, instructions, and modules stored in the memory 102, that is, implements the path selection method of the mobile robot of the above-described method embodiment.
The memory 102 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the path selection device of the mobile robot, and the like. Further, the memory 102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 102 may optionally include memory located remotely from the processor 101, which may be connected to the routing device of the mobile robot via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 102 and, when executed by the at least one processor 101, perform the clean path execution method of any of the method embodiments described above, e.g., performing method steps S11-S15 of FIG. 2 and method steps S121-S124 of FIG. 3 described above.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
The electronic device of the embodiment of the invention exists in various forms, including but not limited to a mobile robot, and other electronic devices with data interaction functions.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for an electronic device to perform a method for routing a mobile robot in any of the above-described method embodiments, for example, performing method steps S11-S15 in fig. 2 and method steps S121-S124 in fig. 4 described above.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a method of routing for a mobile robot in any of the above-described method embodiments, e.g. performing method steps S11-S15 in fig. 2, and method steps S121-S124 in fig. 4, as described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A cleaning path execution method applied to a cleaning robot is characterized by comprising the following steps:
acquiring boundary point coordinates of an area to be cleaned;
determining a sweeping starting point of the area to be cleaned according to the boundary point coordinates;
controlling the cleaning robot to clean the boundary along the area to be cleaned from the sweeping starting point;
and in the boundary cleaning process, determining whether the cleaning robot is positioned outside the area to be cleaned in real time, and if the cleaning robot is positioned outside the area to be cleaned, controlling the cleaning robot to clean along boundary points of the area to be cleaned.
2. The cleaning path execution method of claim 1, wherein the determining whether the cleaning robot is located outside the area to be cleaned comprises:
and determining whether the cleaning robot is positioned outside the area to be cleaned according to the current position coordinate of the cleaning robot and the boundary point coordinate of the area to be cleaned.
3. The cleaning path execution method of claim 2, wherein the current position coordinate comprises an x-axis position coordinate xnowAnd y-axis position coordinate ynowThe boundary point coordinates include x-axis boundary point coordinates and y-axis boundary point coordinates, the x-axis boundary point coordinatesnowThe ynowThe x-axis boundary point coordinates and the y-axis boundary point coordinates are based on the same coordinate system;
the determining whether the cleaning robot is located outside the area to be cleaned according to the current position coordinates of the cleaning robot and the boundary point coordinates of the area to be cleaned includes:
determining whether at least one of the boundary point coordinates is present with the xnowThe same x-axis boundary point coordinates;
if not, the cleaning robot is positioned outside the area to be cleaned;
if yes, according to the ynowAnd the x-axis boundary point coordinates and the xnowThe y-axis boundary point coordinates of the same boundary point determine whether the robot to be cleaned is located outside the area to be cleaned.
4. The cleaning path execution method of claim 3, wherein the y is based on the ynowAnd the x-axis boundary point coordinates and the xnowDetermining whether the robot to be cleaned is located outside the area to be cleaned based on the same y-axis boundary point coordinates of the boundary points, including:
determining the x-axis boundary point coordinates and the xnowWhether the same boundary point includes the y-axis boundary point coordinate and the ynowThe same boundary points;
if so, determining that the cleaning robot is positioned outside the area to be cleaned;
if not, determining the x-axis boundary point coordinates and the xnowIn the same boundary points, the maximum y-axis boundary point coordinate with the maximum y-axis boundary point coordinate and the minimum y-axis boundary point coordinate with the minimum y-axis boundary point coordinate;
if said y isnowGreater than the maximum y-axis boundary point coordinate, or the ynowIf the coordinate of the boundary point of the minimum y axis is smaller than the coordinate of the boundary point of the minimum y axis, determining that the cleaning robot is positioned outside the area to be cleaned;
if said y isnowLess than the maximum y-axis boundary point coordinate and greater than the minimum y-axis boundary point coordinate, determining the x-axis boundary point coordinate and the x-axis boundary point coordinatenowValid boundaries in the same boundary point and according to said ynowAnd the y-axis boundary point coordinates of the effective boundary determine whether the cleaning robot is located outside the area to be cleaned.
5. The cleaning path execution method of claim 4, wherein the effective boundary is a boundary point or a boundary line segment having a first x-axis boundary point coordinate, and wherein there is at least a first boundary point and a second boundary point adjacent to each other with an x-axis boundary point coordinate different from the first x-axis boundary point coordinate, and wherein the first boundary point and the second boundary point have an x-axis boundary point coordinate different from each other.
6. The cleaning path execution method of claim 5, wherein the y is a function of the ynowAnd the y-axis boundary point coordinates of the effective boundary determining whether the cleaning robot is located outside the area to be cleaned, comprising:
if the effective boundary is a boundary line segment, acquiring the y-axis boundary point coordinate of any boundary point on the effective boundary as the y-axis boundary point coordinate of the effective boundary;
sequentially arranging the y-axis boundary point coordinates of the effective boundary from small to large, wherein the arrangement ordinal number of the y-axis boundary point coordinates of the effective boundary is represented by an integer;
determining the y-axis boundary point coordinate ratio to the ynowParity of the ranking ordinals of the active boundary that are small and closest to the current position of the robot;
if the arrangement ordinal number is an even number, the cleaning robot is positioned in the area to be cleaned;
and if the arrangement ordinal number is odd, the cleaning robot is positioned outside the area to be cleaned.
7. The cleaning path performing method of any one of claims 1 to 6, wherein the boundary cleaning includes a boundary point cleaning and an edge cleaning, and the controlling the cleaning robot performs the boundary cleaning along the boundary point of the area to be cleaned starting from the sweeping start point includes:
controlling the cleaning robot to clean along boundary points of the area to be cleaned from the sweeping starting point;
judging whether the cleaning robot collides with an obstacle or not;
and if so, controlling the cleaning robot to clean along the edge along the boundary of the obstacle.
8. The cleaning path performing method of claim 7, wherein the determining a sweeping start point of the cleaning region according to the boundary point coordinates comprises:
acquiring an initial position of the cleaning robot;
and determining a point which is closest to the initial position in the boundary point coordinates as the cleaning starting point.
9. The cleaning path execution method of claim 7, further comprising:
recording track points passed by the cleaning robot;
determining whether the cleaning robot returns to the cleaning starting point or not according to the track point;
if yes, acquiring a clean inner area surrounded by the track points according to the track points;
cleaning the clean inner area.
10. The cleaning path execution method of claim 9, further comprising:
determining whether an uncleaned area to be cleaned which can be reached by the cleaning robot exists according to the track points passed by the cleaning robot and the area to be cleaned;
if so, sequentially cleaning the uncleaned areas to be cleaned.
11. A cleaning robot, characterized in that the cleaning robot comprises:
a main body;
the driving wheel component is arranged on the main body and drives the cleaning robot to move on a surface to be cleaned;
the cleaning component is arranged on one surface of the main body facing the surface to be cleaned, and the cleaning component is configured to clean dirt on the surface to be cleaned;
a storage part communicating with the cleaning part and configured to store the contaminants cleaned by the cleaning part;
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the cleaning path execution method of any of claims 1-10.
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