CN111374594B

CN111374594B - Super boundary processing method, device, electronic equipment and computer readable storage medium

Info

Publication number: CN111374594B
Application number: CN201811615135.3A
Authority: CN
Inventors: 陈鹏旭; 谢晓佳
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2023-05-16
Anticipated expiration: 2038-12-27
Also published as: CN111374594A

Abstract

The embodiment of the application provides a method and a device for processing out of boundary, electronic equipment and a computer readable storage medium, and relates to the field of robots. The method comprises the following steps: when the sweeping robot is detected to exceed the boundary of the effective block, searching a block-surrounding route corresponding to the effective block from a corresponding environment map, and controlling the sweeping robot to work anticlockwise around the effective block based on the block-surrounding route corresponding to the searched effective block, wherein the effective block is the block in which the sweeping robot is currently working. According to the embodiment of the application, when the fact that the sweeping robot exceeds the effective block is detected, the sweeping robot can be controlled to work continuously.

Description

Super boundary processing method, device, electronic equipment and computer readable storage medium

Technical Field

The present application relates to the field of robotics, and in particular, to a method, an apparatus, an electronic device, and a computer readable storage medium for processing a boundary crossing.

Background

Along with the development of information technology and the continuous improvement of the requirements of people on life quality, intelligent home products gradually appear in the daily life of people, wherein representative sweeping robots are more and more favored by people, and the sweeping robots can replace people to execute sweeping work on designated areas.

The inventors found in the course of implementing the present invention that: the block division is performed on the designated area, and the sweeping robot can execute the sweeping work according to the divided blocks, but when the sweeping robot works on any block, the situation of exceeding the boundary possibly occurs, namely, the block currently working is driven to other blocks, and the block currently working can be called as an effective block, so that when the situation that the sweeping robot generates the exceeding the boundary is detected, how to continue to work becomes a key problem.

Disclosure of Invention

The application provides a boundary-exceeding processing method, a device, electronic equipment and a computer readable storage medium, which are used for solving the technical problem of how to continue working of a sweeping robot when the condition that the sweeping robot is out of the boundary is detected. The technical scheme is as follows:

in a first aspect, there is provided a method of detecting a boundary crossing, the method comprising:

when the sweeping robot is detected to exceed the boundary of the effective block, searching a block-surrounding route corresponding to the effective block from the corresponding environment map;

based on the block-surrounding route corresponding to the found effective block, controlling the sweeping robot to work anticlockwise around the effective block;

The effective block is the block where the sweeping robot is currently working.

One possible implementation manner of the embodiment of the present application searches for a surrounding block route corresponding to an effective block from a corresponding environment map, including:

based on the current position, determining an effective grid closest to the current position in an environment map, wherein the effective grid records a block-surrounding route corresponding to a block-surrounding effective block;

based on the identification information recorded in the effective grid closest to the current position and the identification information recorded in each grid, searching each effective grid with a preset relation with the identification information recorded in the effective grid closest to the current position;

determining a route formed by each effective grid as a block-surrounding route corresponding to the effective block;

the preset relationship is a relationship between the identification information recorded in each grid, and is used for determining the grid containing the block-surrounding route corresponding to the effective block.

Another possible implementation manner of the embodiment of the present application controls, based on a block-surrounding route corresponding to the found effective block, the robot for sweeping floor to work counterclockwise around the effective block, including:

controlling the sweeping robot to travel to an effective grid nearest to the current position;

Searching a first effective grid through a preset relation based on the identification information recorded in each grid and the identification information recorded in the effective grid closest to the current position, and controlling the sweeping robot to travel to the searched first effective grid, wherein the first effective grid is the next effective grid searched based on the effective grid closest to the current position and the preset relation;

searching a second effective grid through a preset relation based on the identification information recorded in the first effective grid, controlling the sweeping robot to travel to the searched second effective grid, and taking the second effective grid as the first effective grid;

and circularly searching a second effective grid based on the identification information recorded in the first effective grid through a preset relation, controlling the sweeping robot to travel to the searched second effective grid, and taking the second effective grid as the first effective grid until the condition that the preset condition is met is detected, so as to control the sweeping robot to work anticlockwise around the effective block.

Another possible implementation manner of the embodiments of the present application, detecting that the preset condition is met includes at least one of:

detecting an obstacle;

Detecting a forbidden zone, wherein the forbidden zone is a zone for prohibiting the sweeping robot from working;

detecting that the second effective grid is the effective grid closest to the current position;

and the second effective grid is not found based on the preset relation of the identification information.

In another possible implementation manner of the embodiment of the present application, when the sweeping robot is controlled to work counterclockwise around the effective area, the method further includes:

when obstacle information and/or forbidden areas are detected, the robot is controlled to work around the obstacles and/or around the forbidden areas.

In another possible implementation manner of the embodiment of the present application, searching a surrounding block route corresponding to an effective block from a corresponding environment map, before further includes:

respectively extracting edges of all the blocks;

determining a block surrounding route corresponding to each block respectively based on the extracted edge information of each block;

and recording the block-surrounding routes corresponding to the blocks in the corresponding environment map.

Another possible implementation manner of the embodiment of the present application determines a surrounding block route corresponding to any block based on the extracted edge information of any block; and recording a block-surrounding route corresponding to any block in the corresponding environment map, comprising:

Determining a grid containing any block edge information based on any extracted block edge information;

determining a route formed by grids containing edge information of any block as a surrounding block route corresponding to any block;

corresponding identification information is added in each grid containing the edge information of any block so as to record a block-surrounding route corresponding to any block, the identification information has a corresponding relation with any block, and the identification information in each grid can be used for indicating the running route of the sweeping robot.

Another possible implementation manner of the embodiment of the present application, the identification information includes: index information;

the preset relation of the identification information comprises the following steps: index information relationship.

Another possible implementation manner of the embodiment of the present application, the method further includes:

when the sweeping robot is controlled to travel along the effective block, determining block entrance information corresponding to a block adjacent to the effective block based on a travel route;

when the sweeping robot is detected to finish the sweeping work on the effective block, determining a block to be subjected to the sweeping work, wherein the block to be subjected to the sweeping work is any block adjacent to the effective block;

determining an inlet closest to the current position of the sweeping robot based on the determined block inlet information corresponding to the block adjacent to the effective block, wherein the inlet is used for the sweeping robot to enter the block to be subjected to sweeping;

And driving the robot to the corresponding adjacent block from the determined entrance closest to the current position, and controlling the sweeping robot to execute sweeping work on the block to be cleaned.

In a second aspect, there is provided an out-of-bounds processing apparatus, the apparatus comprising:

the searching module is used for searching a block-surrounding route corresponding to the effective block from the corresponding environment map when the sweeping robot is detected to exceed the boundary of the effective block;

the first control working module is used for controlling the sweeping robot to work anticlockwise around the effective block based on the block-surrounding route corresponding to the effective block searched by the searching module;

the effective block is the block where the sweeping robot is currently working.

In one possible implementation manner of the embodiment of the present application, the searching module includes: the device comprises a first determining unit, a first searching unit and a second determining unit;

the first determining unit is used for determining an effective grid closest to the current position in the environment map based on the current position, wherein the effective grid records a block-surrounding route corresponding to a block-surrounding effective block;

the first searching unit is used for searching each effective grid with a preset relation with the identification information recorded in the effective grid closest to the current position based on the identification information recorded in the effective grid closest to the current position and the identification information recorded in each grid determined by the first determining unit;

A second determining unit for determining a route composed of each effective grid as a block-surrounding route corresponding to the effective block;

In another possible implementation manner of the embodiment of the present application, the first control operation module includes: the system comprises a first control running unit, a second searching unit, a second control running unit, a third searching unit, a third control running unit and a circulating unit;

the first control running unit is used for controlling the sweeping robot to run to an effective grid nearest to the current position;

the second searching unit is used for searching the next first effective grid through a preset relationship based on the identification information recorded in each grid and the identification information recorded in the effective grid closest to the current position;

the second control running unit is used for controlling the sweeping robot to run to the searched first effective grid, wherein the first effective grid is the next effective grid searched based on the effective grid closest to the current position and a preset relationship;

The third searching unit is used for searching the second effective grid through a preset relation based on the identification information recorded in the first effective grid;

the third control running unit is used for controlling the sweeping robot to run to the second effective grid, and taking the second effective grid as the first effective grid;

and the circulating unit is used for circulating the steps executed by the third searching unit and the third control running unit until the condition that the preset condition is met is detected, so that the sweeping robot is controlled to work anticlockwise around the effective block.

detecting an obstacle;

In another possible implementation manner of this embodiment, when the sweeping robot is controlled to work counterclockwise around the effective area, the apparatus further includes: a second control work module;

and the second control working module is used for controlling the robot to work around the obstacle and/or work around the forbidden zone when the obstacle information and/or forbidden zone is detected.

Another possible implementation manner of the embodiment of the present application, the apparatus further includes: edge extraction module, first determination module, record module:

the edge extraction module is used for respectively extracting edges of all the blocks;

the first determining module is used for determining a block surrounding route corresponding to each block respectively based on the block edge information extracted by the edge extracting module;

and the recording module is used for recording the block surrounding routes respectively corresponding to the blocks in the corresponding environment map.

In another possible implementation manner of the embodiment of the present application, the first determining module is specifically configured to determine, based on the extracted edge information of any block, a grid including the edge information of any block, and determine a route formed by each grid including the edge information of any block as a surrounding block route corresponding to any block;

the recording module is specifically configured to add corresponding identification information to each grid containing edge information of any block, so as to record a block-surrounding route corresponding to any block, where the identification information has a corresponding relationship with any block, and the identification information in each grid can be used to indicate a driving route of the sweeping robot.

Another possible implementation manner of the embodiment of the present application, the apparatus further includes: the second determining module, the third determining module, the fourth determining module, the control driving module and the third control working module, wherein,

the second determining module is used for determining block entrance information corresponding to a block adjacent to the effective block based on a driving route when the sweeping robot is controlled to drive along the effective block;

the third determining module is used for determining a block to be subjected to cleaning work when the cleaning robot finishes the cleaning work on the effective block, wherein the block to be subjected to the cleaning work is any block adjacent to the effective block;

a fourth determining module, configured to determine, based on the block entry information corresponding to the block adjacent to the effective block determined by the second determining module, an entry closest to a current location of the sweeping robot, where the entry is used for the sweeping robot to enter the block to be cleaned determined by the third determining module;

the control running module is used for running to the corresponding adjacent block from the entrance closest to the current position determined by the fourth determining module;

And the third control work module is used for controlling the sweeping robot to execute sweeping work on the block to be cleaned.

In a third aspect, an electronic device is provided, the electronic 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 applications configured to: operations corresponding to the method of processing a boundary crossing according to the first aspect or any possible implementation manner of the first aspect are performed.

In a fourth aspect, a computer readable storage medium is provided, the storage medium storing at least one instruction, at least one program, code set, or instruction set, the at least one instruction, at least one program, code set, or instruction set being loaded and executed by a processor to implement a method of out-of-bounds processing as shown in the first aspect or any of the possible implementations of the first aspect.

The beneficial effects that this application provided technical scheme brought are:

the application provides a method, a device, electronic equipment and a computer readable storage medium for processing a boundary exceeding, when detecting that a sweeping robot exceeds an effective block boundary, searching a block-surrounding route corresponding to an effective block from a corresponding environment map, and controlling the sweeping robot to work anticlockwise around the effective block based on the block-surrounding route corresponding to the searched effective block, wherein the effective block is a block currently working by the sweeping robot. When the situation that the robot cleaner exceeds the boundary is detected, the road which runs around the effective block can be directly found from the environment map, and the robot cleaner is controlled to work anticlockwise around the effective block, so that the robot cleaner can be controlled to work continuously when the boundary exceeding the effective block is detected.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments of the present application will be briefly described below.

FIG. 1 is a schematic flow chart of a method for processing a boundary crossing according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of an over-boundary processing apparatus according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device for processing an out-of-limit according to an embodiment of the present application;

fig. 4 is a schematic diagram of the positional relationship of each block and the block number provided in the embodiment of the present application;

FIG. 5 is an exemplary diagram of various grid identification information and identification information relationships in an embodiment of the present application;

FIG. 6 is an example diagram of a sweeping robot determining a most recent valid grid and surrounding blocks based on identification information in the grid in an embodiment of the present application;

fig. 7 is an exemplary diagram of a grid including block edge information in an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of illustrating the present application and are not to be construed as limiting the invention.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. 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. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

In the course of implementing the present application, the inventors also found that: when the robot cleaner generates the situation of the boundary exceeding, the route can be generated in real time based on the position relation between the current block and the effective block, and the robot cleaner is controlled to work anticlockwise around the effective block along the generated route. However, when the sweeping robot is in the condition of the out-of-boundary condition, a counterclockwise block-winding route needs to be generated first, the time consumption is long, and when the effective block is an irregular block, an irregular block-winding route needs to be generated, so that the requirement on the computing capacity of the sweeping robot is high, the time consumption is long, the cleaning efficiency can be seriously influenced, and the user experience is poor.

The present application provides a method, an apparatus, an electronic device, and a computer readable storage medium for processing a boundary crossing, which aim to solve the above technical problems in the prior art.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

The embodiment of the application provides a method for processing a boundary crossing, as shown in fig. 1, the method comprises the following steps:

step S101, when the sweeping robot is detected to exceed the effective block boundary, searching a block surrounding route corresponding to the effective block from the corresponding environment map.

The effective block is a block in which the sweeping robot is currently working.

For the embodiment of the application, the current block can be detected and recorded in real time in the working process of the sweeping robot, and when the current block is detected to be different from the effective block, the sweeping robot is determined to exceed the boundary of the effective block.

For example, as shown in fig. 4, the block number corresponding to the effective block is 0, and if the sweeping robot detects that the current block is block 1, it is determined that the effective boundary is exceeded.

For the embodiment of the application, the sweeping robot may have an out-of-boundary condition under the following conditions, but is not limited to the following two conditions, and any condition that may have an out-of-boundary condition is within the protection scope of the application:

an out-of-limit condition may occur in the obstacle detouring state along the active block; when cleaning the interior of the effective block, the obstacle detouring may occur.

For the embodiment of the application, the surrounding block route corresponding to the effective block is recorded in the environment map.

Step S102, based on the block-surrounding route corresponding to the found effective block, the robot is controlled to work anticlockwise around the effective block.

The embodiment of the application provides an out-of-bounds processing method, when detecting that a sweeping robot exceeds an effective block boundary, the embodiment of the application searches a block-surrounding route corresponding to an effective block from a corresponding environment map, and controls the sweeping robot to work anticlockwise around the effective block based on the block-surrounding route corresponding to the searched effective block, wherein the effective block is a block currently working by the sweeping robot. Namely, when the situation that the robot cleaner has the boundary exceeding is detected, the method can directly find the route which runs around the effective block from the environment map and control the robot cleaner to work anticlockwise around the effective block, so that the robot cleaner can be controlled to continue working when the boundary exceeding the effective block is detected.

In one possible implementation manner of the embodiment of the present application, in step S101, searching a surrounding block route corresponding to an effective block from a corresponding environment map may specifically include: step S1011 (not shown), step S1012 (not shown), and step S1013 (not shown), wherein,

step S1011, determining an effective grid closest to the current position in the environment map based on the current position.

Wherein, the effective grid records the corresponding block-surrounding route of the effective block.

Step S1012, based on the identification information recorded in the effective grid closest to the current position and the identification information recorded in each grid, searching each effective grid with a preset relationship with the identification information recorded in the effective grid closest to the current position.

The preset relationship is a relationship between the identification information recorded in each grid, and is used for determining the grids comprising the block-surrounding routes corresponding to the effective blocks.

Step S1013, determining the route composed of each effective grid as the route around the block corresponding to the effective block.

Another possible implementation manner of the embodiment of the present application, the identification information includes: index information; the preset relation of the identification information comprises the following steps: index information relationship.

For example, the block corresponding to the effective block is block 0, and the identification information recorded in the effective grid may be 0-1, 0-2, 0-3 …, where 0 corresponds to the block in the identification information, and 1, 2, 3 … represents the driving sequence around the block route, as shown in fig. 5.

For another example, as shown in fig. 6, when the sweeping robot is located at the position shown in fig. 6, and the effective grid closest to the current position is the grid with the identification information of 0-1, the block-surrounding route is determined to be 0-1→0-2→0-3→0-4→0-5→0-6 based on the recorded identification information of each grid in the environment map, and as shown in fig. 6, the black dot in fig. 6 indicates the current position of the sweeping robot.

In another possible implementation manner of the embodiment of the present application, step S102 may specifically include: step S1021 (not shown), step S1022 (not shown), step S1023 (not shown), step S1024 (not shown), wherein,

and S1021, controlling the sweeping robot to travel to an effective grid nearest to the current position.

Step S1022, searching a first effective grid through a preset relation based on the identification information recorded in each grid and the identification information recorded in the effective grid closest to the current position, and controlling the sweeping robot to travel to the searched first effective grid, wherein the first effective grid is the next effective grid searched based on the effective grid closest to the current position and the preset relation.

Step S1023, searching a second effective grid through a preset relation based on the identification information recorded in the first effective grid, controlling the sweeping robot to travel to the searched second effective grid, and taking the second effective grid as the first effective grid.

Step S1024 loops step S1023 until the preset condition is detected to be met, so as to control the sweeping robot to work anticlockwise around the effective block.

For the embodiment of the application, detecting that the preset condition is satisfied includes at least one of:

detecting an obstacle;

For the embodiment of the application, since the sweeping robot detects the current located block in real time, when the super boundary is detected, based on the current located position, determining the nearest grid to the current located position and the grid contains the identification information corresponding to the block (effective block) being cleaned, driving to the grid in parallel, determining the next grid based on the identification information in the current located grid and the preset relation of the identification information, controlling the sweeping robot to drive to the next grid …, and the like until the preset condition is detected to be met.

For example, as shown in fig. 6, the effective block is block 0, the black spot is the position where the robot detects the boundary crossing, the robot drives to the grid with the identification information of 0-1, and then drives to 0-2, 0-3, 0-4, 0-5, 0-6 and … in sequence, so as to realize the anticlockwise work around the effective block 0.

For the embodiment of the application, when the sweeping robot is controlled to travel around a block anticlockwise based on a block-around route and an obstacle or forbidden zone is detected, the sweeping robot is controlled to perform obstacle-around or forbidden zone-around operation; when the robot is controlled to travel around the block anticlockwise based on the block-surrounding route, the next effective grid is detected to be the effective grid closest to the current position or the next effective grid is not found based on the preset relation of the identification information, the block-surrounding work is stopped, and the follow-up logic is performed.

For the embodiment of the application, when the repeated block winding is detected, a cleaning line is generated in an uncleaned block in the current cleaning block (effective block) based on the update condition of the current environment, and corresponding cleaning work is executed based on the generated cleaning line.

In another possible implementation manner of the embodiment of the present application, when the sweeping robot is controlled to work counterclockwise around the effective area, the method further includes: step Sa (not shown in the figure), wherein,

Step Sa, when obstacle information and/or forbidden areas are detected, controlling the robot to work around the obstacles and/or around the forbidden areas.

For the embodiment of the application, when the robot is controlled to work around obstacles and/or around forbidden areas, the over-boundary is detected, and the edge state is returned.

Another possible implementation manner of the embodiment of the present application, before step S101 may further include: step Sb (not shown in the figure), step Sc (not shown in the figure), and step Sd (not shown in the figure), wherein,

and step Sb, respectively extracting edges of all the blocks.

For the embodiment of the present application, before step Sd, the method may further include: and carrying out block division on the designated area to be cleaned. For example, after the specified area is partitioned, the block 0, the block 1, the block 2, the block 3, and the block 4 shown in fig. 4 are obtained (the regular block is taken as an example in fig. 4, and the irregular block may be of course).

And step Sc, determining a block surrounding route corresponding to each block respectively based on the extracted edge information of each block.

And Sd, recording the block-surrounding routes corresponding to the blocks in the corresponding environment map.

For the embodiment of the application, after the block is divided, edge extraction can be performed on each block, a route along which each block runs is generated based on the extracted edge information, and the route around the block corresponding to each block is recorded in a corresponding environment map in a preset mode. For example, the predetermined mode may be an index mode, and any other mode capable of recording the block-surrounding route corresponding to the block is included in the embodiment of the present application, but is not limited thereto.

For the embodiment of the application, through extracting the edge information corresponding to each block respectively in advance, the block-surrounding route corresponding to each block respectively is determined, when the sweeping robot detects the boundary exceeding, the block-surrounding route can be directly anticlockwise driven around the effective block based on the generated block-surrounding route in advance, but when the boundary exceeding is detected, the block-surrounding route is generated in real time (especially, the block is an irregular block and the time possibly consumed for real time generation is longer), so that the sweeping efficiency of the sweeping robot can be improved, and the user experience can be further improved.

Another possible implementation manner of the embodiment of the present application determines a surrounding block route corresponding to any block based on the extracted edge information of any block; and recording a block-surrounding route corresponding to any block in the corresponding environment map, comprising: step Sc1 (not shown), step Sc2 (not shown), and step Sd1 (not shown), wherein,

and step Sc1, determining a grid containing any block edge information based on any extracted block edge information.

For the embodiment of the application, based on the extracted edge information of any block, a grid containing the edge information is determined in a corresponding environment map (grid map).

As shown in fig. 7, for example, the triangle in fig. 7 is any block in the designated area, and the triangle side is the edge information corresponding to the block, then the grid occupied by each side of the triangle is determined as the grid containing the edge information of any block.

And step Sc2, determining a route formed by grids containing edge information of any block as a surrounding block route corresponding to any block.

And step Sd1, adding corresponding identification information in each grid containing any block edge information so as to record a block surrounding route corresponding to any block.

The identification information in each grid can be used for indicating the driving route of the sweeping robot.

For the embodiment of the application, the identification information added in each grid containing any block edge information can characterize that each grid containing any block edge information belongs to the block (or has a corresponding relation with any block), and the identification information added in each grid can also be used for executing how the sweeping robot specifically runs around any block.

Taking the identification information as index information for example, for the effective block 0, the index information added in each grid containing the edge information of the effective block 0 can be 0-1, 0-2 and 0-3 …, as can be seen in fig. 5, the block corresponding to the grid is indicated by "0" in the index information as block 0, and the sweeping robots are indicated by "1, 2 and 3 …" and can sequentially travel to the corresponding grids from small to large so as to realize travel around the effective block 0.

Another possible implementation manner of the embodiment of the present application, the method further includes: step Se (not shown in the figure), step Sf (not shown in the figure), step Sg (not shown in the figure), and step Sh (not shown in the figure), wherein,

and Se, determining block entrance information corresponding to a block adjacent to the effective block based on a driving route when the sweeping robot is controlled to drive along the effective block.

And step Sf, when the cleaning robot is detected to finish cleaning work on the effective block, determining a block to be subjected to cleaning work, wherein the block to be subjected to cleaning work is any block adjacent to the effective block.

And Sg, determining an inlet closest to the current position of the sweeping robot based on the determined block inlet information corresponding to the block adjacent to the effective block.

The entrance is used for the sweeping robot to enter the block to be subjected to sweeping work.

And Sh, driving to a corresponding adjacent block from the determined entrance closest to the current position, and controlling the sweeping robot to execute sweeping work on the block to be cleaned.

For the embodiment of the application, the block winding state is divided into barrier winding and edge winding, wherein the edge winding is that the effective block is driven anticlockwise based on the determined route in the embodiment of the method. When the sweeping robot travels on the edge where two blocks overlap, the point through which it travels can be the entry point into the block. In the embodiment of the application, when in the edge state, the running point is recorded as the entry point of other blocks.

For the embodiment of the application, after the current effective block is detected to be cleaned, determining a block to be cleaned currently, determining entry point information corresponding to the block to be cleaned from the previously recorded entry points, determining an entry closest to the current position from the determined entry point information corresponding to the block to be cleaned, entering the block to be cleaned from the entry, and executing the cleaning on the block to be cleaned.

For example, based on the block positional relationship shown in fig. 4, when the sweeping robot performs the sweeping work around the block 0, the point where the sweeping robot travels between the block 0 and the block 1 may be used as the entry point of the block 1 and recorded; when the sweeping robot travels between the block 0 and the block 2, the point through which it travels may be used as an entry point into the block 2 and the … and so on; when the sweeping robot is detected to finish the sweeping work on the block 0 and the next block to be swept is determined to be the block 1, the point closest to the current position of the sweeping robot is selected as the entry point from the entry points of the block 1 recorded above, and the sweeping work is carried out in the block 1.

The above describes the method of processing the super boundary in detail from the viewpoint of the method, and the following describes the virtual device embodiment based on the above method embodiment, as follows:

the embodiment of the present application provides an out-of-limit processing apparatus, as shown in fig. 2, the out-of-limit processing apparatus 20 may include: a lookup module 21, a first control operation module 22, wherein,

the searching module 21 is configured to search, when detecting that the sweeping robot exceeds the effective block boundary, a block surrounding route corresponding to the effective block from the corresponding environment map.

The first control working module 22 is configured to control the sweeping robot to work anticlockwise around the effective block based on the block-surrounding route corresponding to the effective block found by the finding module 21.

In one possible implementation manner of the embodiment of the present application, the searching module 21 includes: a first determining unit, a first searching unit, a second determining unit, wherein,

and the first determining unit is used for determining an effective grid closest to the current position in the environment map based on the current position.

The first searching unit is used for searching each effective grid with a preset relation with the identification information recorded in the effective grid closest to the current position based on the identification information recorded in the effective grid closest to the current position and the identification information recorded in each grid determined by the first determining unit.

And the second determining unit is used for determining the route formed by each effective grid as a block-surrounding route corresponding to the effective block.

In another possible implementation manner of the embodiment of the present application, the first control work module 22 includes: the first control running unit, the second searching unit, the second control running unit, the third searching unit, the third control running unit and the circulating unit, wherein,

and the first control running unit is used for controlling the sweeping robot to run to the effective grid closest to the current position.

detecting an obstacle;

In another possible implementation manner of the embodiment of the present application, when the sweeping robot is controlled to work counterclockwise around the effective area, the apparatus 20 may further include: a second control operation module, wherein,

Another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: an edge extraction module, a first determination module, a recording module, wherein,

and the edge extraction module is used for respectively extracting the edges of the blocks.

The first determining module is used for determining a block surrounding route corresponding to each block respectively based on the block edge information extracted by the edge extracting module.

Another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: the second determining module, the third determining module, the fourth determining module, the control driving module and the third control working module, wherein,

And the second determining module is used for determining the block entrance information corresponding to the block adjacent to the effective block based on the driving route when the sweeping robot is controlled to drive along the effective block.

And the third determining module is used for determining a block to be subjected to cleaning work when the cleaning robot is detected to finish the cleaning work on the effective block.

The block to be cleaned is any block adjacent to the effective block.

And the fourth determining module is used for determining an inlet closest to the current position of the sweeping robot based on the block inlet information corresponding to the block adjacent to the effective block determined by the second determining module.

The entrance is used for enabling the sweeping robot to enter the block to be subjected to sweeping work determined by the third determining module.

And the control running module is used for running to the corresponding adjacent block from the entrance closest to the current position determined by the fourth determining module.

In the embodiments of the present application, the "first", "second", "third" and "fourth" are only for identifying modules or units, and are not limited to the modules being different modules or the units being different units. For example, the first control operation module 22, the second control operation module, and the third control operation module may be the same module, may be different modules, or may be the same module.

The embodiment of the application provides an overrun boundary processing device, when detecting that a sweeping robot exceeds an effective block boundary, the embodiment of the application searches a block-surrounding route corresponding to an effective block from a corresponding environment map, and controls the sweeping robot to work anticlockwise around the effective block based on the block-surrounding route corresponding to the searched effective block, wherein the effective block is a block currently working by the sweeping robot. Namely, when the situation that the robot cleaner has the boundary exceeding is detected, the method can directly find the route which runs around the effective block from the environment map and control the robot cleaner to work anticlockwise around the effective block, so that the robot cleaner can be controlled to continue working when the boundary exceeding the effective block is detected.

The above-mentioned method for processing the boundary crossing according to the embodiment of the present invention can be implemented by the boundary crossing processing device according to the embodiment of the present invention, and the implementation principle is similar and will not be repeated here.

The above description of the over-boundary processing apparatus provided in the embodiment of the present application is from the viewpoint of functional modularization, and next, the electronic device provided in the embodiment of the present application will be described from the viewpoint of hardware materialization, and simultaneously, the corresponding computer-readable storage medium will be described.

An embodiment of the present application provides an electronic device, as shown in fig. 3, an electronic device 3000 shown in fig. 3 includes: a processor 3001, and a memory 3003. Wherein the processor 3001 is coupled to the memory 3003, such as by a bus 3002. Optionally, the electronic device 3000 may also include a transceiver 3004. It should be noted that, in practical applications, the transceiver 3004 is not limited to one, and the structure of the electronic device 3000 is not limited to the embodiment of the present application.

The processor 3001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor 3001 may also be a combination that implements computing functionality, e.g., comprising one or more combinations of microprocessors, a combination of DSPs and microprocessors, and the like.

Bus 3002 may include a path to transfer information between the above components. Bus 3002 may be a PCI bus or an EISA bus, or the like. The bus 3002 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.

The memory 3003 may be, but is not limited to, ROM or other type of static storage device that can store static information and instructions, RAM or other type of dynamic storage device that can store information and instructions, EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact disks, laser disks, optical disks, digital versatile disks, blu-ray disks, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 3003 is used for storing application program codes for executing the present application, and is controlled to be executed by the processor 3001. The processor 3001 is configured to execute application code stored in the memory 3003 to implement what is shown in any of the method embodiments described above.

The embodiment of the application provides electronic equipment, which comprises: a memory and a processor; at least one program stored in the memory for execution by the processor, which when executed by the processor, performs: when the sweeping robot is detected to exceed the effective block boundary, the block-surrounding route corresponding to the effective block is searched from the corresponding environment map, and the sweeping robot is controlled to work anticlockwise around the effective block based on the searched block-surrounding route corresponding to the effective block, wherein the effective block is the block in which the sweeping robot is currently working. Namely, when the situation that the robot cleaner has the boundary exceeding is detected, the method can directly find the route which runs around the effective block from the environment map and control the robot cleaner to work anticlockwise around the effective block, so that the robot cleaner can be controlled to continue working when the boundary exceeding the effective block is detected.

The electronic device of the present embodiment may execute the above-mentioned method for processing the boundary beyond the boundary provided by the embodiment of the present invention, and its implementation principle is similar, and will not be described herein.

The present application provides a computer readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the prior art, when the sweeping robot is detected to exceed the effective block boundary, the block-surrounding route corresponding to the effective block is searched from the corresponding environment map, and the sweeping robot is controlled to work anticlockwise around the effective block based on the block-surrounding route corresponding to the searched effective block, wherein the effective block is the block in which the sweeping robot is currently working. Namely, when the situation that the robot cleaner has the boundary exceeding is detected, the method can directly find the route which runs around the effective block from the environment map and control the robot cleaner to work anticlockwise around the effective block, so that the robot cleaner can be controlled to continue working when the boundary exceeding the effective block is detected.

The computer readable storage medium of the present embodiment may execute a method for processing a boundary crossing provided in the above embodiment of the method, and its implementation principle is similar, and will not be repeated here.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

The foregoing is only a partial embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims

1. A method of processing a boundary crossing, comprising:

when the sweeping robot is detected to exceed the boundary of an effective block, searching a block-surrounding route corresponding to the effective block from a corresponding environment map, wherein the block-surrounding route corresponding to the effective block is a route formed by grids containing block edge information of the effective block;

the effective block is a block which is currently operated by the sweeping robot, and the block is a block which is required to execute sweeping operation after the block is divided into a designated area in advance;

each grid containing the block edge information of any block is provided with identification information corresponding to the any block, the identification information has a corresponding relation with the any block, and the identification information in each grid is used for indicating the driving route of the sweeping robot.

2. The method of claim 1, wherein searching for a surrounding block route corresponding to the active block from a corresponding environment map comprises:

Determining an effective grid closest to the current position in an environment map based on the current position, wherein the effective grid records a block-surrounding route corresponding to the effective block;

based on the identification information recorded in the effective grid closest to the current position and the identification information recorded in each grid, searching each effective grid with a preset relationship with the identification information recorded in the effective grid closest to the current position;

the preset relationship is a relationship between the identification information recorded in each grid, and the preset relationship is used for determining the grid including the block-surrounding route corresponding to the effective block.

3. The method according to claim 1 or 2, wherein controlling the sweeping robot to work counterclockwise around the effective block based on the found block-surrounding route corresponding to the effective block comprises:

Searching a second effective grid through the preset relation based on the identification information recorded in the first effective grid, controlling the sweeping robot to travel to the searched second effective grid, and taking the second effective grid as the first effective grid;

and circularly searching a second effective grid based on the identification information recorded in the first effective grid through the preset relation, controlling the sweeping robot to travel to the searched second effective grid, and taking the second effective grid as the first effective grid until the condition that the preset condition is met is detected, so as to control the sweeping robot to work anticlockwise around the effective block.

4. A method according to claim 3, wherein detecting that the preset condition is met comprises at least one of:

detecting an obstacle;

detecting an forbidden zone, wherein the forbidden zone is a zone for prohibiting the sweeping robot from working;

5. The method of claim 1, wherein when controlling the sweeping robot to work counterclockwise around the effective area, the method further comprises:

And when obstacle information and/or forbidden areas are detected, controlling the floor sweeping robot to work around the obstacles and/or around the forbidden areas.

6. The method of claim 1, wherein searching for a surrounding block route corresponding to the active block from a corresponding environment map further comprises:

respectively extracting edges of all the blocks;

7. The method of claim 6, wherein determining a surrounding block route corresponding to any block is based on the extracted edge information of the any block; and recording a block-surrounding route corresponding to any block in a corresponding environment map, wherein the block-surrounding route comprises:

determining a grid containing any block edge information based on the extracted any block edge information;

determining a route formed by each grid containing the edge information of any block as a block-surrounding route corresponding to the any block;

and adding corresponding identification information in each grid containing the edge information of any block so as to record a block surrounding route corresponding to the any block.

8. The method of claim 2, wherein the identification information comprises: index information;

the identification information preset relation comprises the following steps: index information relationship.

9. The method according to claim 1, wherein the method further comprises:

and driving the road sweeper to a corresponding adjacent block from the determined entrance closest to the current position, and controlling the road sweeper to execute cleaning work on the block to be cleaned.

10. An out-of-bounds processing apparatus, comprising:

The searching module is used for searching a block-surrounding route corresponding to the effective block from a corresponding environment map when the sweeping robot is detected to exceed the boundary of the effective block, wherein the block-surrounding route corresponding to the effective block is a route formed by grids containing block edge information of the effective block;

11. The apparatus of claim 10, wherein the lookup module comprises: the device comprises a first determining unit, a first searching unit and a second determining unit;

The first determining unit is used for determining an effective grid closest to the current position in an environment map based on the current position, and the effective grid records a block-surrounding route corresponding to the effective block;

the first searching unit is used for searching each effective grid with a preset relationship with the identification information recorded in the effective grid closest to the current position based on the identification information recorded in the effective grid closest to the current position and the identification information recorded in each grid determined by the first determining unit;

the second determining unit is used for determining a route formed by each effective grid as a block-surrounding route corresponding to the effective block;

12. The apparatus of claim 10 or 11, wherein the first control operation module comprises: the system comprises a first control running unit, a second searching unit, a second control running unit, a third searching unit, a third control running unit and a circulating unit;

The first control running unit is used for controlling the sweeping robot to run to an effective grid closest to the current position;

the second control running unit is used for controlling the sweeping robot to run to the searched first effective grid, and the first effective grid is the next effective grid searched based on the effective grid closest to the current position and a preset relationship;

the third searching unit is used for searching a second effective grid through the preset relation based on the identification information recorded in the first effective grid;

the circulating unit is used for circulating the steps executed by the third searching unit and the third control running unit until the condition that the preset condition is met is detected, so that the sweeping robot is controlled to work anticlockwise around the effective block.

13. The apparatus of claim 12, wherein detecting that the preset condition is met comprises at least one of:

detecting an obstacle;

14. The apparatus of claim 10, wherein when controlling the sweeping robot to work counterclockwise around the effective block, the apparatus further comprises: a second control work module;

the second control working module is used for controlling the robot to work around obstacles and/or work around forbidden areas when obstacle information and/or forbidden areas are detected.

15. The apparatus of claim 10, wherein the apparatus further comprises: the device comprises an edge extraction module, a first determination module and a recording module;

The recording module is used for recording the block-surrounding routes corresponding to the blocks in the corresponding environment map.

16. The apparatus of claim 15, wherein the device comprises a plurality of sensors,

the first determining module is specifically configured to determine, based on the extracted edge information of any block, a grid including the edge information of the any block, and determine a route formed by each grid including the edge information of the any block as a surrounding block route corresponding to the any block;

the recording module is specifically configured to add corresponding identification information to each grid containing the edge information of any block, so as to record a block-surrounding route corresponding to the any block.

17. The apparatus of claim 11, wherein the identification information comprises: index information;

18. The apparatus of claim 10, wherein the apparatus further comprises: the second determining module, the third determining module, the fourth determining module, the control driving module and the third control working module, wherein,

The third determining module is configured to determine a block to be subjected to cleaning when it is detected that the cleaning robot finishes cleaning the effective block, where the block to be subjected to cleaning is any block adjacent to the effective block;

the fourth determining module is configured to determine, based on the block entry information corresponding to the block adjacent to the effective block determined by the second determining module, an entry closest to a current position of the sweeping robot, where the entry is used for the sweeping robot to enter the block to be cleaned determined by the third determining module;

the control running module is used for running to a corresponding adjacent block from the entrance which is determined by the fourth determining module and is closest to the current position;

the third control work module is used for controlling the sweeping robot to execute sweeping work on the block to be subjected to sweeping work.

19. An electronic 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 applications configured to: performing the out-of-bounds processing method of any of claims 1-9.

20. A computer readable storage medium having stored thereon at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the out-of-bounds processing method of any of claims 1 to 9.