CN111436861A - Block edge closing processing method, electronic equipment and readable storage medium - Google Patents

Abstract

Embodiments of the present application provide a block edge closing processing method, an electronic device, and a readable storage medium, which relate to the field of robotics. The method includes, when the sweeping robot is driving along any block, determining whether the driving path along the block is a closed path, and if it is a closed path, detecting whether the driving state of the sweeping robot along the block satisfies a first preset based on the closed path If the first preset condition is met, a cleaning line is generated in the corresponding area of the block, and the cleaning robot is controlled to perform cleaning work on the block based on the generated cleaning line. The embodiment of the present application realizes controlling the cleaning robot to perform the cleaning work on the block.

Description

Block edge closing processing method, electronic device and readable storage medium

technical field

The present application relates to the field of robotics, and in particular, the present application relates to a block edge closing processing method, an electronic device, and a readable storage medium.

Background technique

With the development of information technology and the continuous improvement of people's requirements for the quality of life, smart home products gradually appear in people's daily life. Among them, the representative sweeping robot is more and more popular among people, and the sweeping robot can replace the human execution Cleaning up the area.

When the sweeping robot performs the cleaning work of the designated area on behalf of the human, it can divide the designated area into blocks, that is, divide the designated area into multiple blocks, and then perform the cleaning work on each block to perform the cleaning work on the designated area. Among them, when the sweeping robot performs the cleaning work of any block, it first executes the edge logic (along the block logic), and after the edge logic ends, it executes the cleaning work inside the block, so how to control the sweeping robot to perform the block cleaning Work becomes a key issue.

SUMMARY OF THE INVENTION

The present application provides a block edge closing processing method, an electronic device and a readable storage medium, which are used to solve the technical problem of a cleaning robot performing block cleaning work.

In a first aspect, a method for closing a block edge is provided, the method comprising:

When the sweeping robot is driving along any block, determine whether the driving path along the block is a closed path;

If it is a closed path, detecting whether the driving state of the sweeping robot along the block meets the first preset condition based on the closed path;

If the first preset condition is met, a cleaning line is generated in the corresponding area of the block, and the cleaning robot is controlled to perform cleaning work on the block based on the generated cleaning line.

A possible implementation of the embodiment of the present application, a method of detecting whether the driving state of the sweeping robot along the block satisfies the first preset condition based on a closed path includes any of the following:

Detect whether the sweeping robot travels along the block to return to the starting point based on the closed path, and the starting point is the starting point of traveling along the block;

Detect whether the sweeping robot fails to escape repeatedly based on the closed path;

Based on the closed path detection, the sweeping robot gets out of trouble successfully and then gets into trouble again after bypassing the obstacle.

In another possible implementation manner of the embodiment of the present application, a cleaning line is generated in the corresponding area of the block, including any of the following:

When it is detected that the sweeping robot travels along the block and returns to the starting point, the cleaning line is generated in the block based on the information along the block;

If it is detected that the sweeping robot fails to get out of trouble repeatedly or gets into trouble after bypassing the obstacle and getting into trouble again, a cleaning line will be generated in the non-obstacle area of the block.

Another possible implementation of the embodiment of the present application is to detect whether the driving state of the sweeping robot along the block satisfies the first preset condition based on the closed path, and then further includes:

If the first preset condition is not met and the second preset condition is met, control the sweeping robot to execute escape logic or obstacle avoidance logic;

The second preset condition includes at least one of the following:

The sweeping robot travels to the preset position point during driving along the block, and the closed path is clockwise, and the preset position point is the position point generated by the sweeping robot on the right side of the driving position point when traveling along the block;

During the process of driving along the block, the driving position of the sweeping robot does not change within the preset time;

The sweeping robot travels to a preset position while driving along the block, and the closed path is counterclockwise.

Another possible implementation manner of the embodiment of the present application, the manner of bypassing the logic, includes:

Control the sweeping robot to perform wall point backtracking until it detects a collision with an obstacle to continue driving along the block.

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

When it is detected that the sweeping robot succeeds in getting out of trouble, the sweeping robot is controlled to execute the backtracking logic of the wall point until it collides with the obstacle;

Control the sweeping robot to continue driving along the block.

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

When it is detected that the sweeping robot is driving along the block and along the preset edge, the logic of ending traveling along the block is executed, and a cleaning line is generated in the non-obstacle area that has not been cleaned in the block. The preset edge is on Edges that have been traveled during previous travel along the block.

In a second aspect, a block edge closure processing device is provided, the device comprising:

A determination module for determining whether the driving path along the block is a closed path when the sweeping robot is driving along any block;

a detection module, configured to detect whether the driving state of the sweeping robot along the block satisfies the first preset condition based on the closed path when the determination module determines that the driving path along the block is a closed path;

a first generating module, configured to generate a cleaning line in the corresponding area of the block when the detection module detects that the driving state of the sweeping robot extending along the block meets the first preset condition;

The control cleaning module is used to control the cleaning robot to perform the cleaning work on the block based on the cleaning line generated by the first generation module.

Another possible implementation of the embodiment of the present application, the detection module, is specifically used to detect whether the sweeping robot travels along the block and returns to the starting point based on the closed path, and the starting point is the starting point of traveling along the block, or detects the sweeping based on the closed path. Whether the robot repeatedly fails to get out of trouble, or based on a closed path to detect whether the sweeping robot succeeds in getting out of trouble, it gets into trouble again after bypassing obstacles.

In another possible implementation manner of the embodiment of the present application, the first generation module is specifically configured to generate a cleaning line in the block based on the information along the block when the detection module detects that the sweeping robot travels back to the starting point along the block ;

The first generation module is specifically used to generate a cleaning line in the non-obstacle area of the block when the detection module detects that the sweeping robot repeatedly fails to escape from trouble or gets into trouble again after bypassing an obstacle after successful escape.

In another possible implementation manner of the embodiment of the present application, the device further includes: an escape logic module or a barrier bypass logic module;

The escape logic module is used to control the sweeping robot to execute escape logic when the first preset condition is not met and the second preset condition is met;

The obstacle bypass logic module is used to control the sweeping robot to execute the obstacle bypass logic when the first preset condition is not met and the second preset condition is met;

The second preset condition includes at least one of the following:

The sweeping robot travels to the preset position point during driving along the block, and the closed path is clockwise, and the preset position point is the position point generated by the sweeping robot on the right side of the driving position point when traveling along the block;

During the process of driving along the block, the driving position of the sweeping robot does not change within the preset time;

The sweeping robot travels to a preset position while driving along the block, and the closed path is counterclockwise.

Another possible implementation of the embodiment of the present application, the obstacle circumvention logic module is specifically used to control the sweeping robot to perform wall point backtracking until a collision with an obstacle is detected, so as to continue driving along the block.

In another possible implementation manner of the embodiment of the present application, the device further includes: a wall point backtracking logic module, and a driving module along a block;

The wall point backtracking logic module is used to control the cleaning robot to execute the wall point backtracking logic until it collides with an obstacle when it is detected that the cleaning robot has successfully escaped from trouble;

The first module for driving along the block is used to control the sweeping robot to continue driving along the block.

In another possible implementation manner of the embodiment of the present application, the device further includes: a second driving module along the block, and a second generating module;

The second driving along the block module is used to execute the logic of ending driving along the block when it is detected that the sweeping robot is driving along the block and along the preset edge;

The second generation module is used to generate a cleaning line in the non-obstacle area that has not been cleaned in the block, and the preset edge is the edge that has been driven along the block before.

In a third aspect, an electronic device is provided, the electronic device comprising:

It includes:

one or more processors;

memory;

one or more application programs, wherein the one or more application programs are stored in memory and configured to be executed by one or more processors, the one or more programs are configured to: perform according to the first aspect or the first aspect The closing processing method of the block edge shown in any possible implementation.

In a fourth aspect, a computer-readable storage medium is provided, the storage medium stores at least one instruction, at least one piece of program, code set or instruction set, and at least one instruction, at least one piece of program, code set or instruction set is loaded by a processor and Execute to implement the block edge closing processing method shown in the first aspect or any possible implementation manner of the first aspect.

The beneficial effects brought by the technical solution provided by the application are:

The present application provides a block edge closing processing method, electronic device and readable storage medium. When the sweeping robot is driving along any block, the present application determines whether the travel path along the block is a closed path, and if it is a closed path path, based on the closed path to detect whether the driving state of the sweeping robot along the block satisfies the first preset condition, if the first preset condition is met, a cleaning line is generated in the corresponding area of the block, and the sweeping robot is controlled based on the generated The cleaning line performs the cleaning work on the block. That is, when the present application performs the cleaning work on any block, the work along the block is performed first, and when it is detected that the driving path along the block is a closed path and the driving state of the sweeping robot along the block meets the first preset condition, A cleaning line is generated in the corresponding area inside the block and cleaned, so that the cleaning robot can be controlled to perform the cleaning of the block.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments of the present application.

1 is a schematic flowchart of a method for closing a block edge provided by an embodiment of the present application;

2 is a schematic structural diagram of a block edge closing processing device provided by an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an electronic device for closing edge processing of a block according to an embodiment of the present application.

Detailed ways

The following describes in detail the embodiments of the present application, 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 with reference to the accompanying drawings are exemplary and are only used to explain the present application, but not to be construed as limiting the present invention.

It will be understood by those skilled in the art that the singular forms "a", "an", "the" and "the" as used herein can include the plural forms as well, unless expressly stated otherwise. It should be further understood that the word "comprising" used in the specification of this application refers to the presence of stated features, integers, steps, operations, elements and/or components, but does 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 we refer to an element 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. Furthermore, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combination of one or more of the associated listed items.

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

The embodiment of the present application provides a method for closing the edge of a block. As shown in FIG. 1 , the method includes:

Step S101 , when the sweeping robot is traveling along any block, determine whether the traveling path along the block is a closed path.

Step S102 , if the path is a closed path, based on the closed path, detect whether the driving state of the sweeping robot along the block satisfies the first preset condition.

For the embodiment of the present application, when cleaning any block, first perform the work along the block (edge work), and when it is detected that the working path along the block is a closed path, and the edge of the sweeping robot is detected based on the closed path. When the block driving state satisfies the first preset condition, the edge work is ended, and the cleaning logic inside the block is executed. In this embodiment of the present application, for an introduction to the first preset condition, refer to the following embodiments, and details are not repeated here.

Step S103: If the first preset condition is satisfied, generate a cleaning line in the corresponding area of the block.

Step S104 , controlling the cleaning robot to perform cleaning work on the block based on the generated cleaning line.

The embodiment of the present application provides a method for closing the edge of a block. In the present application, when the sweeping robot is driving along any block, it is determined whether the driving path along the block is a closed path, and if it is a closed path, based on the closed path Detect whether the driving state of the sweeping robot along the block satisfies the first preset condition. If the first preset condition is met, a cleaning line is generated in the corresponding area of the block, and the sweeping robot is controlled to execute the area based on the generated cleaning line. Block cleaning work. That is, when performing the cleaning work on any block in the embodiment of the present application, the work along the block is performed first, and when it is detected that the driving path along the block is a closed path and the driving state of the sweeping robot along the block satisfies the first preset condition At the time, a cleaning line is generated in the corresponding area inside the block and cleaned, so that the cleaning robot can be controlled to perform the cleaning work on the block.

A possible implementation of the embodiment of the present application, in step S102, the method of detecting whether the driving state of the sweeping robot along the block meets the first preset condition based on the closed path includes: step S1021 (not shown in the figure), step S1021 (not shown in the figure), step Any one of S1022 (not shown in the figure) and step S1023 (not shown in the figure), wherein,

Step S1021 , based on the closed path, detect whether the sweeping robot travels along the block and returns to the starting point.

Among them, the starting point is the starting point of driving along the block.

For the embodiment of the present application, based on the detected closed path, it is known that the cleaning robot can return to the starting point during driving along the block, that is, it indicates that the work along the block has ended, and this edgewise closed path is an ideal edgewise closed path . Of course, when the sweeping robot actually works along the edge, several wrong closed paths shown in step Sa may occur. In the embodiment of the present application, when the sweeping robot is actually working along the edge, when several closed paths shown in step Sa appear, the sweeping robot is controlled to execute the obstacle-circumvention logic or the escape logic, so that the sweeping robot continues to work along the edge.

Step S1022 , based on the closed path, detect whether the sweeping robot fails to repeatedly escape from trouble.

Step S1023 , based on the closed path, it is detected whether the sweeping robot successfully escapes from trouble and then gets into trouble again after bypassing the obstacle.

For the embodiment of the present application, during the actual working process of the sweeping robot along the block, many times of wrong closing occurred. If the operation such as the obstacle is in trouble, it is considered to be closed, then the edge work is ended, and the sweeping robot is controlled to execute the following logic, such as block cleaning logic.

In another possible implementation manner of the embodiment of the present application, in step S103, a cleaning line is generated in the corresponding area of the block, including: step S1031 (not shown in the figure) or step S1032 (not shown in the figure), in,

Step S1031 , when it is detected that the sweeping robot travels along the block and returns to the starting point, a cleaning line is generated in the block based on the information along the block.

For the embodiment of the present application, it is detected that the sweeping robot travels along the block and returns to the starting point, which belongs to an ideal closure situation. This closure can be determined by the working information along the edge (the information along the block), and the non-inverted inside the block. A sweep line is generated in the obstacle area. In this embodiment of the present application, the information of obstacles outside the block can be clearly obtained in this closed situation.

Step S1032 , if it is detected that the sweeping robot repeatedly fails to get out of trouble or gets into trouble again after bypassing an obstacle after successfully getting out of trouble, a cleaning line is generated in the non-obstacle area of the block.

For the embodiment of the present application, when it is detected based on the closed path that the sweeping robot repeatedly fails to escape from trouble or gets into trouble again after bypassing the obstacle after successfully getting out of trouble, the work along the block (edge work) is ended, and the cleaning is generated in the non-obstacle area in the block. Wire.

For the embodiment of the present application, when it is detected based on the closed path that the sweeping robot repeatedly fails to escape from trouble or gets into trouble again after bypassing the obstacle after successfully getting out of trouble, there may be some relatively short lines in the cleaning line generated in the non-obstacle area inside the area, and the steps The cleaning line generated in S1031 is less likely to be a relatively short line than the cleaning line generated in step S1032.

Another possible implementation manner of the embodiment of the present application, after step S102, may further include: step Sa (not shown in the figure), wherein,

In step Sa, if the first preset condition is not met and the second preset condition is met, control the sweeping robot to execute escape logic or obstacle avoidance logic.

Wherein, the second preset condition includes at least one of the following:

The sweeping robot travels to the preset position point during driving along the block, and the closed path is clockwise, and the preset position point is the position point generated by the sweeping robot on the right side of the driving position point when traveling along the block;

During the process of driving along the block, the driving position of the sweeping robot does not change within the preset time;

The sweeping robot travels to a preset position while driving along the block, and the closed path is counterclockwise.

Another possible implementation manner of the embodiment of the present application, the obstacle circumvention logic manner, includes: controlling the sweeping robot to perform wall point backtracking until a collision with an obstacle is detected, so as to continue driving along the block.

For the embodiment of the present application, when the sweeping robot is working along the edge normally, a position point (suspected wall point) will be generated on the right side of the current position at each moment, and these position points will be recorded in the order of time. If the sweeping robot drives When the position of these suspected wall points is reached, it is considered that this situation is wrongly closed. In the embodiment of the present application, when such a wrong closure is detected, the backtracking of the wall points is performed, and the driving along these suspected wall points is performed until a collision is triggered, indicating that a real obstacle is touched, the backtracking process is stopped, and the backtracking process is stopped. the edge driving state. In the embodiment of the present application, if the wrong closed path is clockwise, the real obstacle point may be on the right side of the sweeping robot; if the wrong closed path is counterclockwise, the real obstacle point may be on the right side of the sweeping robot. left.

For this embodiment of the present application, when it is detected that the driving position of the cleaning robot does not change within the preset time, for example, it is caught by an object (such as a chair) or enters a narrow passage in the process of working along the edge, that is, the cleaning robot is detected. The original position remains unchanged. This situation is also considered to be a wrong closure, and the sweeping robot is controlled to perform the escape operation. The specific way of escape operation will not be repeated here.

For the embodiment of the present application, after the above-mentioned erroneous closure, through the escape operation or the operation around an obstacle, and after the edge work is connected, a closure that meets the first preset condition may finally be generated.

For the embodiments of the present application, corresponding solutions are provided for several incorrect closing situations that occur when the sweeping robot actually works along the edge, so that the sweeping robot can obtain the closing that meets the first preset condition when it actually works along the edge, It can improve cleaning efficiency and improve user experience.

In another possible implementation manner of the embodiment of the present application, the method further includes: step Sb (not shown in the figure) and step Sc (not shown in the figure), wherein,

Step Sb, when it is detected that the sweeping robot has successfully escaped from trouble, the sweeping robot is controlled to execute the wall point backtracking logic until it collides with an obstacle.

Step Sc, control the sweeping robot to continue driving along the block.

For this embodiment of the present application, step Sb and step Sc may be performed after step Sa.

For the embodiment of the present application, after the escape operation is successful, the backtracking logic of the wall point also needs to be executed until a collision is detected, and the previous working state along the edge is returned.

Another possible implementation manner of the embodiment of the present application further includes: step Sd (not shown in the figure), wherein,

Step Sd, when it is detected that the sweeping robot is driving along the block and along the preset edge, execute the logic of ending driving along the block, and generate a cleaning line in the non-obstacle area that has not been cleaned in the block.

Wherein, the preset edge is the edge that has been driven in the previous driving process along the block.

For this embodiment of the present application, when it is detected that the edge along which the sweeping robot is currently traveling along the edge is an edge that has been driven along the edge before, the sweeping robot is controlled to end the work along the block (edge work).

For example, a block contains four sides, namely side 1, side 2, side 3 and side 4. The sweeping robot has already performed the work along side 1 and side 2 when working along the side before, but it may be due to environmental changes and other reasons. If the sweeping robot is currently working along edge 1 or edge 2, control the sweeping robot to end the edge working.

For the embodiment of the present application, the sweeping robot finishes the edge work, generates a cleaning line in the unsweeped non-obstacle area inside the block, and controls the sweeping robot to perform cleaning work on the block based on the generated cleaning line.

The embodiment of the present application provides a block edge closure processing device. As shown in FIG. 2 , the device 20 may include: a determination module 21 , a detection module 22 , a first generation module 23 and a control cleaning module 24 , wherein,

The determination module 21 is configured to determine whether the driving path along the block is a closed path when the sweeping robot is traveling along any block.

The detection module 22 is configured to detect whether the driving state of the sweeping robot satisfies the first preset condition based on the closed path when the determination module 21 determines that the driving path along the block is a closed path.

The first generating module 23 is configured to generate a cleaning line in a corresponding area of the block when the detection module 22 detects that the driving state of the sweeping robot extending along the block meets the first preset condition.

The control cleaning module 24 is used to control the cleaning robot to perform the cleaning work on the block based on the cleaning line generated by the first generating module 23 .

A possible implementation of the embodiment of the present application, the detection module 22, is specifically configured to detect whether the sweeping robot travels along the block to return to the starting point based on the closed path, or whether the sweeping robot repeatedly fails to escape from trouble based on the closed path, or based on the closed path. After detecting whether the sweeping robot succeeded in getting out of trouble, it passed the obstacle and got into trouble again.

Among them, the starting point is the starting point of driving along the block.

In another possible implementation manner of the embodiment of the present application, the first generation module 23 is specifically configured to, when the detection module detects that the sweeping robot travels along a block and returns to the starting point, generates cleaning in the block based on the information along the block Or, when the detection module detects that the sweeping robot fails to escape repeatedly or gets into trouble again after bypassing obstacles and gets into trouble again, a cleaning line is generated in the non-obstacle area of the block.

In another possible implementation manner of the embodiment of the present application, the device 20 further includes: an escape logic module or a barrier bypass logic module, wherein,

The escape logic module is used to control the sweeping robot to execute escape logic when the first preset condition is not met and the second preset condition is met.

The obstacle bypass logic module is used to control the sweeping robot to execute the obstacle bypass logic when the first preset condition is not met and the second preset condition is met.

Wherein, the second preset condition includes at least one of the following:

The sweeping robot travels to the preset position point during driving along the block, and the closed path is clockwise, and the preset position point is the position point generated by the sweeping robot on the right side of the driving position point when traveling along the block;

During the process of driving along the block, the driving position of the sweeping robot does not change within the preset time;

The sweeping robot travels to a preset position while driving along the block, and the closed path is counterclockwise.

Another possible implementation of the embodiment of the present application, the obstacle circumvention logic module is specifically used to control the sweeping robot to perform wall point backtracking until a collision with an obstacle is detected, so as to continue driving along the block.

In another possible implementation manner of the embodiment of the present application, the device 20 further includes: a wall point backtracking logic module, and a driving module along a block, wherein,

The wall point backtracking logic module is used to control the cleaning robot to execute the wall point backtracking logic until it collides with an obstacle when it is detected that the cleaning robot has successfully escaped from trouble.

The first module for driving along the block is used to control the sweeping robot to continue driving along the block.

In another possible implementation manner of the embodiment of the present application, the device 20 further includes: a second driving module along the block and a second generating module, wherein,

The second driving along the block module is used to execute the logic of ending driving along the block when it is detected that the sweeping robot is driving along the block and along the preset edge.

For the embodiment of the present application, the first module for driving along blocks and the second module for driving along blocks may be the same module or different modules. It is not limited in the embodiments of the present application.

The second generation module is used to generate a cleaning line in the non-obstacle area that has not been cleaned in the block, and the preset edge is the edge that has been driven along the block before.

For this embodiment of the present application, the first generation module 23 and the second generation module may be the same module, or may be different modules. It is not limited in the embodiments of the present application.

The embodiment of the present application provides a closing processing device along the edge of the block. In the embodiment of the present application, when the sweeping robot is driving along any block, it is determined whether the travel path along the block is a closed path, and if it is a closed path, based on The closed path detects whether the driving state of the sweeping robot along the block meets the first preset condition. If the first preset condition is met, a cleaning line is generated in the corresponding area of the block, and the sweeping robot is controlled to execute based on the generated cleaning line. Cleaning up the block. That is, when the present application performs the cleaning work on any block, it first performs the work along the block, and when it is detected that the driving path along the block is a closed path and the driving state of the sweeping robot along the block meets the first preset condition, A cleaning line is generated in the corresponding area inside the block and cleaned, so that the cleaning robot can be controlled to perform the cleaning of the block.

The block edge closing processing apparatus of this embodiment can execute the block edge closing processing method shown in the above method embodiments, and the implementation principle thereof is similar, and details are not described herein again.

An embodiment of the present application provides an electronic device. As shown in FIG. 3 , the electronic device 3000 shown in FIG. 3 includes: a processor 3001 and a memory 3003 . The processor 3001 is connected to the memory 3003, for example, through 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 does not constitute a limitation to the embodiments 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. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processor 3001 may also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

The bus 3002 may include a path to transfer information between the components described above. The bus 3002 may be a PCI bus, an EISA bus, or the like. The bus 3002 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in FIG. 3, but it does not mean that there is only one bus or one type of bus.

The memory 3003 can be ROM or other types of static storage devices that can store static information and instructions, RAM or other types of dynamic storage devices that can store information and instructions, or EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being executed by a computer Access any other medium without limitation.

The memory 3003 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 3001 . The processor 3001 is configured to execute the application program code stored in the memory 3003, so as to realize the content shown in any of the foregoing method embodiments.

For the embodiment of the present application, the electronic device may be a cleaning robot.

An embodiment of the present application provides an electronic device, and the electronic device in the embodiment of the present application includes: a memory and a processor; at least one program, stored in the memory, is used for being executed by the processor, and compared with the prior art Realization: In the embodiment of the present application, when the sweeping robot is driving along any block, it is determined whether the driving path along the block is a closed path. A preset condition. If the first preset condition is satisfied, a cleaning line is generated in the corresponding area of the block, and the cleaning robot is controlled to perform cleaning work on the block based on the generated cleaning line. That is, when the present application performs the cleaning work on any block, the work along the block is performed first, and when it is detected that the driving path along the block is a closed path and the driving state of the sweeping robot along the block meets the first preset condition, A cleaning line is generated in the corresponding area inside the block and cleaned, so that the cleaning robot can be controlled to perform the cleaning of the block.

The electronic device in this embodiment can execute the block edge closing processing method shown in the above method embodiments, and the implementation principle thereof is similar, which is not repeated here.

Embodiments of the present application provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program runs on the computer, the computer can execute the corresponding content in the foregoing method embodiments. Compared with the prior art, in the embodiment of the present application, when the sweeping robot is traveling along any block, it is determined whether the traveling path along the block is a closed path, and if it is a closed path, the sweeping robot is detected along the block based on the closed path. Whether the driving state satisfies the first preset condition, if the first preset condition is met, a cleaning line is generated in the corresponding area of the block, and the cleaning robot is controlled to perform the cleaning work on the block based on the generated cleaning line. That is, when the present application performs the cleaning work on any block, the work along the block is performed first, and when it is detected that the driving path along the block is a closed path and the driving state of the sweeping robot along the block meets the first preset condition, A cleaning line is generated in the corresponding area inside the block and cleaned, so that the cleaning robot can be controlled to perform the cleaning of the block.

The computer-readable storage medium of this embodiment can execute the block edge closing processing method shown in the foregoing method embodiments, and the implementation principle thereof is similar, and details are not described herein again.

It should be understood that although the various steps in the flowchart of the accompanying drawings are sequentially shown in the order indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order and may be performed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution sequence is also It does not have to be performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of sub-steps or stages of other steps.

The above are only some embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A block edge closing processing method is characterized by comprising the following steps:

when the sweeping robot runs along any block, determining whether the running path along the block is a closed path;

if the road is a closed path, detecting whether the running state of the sweeping robot along the block meets a first preset condition or not based on the closed path;

and if the first preset condition is met, generating a cleaning line in the corresponding area of the block, and controlling the cleaning robot to perform cleaning work on the block based on the generated cleaning line.

2. The method according to claim 1, wherein the manner of detecting whether the driving state along the block of the sweeping robot meets the first preset condition based on the closed path comprises any one of the following steps:

detecting whether the sweeping robot returns to a starting point or not when driving along a block on the basis of the closed path, wherein the starting point is a starting point of driving along the block;

detecting whether the sweeping robot fails to get rid of the trouble repeatedly or not based on the closed path;

and detecting whether the sweeping robot gets into the predicament through obstacle detouring after getting rid of the difficulty based on the closed path.

3. The method of claim 2, wherein generating a cleaning line within a corresponding area of the block comprises any one of:

when the sweeping robot is detected to return to the starting point along the block, a sweeping line is generated in the block based on the information along the block;

and if the floor sweeping robot is detected to be failed to get rid of the trouble repeatedly or get into the trouble again by obstacle detouring after being successfully got rid of the trouble, generating a cleaning line in the non-obstacle area of the block.

4. The method according to any one of claims 1 to 3, wherein detecting whether the block-following driving state of the sweeping robot satisfies a first preset condition based on the closed path further comprises:

if the first preset condition is not met and the second preset condition is met, controlling the floor sweeping robot to execute a trap removal logic or an obstacle avoidance logic;

the second preset condition comprises at least one of:

the sweeping robot drives to a preset position point in the process of driving along the block, the closed path is clockwise, and the preset position point is a position point generated on the right side of the driving position point when the sweeping robot drives along the block;

the driving position of the sweeping robot is unchanged within the preset time in the process of driving along the block;

the sweeping robot drives to a preset position point in the process of driving along the block, and the closed path is anticlockwise.

5. The method of claim 4, wherein the manner of barrier logic comprises:

and controlling the sweeping robot to execute wall point backtracking until collision with the obstacle is detected so as to continue to drive along the block.

6. The method of claim 4, further comprising:

when the sweeping robot is detected to be successfully released from the trouble, controlling the sweeping robot to execute a wall point backtracking logic until the sweeping robot collides with the obstacle;

and controlling the sweeping robot to continuously run along the block.

7. The method according to any one of claims 1-6, further comprising:

when the sweeping robot is detected to run along the block and run along a preset side, executing a logic of finishing running along the block, and generating a cleaning line in the non-obstacle area which is not cleaned in the block, wherein the preset side is the side which has been run before in the running process of the block.

8. A block-edge closure processing apparatus, comprising:

the determining module is used for determining whether the traveling path along the block is a closed path or not when the sweeping robot travels along any block;

the detection module is used for detecting whether the running state of the sweeping robot along the block meets a first preset condition or not based on the closed path when the determination module determines that the running path along the block is the closed path;

the first generation module is used for generating a cleaning line in a corresponding area of the block when the detection module detects that the running state of the cleaning robot along the block meets a first preset condition;

and the control cleaning module is used for controlling the cleaning robot to clean the block based on the cleaning line generated by the first generation module.

9. 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 programs configured to: performing the block edge closing processing method according to any one of claims 1 to 7.

10. A computer readable storage medium, characterized in that it stores at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by said processor to implement a closed processing method along a block according to any one of claims 1 to 7.

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