CN111436861B - Block edge closing processing method, electronic equipment and readable storage medium - Google Patents
Block edge closing processing method, electronic equipment and readable storage medium Download PDFInfo
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- 238000003672 processing method Methods 0.000 title claims abstract description 15
- 238000010408 sweeping Methods 0.000 claims abstract description 225
- 238000000034 method Methods 0.000 claims abstract description 52
- 238000004140 cleaning Methods 0.000 claims description 66
- 230000008569 process Effects 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 238000009414 blockwork Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the application provides a block edge closing processing method, electronic equipment and a readable storage medium, and relates to the technical field of robots. The method comprises the steps that when the sweeping robot runs along any block, whether a running path along the block is a closed path or not is determined, if the running path along the block is the closed path, whether the running state along the block of the sweeping robot meets a first preset condition or not is detected based on the closed path, if the running state along the block meets the first preset condition, a sweeping line is generated in a corresponding area of the block, and the sweeping robot is controlled to carry out sweeping work on the block based on the generated sweeping line. According to the embodiment of the application, the sweeping robot is controlled to carry out the sweeping work on the block.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a block edge closing processing method, an electronic device, and a readable storage medium.
Background
Along with the development of information technology and the continuous improvement of people on the quality of life requirement, intelligent house product appears gradually in people's daily life, and wherein, representative robot of sweeping the floor receives people's liking more and more, and the robot of sweeping the floor can replace the people to carry out the work of cleaning the region.
When the cleaning robot performs cleaning work on the designated area, the cleaning robot can perform block division on the designated area, namely, the designated area is divided into a plurality of blocks, and then cleaning work is performed on each block so as to perform cleaning work on the designated area. When the sweeping robot performs the sweeping operation on any block, the border logic (the block-following logic) is executed first, and when the border logic is finished, the sweeping operation on the inside of the block is executed, so that how to control the sweeping robot to perform the block-sweeping operation becomes a key problem.
Disclosure of Invention
The application provides a block edge closing processing method, electronic equipment and a readable storage medium, which are used for solving the technical problem that a sweeping robot executes block cleaning work.
In a first aspect, a method for block edge closing processing is provided, and the method includes:
when the sweeping robot runs along any block, determining whether the running path along the block is a closed path;
if the route is the closed route, detecting whether the running state of the sweeping robot along the block meets a first preset condition or not based on the closed route;
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.
A possible implementation manner of the embodiment of the application is a manner of detecting whether a driving state of the sweeping robot along a block meets a first preset condition based on a closed path, and includes any one of the following:
detecting whether the sweeping robot returns to a starting point or not when running along the block on the basis of the closed path, wherein the starting point is a starting point of running along the block;
detecting whether the floor sweeping robot fails to get rid of the trouble repeatedly or not based on the closed path;
whether the floor sweeping robot gets into the trouble again through obstacle avoidance after successfully getting rid of the trouble is detected based on the closed path.
Another possible implementation manner of the embodiment of the present application, generating a cleaning line in a corresponding area of the block includes 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 fails to repeatedly get rid of the trouble or gets into the trouble again by obstacle detouring after successfully getting rid of the trouble, generating a cleaning line in the non-obstacle area of the block.
Another possible implementation manner of the embodiment of the application, whether the running state of the sweeping robot along the block meets the first preset condition is detected based on the closed path, and then the method further includes:
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 includes 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.
Another possible implementation manner of the embodiment of the present application, a manner of barrier bypassing logic, includes:
and controlling the sweeping robot to perform wall point backtracking until collision with the obstacle is detected so as to continue to drive along the block.
In another possible implementation manner of the embodiment of the present application, the method further includes:
when the sweeping robot is successfully removed from the floor, controlling the sweeping robot to execute a wall point backtracking logic until the sweeping robot collides with an obstacle;
and controlling the sweeping robot to continuously run along the block.
In another possible implementation manner of the embodiment of the present application, the method further includes:
when the sweeping robot is detected to run along the block and run along the preset side, executing the logic of ending the 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.
In a second aspect, there is provided a block edgewise 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.
In another possible implementation manner of the embodiment of the application, the detection module is specifically configured to detect whether the sweeping robot returns to the starting point after traveling along the block based on the closed path, where the starting point is the starting point of traveling along the block, or detect whether the sweeping robot fails to get rid of the trouble repeatedly based on the closed path, or detect whether the sweeping robot gets into the trouble again by obstacle detouring after getting rid of the trouble successfully based on the closed path.
In another possible implementation manner of the embodiment of the application, the first generating module is specifically configured to generate a cleaning line in the block based on the information along the block when the detecting module detects that the cleaning robot travels back to the starting point along the block;
the first generation module is specifically used for generating a cleaning line in a non-obstacle area of the block when the detection module detects that the cleaning robot fails to get rid of the trouble repeatedly or falls into the trouble again through obstacle detouring after the cleaning robot succeeds in getting rid of the trouble.
In another possible implementation manner of the embodiment of the present application, the apparatus further includes: a trap-escaping logic module or a barrier-bypassing logic module;
the floor sweeping robot comprises a first releasing logic module, a releasing logic module and a second releasing logic module, wherein the first releasing logic module is used for controlling the floor sweeping robot to execute releasing logic when a first preset condition is not met and a second preset condition is met;
the obstacle avoidance logic module is used for controlling the floor sweeping robot to execute obstacle avoidance 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 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.
Another possible implementation manner of the embodiment of the application is that the obstacle detouring logic module is specifically configured to control the floor sweeping robot to perform wall point backtracking until collision with an obstacle is detected, so as to continue traveling along a block.
In another possible implementation manner of the embodiment of the present application, the apparatus further includes: the wall point backtracking logic module and the block-following driving module are arranged on the wall;
the wall point backtracking logic module is used for controlling the sweeping robot to execute wall point backtracking logic until the sweeping robot collides with an obstacle when the sweeping robot is successfully released;
and the first block-following traveling module is used for controlling the sweeping robot to continue traveling along the block.
In another possible implementation manner of the embodiment of the present application, the apparatus further includes: the second edge block driving module and the second generating module;
the second block-following-block driving module is used for executing logic for ending the block-following driving when the sweeping robot is detected to drive along the block and along the preset side;
and the second generation module is used for generating a cleaning line in the non-obstacle area which is not cleaned in the block, and the preset edge is the edge which is already driven before the block in the driving process.
In a third aspect, an electronic device is provided, which includes:
it includes:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the block edge closing processing method according to the first aspect or any one of the possible implementations of the first aspect is performed.
In a fourth aspect, there is provided a computer readable storage medium storing at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method for closed processing along a block as shown in the first aspect or any possible implementation manner of the first aspect.
The beneficial effect that technical scheme that this application provided brought is:
the application provides a block edge closing processing method, electronic equipment and a readable storage medium, and when a sweeping robot travels along any block, whether a traveling path along the block is a closed path is determined, if the traveling path along the block is the closed path, whether a traveling state along the block of the sweeping robot meets a first preset condition is detected based on the closed path, if the traveling state meets the first preset condition, a sweeping line is generated in a corresponding area of the block, and the sweeping robot is controlled to perform sweeping work on the block based on the generated sweeping line. That is, when the cleaning work of any block is executed, the block-following work is executed firstly, when the condition that the block-following running path is a closed path and the running state of the sweeping robot along the block meets a first preset condition is detected, a sweeping line is generated in a corresponding area inside the block and the sweeping is performed, so that the sweeping robot can be controlled to execute the cleaning work of the block.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flowchart of a block edge closing processing method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a block edge closing processing apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device for block edge closing processing according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
An embodiment of the present application provides a block edge closing processing method, as shown in fig. 1, the method includes:
step S101, when the sweeping robot runs along any block, determining whether the running path along the block is a closed path.
Step S102, if the route is the closed route, whether the running state of the sweeping robot along the block meets a first preset condition is detected based on the closed route.
For the embodiment of the application, when cleaning work is performed on any block, the work along the block (the work along the edge) is performed first, and when the work along the block is detected to be a closed path and the running state of the sweeping robot along the block meets a first preset condition based on the closed path, the work along the edge is finished, and the cleaning logic inside the block is executed. In the embodiment of the present application, details of introduction of the first preset condition are described in the following implementation manner, and are not described herein again.
Step S103, if the first preset condition is satisfied, a cleaning line is generated in the corresponding area of the block.
And step S104, controlling the sweeping robot to carry out the cleaning work on the block based on the generated cleaning line.
The embodiment of the application provides a closed processing method for block edges, and when a sweeping robot travels along any block, whether a traveling path along the block is a closed path is determined, if the traveling path along the block is the closed path, whether a traveling state along the block of the sweeping robot meets a first preset condition is detected based on the closed path, if the traveling state along the block meets the first preset condition, a sweeping line is generated in a corresponding area of the block, and the sweeping robot is controlled to perform sweeping work on the block based on the generated sweeping line. That is to say, when the cleaning work of any block is executed, the block-following work is executed first, when it is detected that the block-following running path is a closed path and the running state of the sweeping robot along the block meets a first preset condition, a cleaning line is generated in a corresponding area inside the block and the sweeping is performed, so that the sweeping robot can be controlled to execute the cleaning work of the block.
In a possible implementation manner of the embodiment of the application, the step S102 of detecting whether the driving state of the sweeping robot along the block meets the first preset condition based on the closed path includes: any one of step S1021 (not shown), step S1022 (not shown), and step S1023 (not shown), wherein,
and step S1021, detecting whether the sweeping robot runs along the block and returns to the starting point or not based on the closed path.
Wherein the starting point is a starting point of driving along the block.
For the embodiment of the application, the floor sweeping robot can return to the starting point during the driving process along the block based on the detected closed path, that is, the end of the work along the block is represented, and the edgewise closed path is an ideal edgewise closed path. Of course, several false closed paths as shown in step Sa may occur when the sweeping robot is actually working edgewise. In the embodiment of the present application, when the sweeping robot works in an actual edgewise manner, and several closed paths shown in step Sa occur, the sweeping robot is controlled to execute the obstacle avoidance logic or the trap removal logic, so that the sweeping robot continues to work in an edgewise manner.
And step S1022, detecting whether the sweeping robot fails to get rid of the trouble repeatedly based on the closed path.
And S1023, detecting whether the floor sweeping robot successfully gets rid of the trouble through obstacle avoidance and then getting into the trouble based on the closed path.
For the embodiment of the application, multiple times of false closing of the sweeping robot occur in the actual work process along the block, for example, it is detected that the sweeping robot fails to escape from the block repeatedly in a certain place all the time, or it is detected that the sweeping robot falls into a predicament due to operations such as obstacle detouring after the sweeping robot succeeds in escaping from the block, if the sweeping robot is determined to be closed, the work along the block is ended, and the sweeping robot is controlled to execute the logic at the back, such as the block sweeping logic.
In another possible implementation manner of the embodiment of the present application, the generating a cleaning line in the corresponding area of the block in step S103 includes: step S1031 (not shown in the figure) or step S1032 (not shown in the figure), wherein,
and step S1031, when the sweeping robot is detected to travel back to the starting point along the block, generating a sweeping line in the block based on the information of the block.
For the embodiment of the application, the detection that the sweeping robot runs back to the starting point along the block belongs to a relatively ideal closing condition, and the closing can be realized by the edgewise work information (along-block information) to generate the sweeping line in the non-obstacle area inside the block. In the embodiment of the application, the obstacle information outside the block can be clearly known under the condition of closing.
And S1032, if the floor sweeping robot is detected to be failed in repeated getting rid of the trouble or get into the trouble again by obstacle detouring after being successfully got rid of the trouble, generating a sweeping line in a non-obstacle area of the block.
For the embodiment of the application, when the floor sweeping robot fails to repeatedly get rid of the trouble or gets into the trouble again by obstacle detouring after successfully getting rid of the trouble based on the closed path, the work along the block (the work along the edge) is finished, and a sweeping line is generated in a non-obstacle area in the block.
For the embodiment of the application, when it is detected that the sweeping robot fails to get rid of the trouble repeatedly or falls into the trouble again by obstacle detouring after getting rid of the trouble successfully based on the closed path, some relatively short lines may exist in the sweeping lines generated in the non-obstacle area inside the area, and the probability of the sweeping lines generated in step S1031 being shorter than the sweeping lines generated in step S1032 is reduced.
In another possible implementation manner of the embodiment of the present application, after step S102, the method may further include: step Sa (not shown in the figure), in which,
and step Sa, if the first preset condition is not met and the second preset condition is met, controlling the sweeping robot to execute a trap-escaping logic or an obstacle-avoiding logic.
Wherein the second preset condition comprises at least one of the following:
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.
Another possible implementation manner of the embodiment of the present application, a manner of barrier bypassing logic, includes: and controlling the sweeping robot to perform wall point backtracking until collision with the obstacle is detected so as to continue to run along the block.
For the embodiment of the application, when the sweeping robot works along the side normally, a position point (suspected wall point) is generated on the right side of the current position at each moment, the position points are recorded according to the time sequence, and if the sweeping robot drives to the position points of the suspected wall points, the condition is considered as false closing. In the embodiment of the application, when such false closing is detected, wall points are backtracked and the vehicle runs along the suspected wall points until collision is triggered, which indicates that a real obstacle is touched, the backtracking process is stopped, and the vehicle runs along the front edge. In the embodiment of the 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 true obstacle point may be on the left side of the sweeping robot.
For the embodiment of the application, when it is detected that the driving position of the sweeping robot is unchanged within the preset time, for example, in the process of working along the edge, the sweeping robot is buckled by an object (for example, a chair) or enters a narrow channel, that is, it is detected that the original position of the sweeping robot is unchanged, the situation is also considered as an error closure, and then the sweeping robot is controlled to perform the escaping operation, and the specific escaping operation mode is not described herein again.
For the embodiment of the application, after the above-mentioned erroneous closing, through the escape operation or the operation around the obstacle, and working back edgewise, the closing meeting the first preset condition may be finally generated.
To this application embodiment, to sweeping the floor several kinds of wrong closure condition that robot was working in the reality edgewise, appeared and given corresponding solution to make sweeping the floor the robot and working in the reality edgewise, obtain the closure that accords with first preset condition, can improve and clean efficiency, improve user experience.
In another possible implementation manner of the embodiment of the present application, the method further includes: step Sb (not shown) and step Sc (not shown), wherein,
and step Sb, when the floor sweeping robot is successfully released from the floor is detected, controlling the floor sweeping robot to execute wall point backtracking logic until the floor sweeping robot collides with the barrier.
And step Sc, controlling the sweeping robot to continuously run along the block.
For the embodiment of the present application, step Sb and step Sc may be performed after step Sa.
For the embodiment of the application, after the trap-escaping operation is successful, the wall point backtracking logic also needs to be executed until the collision is detected and the previous edge working state is returned.
Another possible implementation manner of the embodiment of the present application further includes: step Sd (not shown in the figures) in which,
and step Sd, when the sweeping robot is detected to run along the block and run along the preset side, executing a logic for ending the running along the block, and generating a sweeping line in the non-obstacle area which is not swept in the block.
Wherein the predetermined edge is an edge that has been traveled before in the course of traveling along the block.
For the embodiment of the application, when the edge along which the sweeping robot runs along the current edge is detected to be the edge which has been run along the previous edge, the sweeping robot is controlled to finish the operation along the block (the operation along the edge).
For example, a certain block includes four edges, i.e., edge 1, edge 2, edge 3, and edge 4, when the sweeping robot works along the previous edge, the edge 1 and edge 2 have already been performed, but may be due to environmental changes, etc., when the sweeping robot is working along edge 1 or edge 2, the sweeping robot is controlled to end the edge work.
For the embodiment of the application, the sweeping robot finishes edgewise work, a sweeping line is generated in a non-obstacle area which is not swept in the block, and the sweeping robot is controlled to carry out sweeping work on the block based on the generated sweeping line.
The embodiment of the present application provides a block edge closing processing apparatus, as shown in fig. 2, the apparatus 20 may include: a determination module 21, a detection module 22, a first generation module 23, and a control purge module 24, wherein,
the determining module 21 is configured to determine whether the traveling path along any one of the blocks is a closed path when the sweeping robot is traveling along the block.
The detecting module 22 is configured to detect whether the driving state of the sweeping robot along the block meets a first preset condition based on the closed path when the determining module 21 determines that the driving path along the block is the closed path.
The first generating module 23 is configured to generate a cleaning line in a corresponding area of the block when the detecting module 22 detects that the driving state of the cleaning robot along the block meets a first preset condition.
And the control cleaning module 24 is used for controlling the cleaning robot to perform cleaning work on the blocks based on the cleaning lines generated by the first generation module 23.
In a possible implementation manner of the embodiment of the 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 detect whether the sweeping robot fails to escape repeatedly based on the closed path, or detect whether the sweeping robot falls into a predicament by obstacle detouring after failing to escape based on the closed path.
Wherein the starting point is a starting point of driving along the block.
In another possible implementation manner of the embodiment of the application, the first generating module 23 is specifically configured to generate a cleaning line in the block based on the information along the block when the detecting module detects that the sweeping robot travels back to the starting point along the block, or generate the cleaning line in a non-obstacle area of the block when the detecting module detects that the sweeping robot falls into a trouble again by bypassing the obstacle after repeatedly failing to get rid of the trouble or successfully getting rid of the trouble.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a bailed out logic module or a barrier around logic module, wherein,
and the escaping logic module is used for controlling the floor sweeping robot to execute escaping logic when the first preset condition is not met and the second preset condition is met.
And the obstacle avoidance logic module is used for controlling the floor sweeping robot to execute obstacle avoidance logic when the first preset condition is not met and the second preset condition is met.
Wherein the second preset condition comprises at least one of the following:
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.
Another possible implementation manner of the embodiment of the application is that the obstacle detouring logic module is specifically configured to control the floor sweeping robot to perform wall point backtracking until collision with an obstacle is detected, so as to continue traveling along a block.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a wall point backtracking logic module, a block-following driving module, wherein,
and the wall point backtracking logic module is used for controlling the sweeping robot to execute the wall point backtracking logic until the wall point backtracking logic module collides with the barrier when the sweeping robot is successfully released.
And the first block traveling module is used for controlling the sweeping robot to continue traveling along the block.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a second block-following-block traveling module, a second generation module, wherein,
and the second block-following traveling module is used for executing a logic of ending the block-following traveling when the sweeping robot is detected to travel along the block and travel along the preset edge.
For the embodiment of the present application, the first edge block traveling module and the second edge block traveling module may be the same module or different modules. The embodiments of the present application are not limited.
And the second generation module is used for generating a cleaning line in the non-obstacle area which is not cleaned in the block, and the preset edge is the edge which is driven by the block in the driving process.
For the embodiment of the present application, the first generating module 23 and the second generating module may be the same module or different modules. The embodiments of the present application are not limited thereto.
The embodiment of the application provides a closed processing device along a block, and when a sweeping robot travels along any block, the embodiment of the application determines whether a traveling path along the block is a closed path, if the traveling path is the closed path, whether a traveling state along the block of the sweeping robot meets a first preset condition is detected based on the closed path, if the traveling state along the block meets the first preset condition, a sweeping line is generated in a corresponding area of the block, and the sweeping robot is controlled to perform sweeping work on the block based on the generated sweeping line. This application is when carrying out the work of cleaning to arbitrary block promptly, carries out earlier along the block work, when detecting that the path of traveling along the block is closed route and sweep the floor the robot and satisfy first preset condition along the travel state of block, the line of sweeping is generated in the inside corresponding region of block to clean, thereby can realize controlling the robot of sweeping the floor and carry out the work of cleaning to the block.
The block edge closing processing apparatus of this embodiment can perform the block edge closing processing method shown in the above method embodiments, and the implementation principles thereof are similar, and are not described herein again.
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. The processor 3001 is coupled to the memory 3003, such as via a bus 3002. Optionally, the electronic device 3000 may further comprise a transceiver 3004. It should be noted that the transceiver 3004 is not limited to one in practical applications, and the structure of the electronic device 3000 does not limit the embodiments of the present application.
The memory 3003 is used for storing application program codes for performing the present scheme, and is controlled to be executed by the processor 3001. The processor 3001 is configured to execute application program code stored in the memory 3003 to implement any of the method embodiments as shown in the foregoing.
For the embodiment of the application, the electronic device may be a sweeping robot.
An embodiment of the present application provides an electronic device, where the electronic device includes: a memory and a processor; at least one program stored in the memory for execution by the processor, which when executed by the processor, implements: according to the embodiment of the application, when the sweeping robot runs along any block, whether the running path along the block is a closed path or not is determined, if the running path along the block is the closed path, whether the running state along the block of the sweeping robot meets a first preset condition or not is detected based on the closed path, if the running state along the block meets the first preset condition, a sweeping line is generated in a corresponding area of the block, and the sweeping robot is controlled to carry out sweeping work on the block based on the generated sweeping line. That is, when the cleaning work of any block is executed, the block-following work is executed firstly, when the condition that the block-following running path is a closed path and the running state of the sweeping robot along the block meets a first preset condition is detected, a sweeping line is generated in a corresponding area inside the block and the sweeping is performed, so that the sweeping robot can be controlled to execute the cleaning work of the block.
The electronic device of this embodiment can perform the block edge closing processing method shown in the above method embodiments, and the implementation principles thereof are similar, and are not described herein again.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, when the sweeping robot runs along any block, whether the running path along the block is a closed path or not is determined, if the running path along the block is the closed path, whether the running state along the block of the sweeping robot meets a first preset condition or not is detected based on the closed path, if the running state along the block meets the first preset condition, a sweeping line is generated in a corresponding area of the block, and the sweeping robot is controlled to carry out sweeping work on the block based on the generated sweeping line. This application is when carrying out the work of cleaning to arbitrary block promptly, carries out earlier along the block work, when detecting that the path of traveling along the block is closed route and sweep the floor the robot and satisfy first preset condition along the travel state of block, the line of sweeping is generated in the inside corresponding region of block to clean, thereby can realize controlling the robot of sweeping the floor and carry out the work of cleaning to the block.
The computer-readable storage medium of this embodiment may execute the block edge closing processing method shown in the above method embodiments, and the implementation principles thereof are similar and will not be described herein again.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of execution is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (14)
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 route is a closed route, detecting whether the running state of the sweeping robot along the block meets a first preset condition or not based on the closed route;
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;
the method 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 comprises any one of the following steps:
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.
2. The method of claim 1, 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.
3. The method according to any one of claims 1-2, characterized in that whether the driving state of the sweeping robot along the block meets a first preset condition is detected based on the closed path, and then the method further comprises the following steps:
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.
4. The method of claim 3, wherein bypassing logic comprises:
controlling the sweeping robot to execute wall point backtracking until collision with an obstacle is detected so as to continue to run along the block; wherein, the robot of sweeping the floor is when normal edgewise work, and it is a plurality of to record in the order of time at every moment in the right side of present position generation position point, control the robot of sweeping the floor carries out the wall point backtrack, includes: and controlling the sweeping robot to run along a plurality of position points.
5. The method of claim 3, 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.
6. The method according to any one of claims 1-5, 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.
7. 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;
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,
the detection module is specifically configured to detect whether the floor sweeping robot fails to escape repeatedly based on the closed path, or detect whether the floor sweeping robot falls into a dilemma again by obstacle detouring after escaping successfully based on the closed path.
8. The apparatus of claim 7,
the first generating module is specifically configured to generate a cleaning line in the block based on the information along the block when the detecting module detects that the sweeping robot travels back to the starting point along the block, or generate a cleaning line in a non-obstacle area of the block when the detecting module detects that the sweeping robot falls into a difficulty by obstacle detouring after a repeated difficulty getting rid of the robot or a successful difficulty getting rid of the robot.
9. The apparatus of any one of claims 7-8, further comprising: a trap-escaping logic module or a barrier-bypassing logic module;
the trapped logic removal module is used for controlling the sweeping robot to execute trapped logic removal when the first preset condition is not met and a second preset condition is met;
the obstacle detouring logic module is used for controlling the sweeping robot to execute obstacle detouring logic when the first preset condition is not met and a second preset condition is met;
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.
10. The device according to claim 9, wherein the obstacle detouring logic module is specifically configured to control the sweeping robot to perform wall point backtracking until a collision with an obstacle is detected to continue traveling along a block; when the sweeping robot works along the side normally, a position point is generated on the right side of the current position at each moment, and the obstacle avoidance logic module is specifically used for controlling the sweeping robot to run along a plurality of position points until collision with an obstacle is detected so as to continue running along the block.
11. The apparatus of claim 9, further comprising: the wall point backtracking logic module and the block-following driving module are arranged on the wall;
the wall point backtracking logic module is used for controlling the sweeping robot to execute the wall point backtracking logic until the wall point backtracking logic module collides with an obstacle when the sweeping robot is successfully released from the obstacle;
and the first block traveling module is used for controlling the sweeping robot to continue traveling along the block.
12. The apparatus according to any one of claims 7-11, further comprising: the second edge block driving module and the second generating module;
the second block-following running module is used for executing a logic of ending the block-following running when the sweeping robot is detected to run along the block and along the preset edge;
the second generating module is used for generating a cleaning line in an uncleaned non-obstacle area in the block, and the preset edge is an edge which is driven by the block in the driving process.
13. 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: -carrying out a block edgewise closing process method according to any one of claims 1 to 6.
14. A computer readable storage medium, characterized in that said storage medium 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 6.
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| CN112137528B (en) * | 2020-09-25 | 2021-12-10 | 小狗电器互联网科技（北京）股份有限公司 | Sweeping robot sweeping area detection method, device, equipment, system and medium |
| CN112022011B (en) * | 2020-09-25 | 2021-09-17 | 小狗电器互联网科技（北京）股份有限公司 | Control method, equipment, system and storage medium of sweeping robot |
| CN112137512B (en) * | 2020-09-25 | 2021-12-10 | 小狗电器互联网科技（北京）股份有限公司 | Sweeping robot sweeping area detection method, device, equipment, system and medium |
| CN112799398B (en) * | 2020-12-25 | 2021-12-03 | 珠海一微半导体股份有限公司 | Cleaning path planning method based on path finding cost, chip and cleaning robot |
| CN113485361A (en) * | 2021-07-30 | 2021-10-08 | 北京小狗吸尘器集团股份有限公司 | Obstacle-detouring control method and device, electronic equipment and sweeping robot |
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