CN111443694A - Operation method and operation device of intelligent cleaning equipment - Google Patents
Operation method and operation device of intelligent cleaning equipment Download PDFInfo
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- CN111443694A CN111443694A CN201811616544.5A CN201811616544A CN111443694A CN 111443694 A CN111443694 A CN 111443694A CN 201811616544 A CN201811616544 A CN 201811616544A CN 111443694 A CN111443694 A CN 111443694A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000004888 barrier function Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 3
- 238000011017 operating method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The invention relates to an operation method and an operation device of intelligent cleaning equipment, and belongs to the field of intelligent robots. The method comprises the steps of obtaining a map of a region to be operated, dividing the region to be operated into a sub-region to be operated and an obstacle region according to the map of the region to be operated, and generating an arched operation route according to a preset reference direction so as to traverse the sub-region to be operated; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; and controlling the intelligent cleaning equipment to operate according to the route to be operated, detecting new obstacle area information in the area to be operated in real time in the operation process of the intelligent cleaning equipment, and updating a new obstacle to the map of the area to be operated when the new obstacle is detected. Through the technical scheme, the working efficiency can be improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an operation method and an operation device of intelligent cleaning equipment.
Background
The intelligent cleaning equipment is also called an intelligent cleaning robot or a sweeping robot, is widely applied at present, and is an intelligent household appliance capable of automatically absorbing dust on the ground. Because it can detect factors such as room size, furniture placement, ground cleanliness and the like, and make a reasonable cleaning route by means of a built-in program, and has certain intelligence, the robot is called as a robot. At present, the intelligent degree of the intelligent cleaning equipment is not as advanced as the imagination, but the intelligent cleaning equipment is used as a catcher of a new concept of intelligent home and injects forward power for the robot to finally walk into thousands of households. At present, the problem of missed planning still exists in the path planning process of intelligent cleaning equipment, and the peripheral missed cleaning area of barrier is more, and the cleaning effect is not good.
Disclosure of Invention
To at least partially solve the above problems in the prior art, the present invention provides an intelligent cleaning device working method and working apparatus.
An operation method of intelligent cleaning equipment specifically comprises the following steps: the method comprises the steps of obtaining a map of a to-be-operated area, dividing the to-be-operated area into a to-be-operated sub area and an obstacle area according to the map of the to-be-operated area, and obtaining information of the to-be-operated sub area and information of the obstacle area in the to-be-operated area, wherein the information of the to-be-operated sub area at least comprises shape information, size information and position information of the to-be-operated sub area, and the information of the obstacle area at least comprises shape information, size information and position information; generating an arched operation route according to a preset reference direction so as to traverse the sub-area to be operated; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; generating an operation returning route, wherein the operation returning route is used for returning to the arched operation route for continuous operation after surrounding the obstacle area for operation, and the arched operation route, the surrounding operation route and the operation returning route are connected to form a route to be operated; the generated route to be operated is sent to intelligent cleaning equipment in a wireless transmission mode so as to control the intelligent cleaning equipment to operate according to the route to be operated, new obstacle area information in the area to be operated is detected in real time in the operation process of the intelligent cleaning equipment, and when the new obstacle area information in the area to be operated is detected, the new obstacle area information is updated to a map of the area to be operated.
Further, the step of generating the operation regression route includes: determining a starting point of the surrounding operation route on an arched operation route closest to the obstacle area; planning a nearest route from a starting point to an obstacle area, and keeping a safe distance to plan a surrounding starting point; planning a surrounding operation route surrounding the barrier area from the surrounding starting point by taking the distance from the central point of the barrier area to the surrounding starting point as a radius and the central point of the barrier area as a center; and connecting the surrounding starting point to the starting point to form a work returning route.
Further, the dividing the area to be operated into sub-areas to be operated according to the map of the area to be operated comprises: determining corner points of which the distances between the corner points are smaller than a preset value in the map of the area to be operated, determining the corner points of which the distances between the corner points are smaller than the preset value as dividing points, and connecting the dividing points of which the distances between the corner points are smaller than the preset value so as to divide the area to be operated into a plurality of sub-areas to be operated.
Further, the preset reference direction is determined according to the longest edge of the sub-area to be operated, a plurality of parallel lines are sequentially planned along the longest edge of the sub-area to be operated according to the operation width and the preset overlapping degree of the intelligent cleaning equipment until the sub-area to be operated is traversed, and the plurality of parallel lines are connected end to form the arched operation route.
An exercise apparatus for an intelligent cleaning device, the apparatus comprising: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a map of a to-be-operated area, dividing the to-be-operated area into a to-be-operated sub-area and an obstacle area according to the map of the to-be-operated area, and acquiring to-be-operated sub-area information and obstacle area information in the to-be-operated area, wherein the to-be-operated sub-area information at least comprises shape information, size information and position information of the to-be-operated sub-area, and the obstacle area information at least comprises obstacle shape information; the generating module is used for generating an arched operation route according to a preset reference direction so as to traverse the to-be-operated sub-region; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; generating an operation returning route, wherein the operation returning route is used for returning to the arched operation route for continuous operation after surrounding the obstacle area for operation, and the arched operation route, the surrounding operation route and the operation returning route are connected to form a route to be operated; the updating module is used for sending the generated route to be operated to the intelligent cleaning equipment in a wireless transmission mode so as to control the intelligent cleaning equipment to operate according to the route to be operated, detecting new obstacle area information in the area to be operated in real time in the operation process of the intelligent cleaning equipment, and updating the new obstacle area information to the map of the area to be operated when the new obstacle area information in the area to be operated is detected.
Further, the generation module is further configured to: determining a starting point of the surrounding operation route on an arched operation route closest to the obstacle area; planning a nearest route from a starting point to an obstacle area, and keeping a safe distance to plan a surrounding starting point; planning a surrounding operation route surrounding the barrier area from the surrounding starting point by taking the distance from the central point of the barrier area to the surrounding starting point as a radius and the central point of the barrier area as a center; and connecting the surrounding starting point to the starting point to form a work returning route.
Further, the obtaining module is further configured to: determining corner points of which the distances between the corner points are smaller than a preset value in the map of the area to be operated, determining the corner points of which the distances between the corner points are smaller than the preset value as dividing points, and connecting the dividing points of which the distances between the corner points are smaller than the preset value so as to divide the area to be operated into a plurality of sub-areas to be operated.
Further, the preset reference direction is determined according to the longest edge of the sub-area to be operated, a plurality of parallel lines are sequentially planned along the longest edge of the sub-area to be operated according to the operation width and the preset overlapping degree of the intelligent cleaning equipment until the sub-area to be operated is traversed, and the plurality of parallel lines are connected end to form the arched operation route.
The invention has the beneficial effects that: the acquired map of the area to be operated is divided into operation sub-areas to plan operation routes, so that the intelligent cleaning equipment can be ensured to walk along unnecessary routes as little as possible during operation, electric energy is saved, the operation efficiency is improved, when the obstacle information is acquired, a route surrounding the obstacle is formed, the obstacle can be ensured to be circularly cleaned, the periphery of the obstacle is ensured to be completely cleaned, and the surrounding operation route surrounding the obstacle is directly led from the arc-shaped operation route, so that the operation efficiency can be improved; in the actual operation process, when a new obstacle is detected, the obstacle is immediately updated into the map, so that the updated map is applied to the subsequent operation; therefore, the method provided by the invention has the technical effects of saving electric energy and improving the working efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic flow chart illustrating an operating method of an intelligent cleaning device according to an embodiment of the present invention;
fig. 2 is a block diagram schematically illustrating a structure of a working device of an intelligent cleaning apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, an embodiment of the present invention provides an operating method of an intelligent cleaning device, including: step S101, obtaining a map of a to-be-operated area, dividing the to-be-operated area into a to-be-operated sub area and an obstacle area according to the map of the to-be-operated area, and obtaining sub area information to be operated and obstacle area information in the to-be-operated area, wherein the sub area information to be operated at least comprises shape information, size information and position information of the to-be-operated sub area, and the obstacle area information at least comprises shape information, size information and position information of an obstacle; step S102, generating an arched operation route according to a preset reference direction so as to traverse the sub-area to be operated; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; generating an operation returning route, wherein the operation returning route is used for returning to the arched operation route for continuous operation after surrounding the obstacle area for operation, and the arched operation route, the surrounding operation route and the operation returning route are connected to form a route to be operated; step S103, the generated route to be operated is sent to the intelligent cleaning equipment in a wireless transmission mode so as to control the intelligent cleaning equipment to operate according to the route to be operated, new obstacle area information in the area to be operated is detected in real time in the operation process of the intelligent cleaning equipment, and when the new obstacle area information in the area to be operated is detected, the new obstacle area information is updated to a map of the area to be operated.
Preferably, the step of generating the operation regression route includes: step S201, determining a starting point of the surrounding operation route on an arched operation route which is closest to the obstacle area; step S202, planning a nearest route from a starting point to an obstacle area, and keeping a safe distance to plan a surrounding starting point; step S203, taking the distance from the center point of the barrier area to the surrounding starting point as a radius, taking the center point of the barrier area as a center, and planning a surrounding operation route surrounding the barrier area from the surrounding starting point; and connecting the surrounding starting point to the starting point to form a work returning route.
Preferably, the dividing the area to be operated into sub-areas to be operated according to the map of the area to be operated includes: determining corner points of which the distances between the corner points are smaller than a preset value in the map of the area to be operated, determining the corner points of which the distances between the corner points are smaller than the preset value as dividing points, and connecting the dividing points of which the distances between the corner points are smaller than the preset value so as to divide the area to be operated into a plurality of sub-areas to be operated.
Preferably, the preset reference direction is determined according to the longest edge of the sub-area to be operated, and a plurality of parallel lines are sequentially planned along the longest edge of the sub-area to be operated according to the operation width and the preset overlapping degree of the intelligent cleaning equipment until the sub-area to be operated is traversed, and the plurality of parallel lines are connected end to form the arched operation route.
An operating device of an intelligent cleaning apparatus, as shown in fig. 2, the device comprising: the obtaining module 31 is configured to obtain a map of a to-be-operated area, divide the to-be-operated area into a to-be-operated sub area and an obstacle area according to the map of the to-be-operated area, and obtain information of the to-be-operated sub area and information of the obstacle area in the to-be-operated area, where the to-be-operated sub area information at least includes shape information, size information, and position information of the to-be-operated sub area, and the information of the obstacle area at least includes shape information, size information, and position information of the obstacle; the generating module 32 is configured to generate an arcuate operation route according to a preset reference direction so as to traverse the to-be-operated sub-region; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; generating an operation returning route, wherein the operation returning route is used for returning to the arched operation route for continuous operation after surrounding the obstacle area for operation, and the arched operation route, the surrounding operation route and the operation returning route are connected to form a route to be operated; the updating module 33 is configured to send the generated route to be operated to the intelligent cleaning device in a wireless transmission manner, so as to control the intelligent cleaning device to operate according to the route to be operated, detect new obstacle area information in the area to be operated in real time during operation of the intelligent cleaning device, and update the new obstacle area information to the map of the area to be operated when the new obstacle area information in the area to be operated is detected.
Preferably, the generating module 32 is further configured to: determining a starting point of the surrounding operation route on an arched operation route closest to the obstacle area; planning a nearest route from a starting point to an obstacle area, and keeping a safe distance to plan a surrounding starting point; planning a surrounding operation route surrounding the barrier area from the surrounding starting point by taking the distance from the central point of the barrier area to the surrounding starting point as a radius and the central point of the barrier area as a center; and connecting the surrounding starting point to the starting point to form a work returning route.
Preferably, the obtaining module 31 is further configured to determine corner points in the map of the area to be operated, where a distance between the corner points is smaller than a preset value, determine the corner points, where the distance between the corner points is smaller than the preset value, as dividing points, and connect the dividing points, where the distance between the corner points is smaller than the preset value, to divide the area to be operated into a plurality of sub-areas to be operated.
Preferably, the preset reference direction is determined according to the longest edge of the sub-area to be operated, and a plurality of parallel lines are sequentially planned along the longest edge of the sub-area to be operated according to the operation width and the preset overlapping degree of the intelligent cleaning equipment until the sub-area to be operated is traversed, and the plurality of parallel lines are connected end to form the arched operation route.
A computer storage medium, on which a computer program is stored, which when executed by a processor, implements a method of operation of an intelligent cleaning apparatus as described above.
A sweeping robot, comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement an intelligent cleaning apparatus operating method as described above.
According to the technical scheme of the embodiments, the obtained map of the area to be operated is divided into the operation sub-areas to plan the operation route, so that the intelligent cleaning equipment can be ensured to walk unnecessary routes as little as possible during operation, the electric energy is saved, the operation efficiency is improved, when the obstacle information is obtained, a route for operating around obstacles is formed, the obstacles can be ensured to be cleaned in a surrounding manner, the periphery of the obstacles is ensured to be cleaned completely, and the surrounding operation route around the obstacles is directly led from the arc-shaped operation route, so that the operation efficiency can be improved; in the actual operation process, when a new obstacle is detected, the obstacle is immediately updated into the map, so that the updated map is applied to the subsequent operation; therefore, the method provided by the invention has the technical effects of saving electric energy and improving the working efficiency.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (8)
1. A method of operating an intelligent cleaning device, the method comprising:
the method comprises the steps of obtaining a map of a to-be-operated area, dividing the to-be-operated area into a to-be-operated sub area and an obstacle area according to the map of the to-be-operated area, and obtaining information of the to-be-operated sub area and information of the obstacle area in the to-be-operated area, wherein the information of the to-be-operated sub area at least comprises shape information, size information and position information of the to-be-operated sub area, and the information of the obstacle area at least comprises shape information, size information and position information;
generating an arched operation route according to a preset reference direction so as to traverse the sub-area to be operated; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; generating an operation returning route, wherein the operation returning route is used for returning to the arched operation route for continuous operation after surrounding the obstacle area for operation, and the arched operation route, the surrounding operation route and the operation returning route are connected to form a route to be operated;
the generated route to be operated is sent to intelligent cleaning equipment in a wireless transmission mode so as to control the intelligent cleaning equipment to operate according to the route to be operated, new obstacle area information in the area to be operated is detected in real time in the operation process of the intelligent cleaning equipment, and when the new obstacle area information in the area to be operated is detected, the new obstacle area information is updated to a map of the area to be operated.
2. The method of claim 1, wherein the step of generating a work regression route comprises:
determining a starting point of the surrounding operation route on an arched operation route closest to the obstacle area;
planning a nearest route from a starting point to an obstacle area, and keeping a safe distance to plan a surrounding starting point;
planning a surrounding operation route surrounding the barrier area from the surrounding starting point by taking the distance from the central point of the barrier area to the surrounding starting point as a radius and the central point of the barrier area as a center;
and connecting the surrounding starting point to the starting point to form a work returning route.
3. The method according to claim 1, wherein the dividing the area to be worked into sub-areas to be worked according to the map of the area to be worked comprises:
determining corner points of which the distances between the corner points are smaller than a preset value in the map of the area to be operated, determining the corner points of which the distances between the corner points are smaller than the preset value as dividing points, and connecting the dividing points of which the distances between the corner points are smaller than the preset value so as to divide the area to be operated into a plurality of sub-areas to be operated.
4. The method according to claim 1, wherein the preset reference direction is determined according to the longest edge of the sub-area to be operated, and a plurality of parallel lines are planned along the longest edge of the sub-area to be operated in sequence according to the operation width and the preset overlapping degree of the intelligent cleaning equipment until the sub-area to be operated is traversed, and the parallel lines are connected end to form the arched operation route.
5. An operation device of an intelligent cleaning device, the operation device comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a map of a to-be-operated area, dividing the to-be-operated area into a to-be-operated sub-area and an obstacle area according to the map of the to-be-operated area, and acquiring to-be-operated sub-area information and obstacle area information in the to-be-operated area, wherein the to-be-operated sub-area information at least comprises shape information, size information and position information of the to-be-operated sub-area, and the obstacle area information at least comprises obstacle shape information;
the generating module is used for generating an arched operation route according to a preset reference direction so as to traverse the to-be-operated sub-region; generating a surrounding operation route surrounding the obstacle area to operate outside the obstacle area, wherein the surrounding operation route keeps a preset safety distance from the obstacle area; generating an operation returning route, wherein the operation returning route is used for returning to the arched operation route for continuous operation after surrounding the obstacle area for operation, and the arched operation route, the surrounding operation route and the operation returning route are connected to form a route to be operated;
the updating module is used for sending the generated route to be operated to the intelligent cleaning equipment in a wireless transmission mode so as to control the intelligent cleaning equipment to operate according to the route to be operated, detecting new obstacle area information in the area to be operated in real time in the operation process of the intelligent cleaning equipment, and updating the new obstacle area information to the map of the area to be operated when the new obstacle area information in the area to be operated is detected.
6. The apparatus of claim 5, wherein the generating module is further configured to,
determining a starting point of the surrounding operation route on an arched operation route closest to the obstacle area;
planning a nearest route from a starting point to an obstacle area, and keeping a safe distance to plan a surrounding starting point;
planning a surrounding operation route surrounding the barrier area from the surrounding starting point by taking the distance from the central point of the barrier area to the surrounding starting point as a radius and the central point of the barrier area as a center;
and connecting the surrounding starting point to the starting point to form a work returning route.
7. The device according to claim 5, wherein the obtaining module is further configured to determine corner points of the map of the area to be worked, whose distance from each other is smaller than a preset value, determine the corner points whose distance from each other is smaller than the preset value as dividing points, and connect the dividing points whose distance from each other is smaller than the preset value to divide the area to be worked into a plurality of sub-areas to be worked.
8. The device according to claim 5, wherein the preset reference direction is determined according to the longest edge of the sub-area to be operated, and a plurality of parallel lines are sequentially planned along the longest edge of the sub-area to be operated according to the operation width and the preset overlapping degree of the intelligent cleaning equipment until the sub-area to be operated is traversed, and the parallel lines are connected end to form the arched operation route.
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| CN201811616544.5A CN111443694A (en) | 2018-12-28 | 2018-12-28 | Operation method and operation device of intelligent cleaning equipment |
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| CN115016451A (en) * | 2021-03-05 | 2022-09-06 | 广东博智林机器人有限公司 | Robot operation track planning method and device, computer equipment and storage medium |
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| CN113885524A (en) * | 2021-10-29 | 2022-01-04 | 珠海格力电器股份有限公司 | Intelligent equipment operation control method and device, electronic equipment and storage medium |
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Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
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Application publication date: 20200724 |