CN111481111A - Use method and device of internal memory of sweeper - Google Patents
Use method and device of internal memory of sweeper Download PDFInfo
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- CN111481111A CN111481111A CN201910086055.1A CN201910086055A CN111481111A CN 111481111 A CN111481111 A CN 111481111A CN 201910086055 A CN201910086055 A CN 201910086055A CN 111481111 A CN111481111 A CN 111481111A
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000013519 translation Methods 0.000 claims abstract description 57
- 238000013507 mapping Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 abstract description 10
- 230000007547 defect Effects 0.000 abstract description 5
- 238000010408 sweeping Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 12
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
Abstract
The invention discloses a method and a device for using a memory of a sweeper. The method comprises the following steps: according to the mapping operation for building the household map in the memory of the sweeper, obtaining the memory map coordinates of the pixel points to be built corresponding to the mapping operation; judging whether the coordinates of the memory map exceed the preset range of the memory map or not; if yes, translating the established house type graph in a memory map; according to the memory map coordinates of the pixel points to be built after translation, the map building operation is executed in the memory of the sweeper, so that when the house type map is gradually expanded along with the movement of the sweeper, the complete house type map can be stored in the memory of the sweeper, the sweeper can be favorably cleaned normally, and the defect that part of the space is not cleaned when the sweeper is used for cleaning is avoided.
Description
Technical Field
The invention relates to the technical field of smart homes, in particular to a method and a device for using a memory of a sweeper.
Background
With the development of science and technology, machines which can replace people to work have been developed greatly, and are particularly applied to household appliances. In daily life, the floor of a room is generally cleaned manually, but with the popularization of various intelligent machines, the floor sweeping machine replacing manual cleaning is accepted and used by more and more families. The sweeper can automatically finish the cleaning work on the ground in a room, so that a user can release the sweeper from the complicated cleaning work.
The sweeper is provided with a cleaning device for cleaning various sundries on the ground where the sweeper passes through, so that the work of cleaning the ground of a room is realized. When the sweeper performs sweeping work, a house type diagram is often required to be constructed, for example, when the sweeper performs the sweeping work for the first time or a local space changes, the house type diagram is required to be constructed, specifically, the house type diagram is constructed in a memory of the sweeper, and due to the fact that the memory of the sweeper is limited, the condition that the house type diagram constructed in the memory of the sweeper is incomplete is likely to occur, so that normal sweeping of the sweeper is affected.
Disclosure of Invention
In view of the above, the present invention is proposed to provide a method and apparatus for using a memory of a sweeper, which overcomes or at least partially solves the above problems.
According to one aspect of the invention, a use method of a memory of a sweeper is provided, which comprises the following steps:
according to the mapping operation for building the household map in the memory of the sweeper, obtaining the memory map coordinates of the pixel points to be built corresponding to the mapping operation;
judging whether the coordinates of the memory map exceed the preset range of the memory map or not;
if yes, translating the established house type graph in a memory map;
and executing the map building operation in the memory of the sweeper according to the memory map coordinates of the translated pixel points to be built.
According to another aspect of the present invention, there is provided a device for using a memory of a sweeper, comprising:
the first acquisition module is suitable for acquiring memory map coordinates of pixels to be built corresponding to mapping operation according to the mapping operation for building the floor type map in the memory of the sweeper;
the judging module is suitable for judging whether the memory map coordinate exceeds the preset range of the memory map;
the translation module is suitable for translating the established house type map in the memory map if the coordinate of the memory map is judged to exceed the preset range of the memory map;
and the execution module is suitable for executing the map building operation in the memory of the sweeper according to the memory map coordinates of the translated pixel points to be built.
According to yet another aspect of the present invention, there is provided a computing device comprising: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the using method of the internal memory of the sweeper.
According to another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, where the executable instruction causes a processor to perform operations corresponding to the method for using the memory of the sweeper.
According to the technical scheme provided by the invention, according to the mapping operation for establishing the household map in the memory of the sweeper, the memory map coordinates of the pixel points to be established corresponding to the mapping operation are obtained; judging whether the coordinates of the memory map exceed the preset range of the memory map or not; if yes, translating the established house type graph in a memory map; according to the memory map coordinates of the pixel points to be built after translation, the map building operation is executed in the memory of the sweeper, so that when the house type map is gradually expanded along with the movement of the sweeper, the complete house type map can be stored in the memory of the sweeper, the sweeper can be favorably cleaned normally, and the defect that part of the space is not cleaned when the sweeper is used for cleaning is avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart illustrating a method for using a memory of a sweeper according to an embodiment of the present invention;
fig. 2A is a schematic flow chart illustrating a method for using a memory of a sweeper according to another embodiment of the present invention;
fig. 2B is a schematic diagram of a memory map of the sweeper created in the embodiment of the present invention;
fig. 2C is a schematic diagram of a house-type map built in a memory map of the sweeper under an ideal condition;
fig. 2D is a schematic diagram of a floor plan where a complete floor plan is not built in the memory map of the sweeper;
FIG. 2E is a schematic diagram of a complete house layout built on a memory map of the sweeper after translation;
fig. 3 is a schematic structural diagram illustrating a device for using a memory of a sweeper according to an embodiment of the present invention;
FIG. 4 shows a schematic structural diagram of a computing device according to one embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The inventor of the invention finds that a house type graph is required to be constructed when the sweeper performs sweeping, for example, when the sweeper performs sweeping for the first time or a local space changes, the house type graph is required to be constructed, specifically, the house type graph is constructed in a memory of the sweeper, and the situation that the house type graph constructed in the memory of the sweeper is incomplete is likely to occur due to limited memory of the sweeper, so that normal sweeping of the sweeper is affected. In order to solve the above problems, the inventor provides a solution for storing a complete house type graph by translating the created house type graph and the pixel points to be created through creative work.
Fig. 1 is a schematic flow chart illustrating a method for using a memory of a sweeper according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
step S100, according to the mapping operation for building the floor type map in the memory of the sweeper, obtaining the memory map coordinates of the pixel points to be built corresponding to the mapping operation.
The floor sweeping machine often needs to establish a floor type map when performing a sweeping work, the floor sweeping machine triggers a map establishing operation of establishing the floor type map in a memory of the floor sweeping machine according to the map establishing requirement, the memory map is composed of pixel points, the map establishing operation occupies corresponding pixel points in the memory map, specifically, according to the map establishing operation for establishing the floor type map in the memory of the floor sweeping machine, coordinates in the real world are determined by using a laser emission direction of a laser sensor and a distance from an obstacle measured by the laser sensor, then the coordinates in the real world are converted into memory map coordinates, and a specific conversion method can adopt a conversion method listed in the prior art, and is not repeated here.
Step S101, judging whether the coordinates of the memory map exceed a preset range of the memory map, if so, executing step S102; if not, go to step S104.
Because the memory of the sweeper is limited, the maximum size of the memory map of the sweeper is correspondingly limited, and the preset range of the memory map in the step corresponds to the maximum size of the memory map.
Judging whether the memory map coordinate exceeds the preset range of the memory map or not, wherein the purpose is to determine whether the map building operation can be continuously executed in the memory map according to the memory map coordinate of the pixel point to be built after the memory map coordinate of the pixel point to be built corresponding to the map building operation is obtained, if the memory map coordinate exceeds the preset range of the memory map, the map building operation cannot be directly executed in the memory map according to the memory map coordinate of the pixel point to be built, and the map can be continuously built only after the translation processing is required to be executed; if the memory map coordinate does not exceed the preset range of the memory map, the map building operation can be executed in the memory map directly according to the memory map coordinate of the pixel point to be built.
And step S102, translating the established house type graph in a memory map.
Under the condition that the memory map coordinate exceeds the preset range of the memory map, the established house type map is shown to be expanded to the edge of the memory map, the map establishing operation cannot be continuously executed in the memory map according to the memory map coordinate, in order to ensure that the house type map is completely stored in the memory map, the established house type map needs to be translated in the memory map, and the house type map is continuously established in the memory map by translating the established house type map in the memory map, so that the aim of storing the complete house type map is fulfilled.
And step S103, executing map building operation in the memory of the sweeper according to the memory map coordinates of the translated pixel points to be built.
In this embodiment, not only the built house type map needs to be translated in the memory map, but also the memory map coordinates of the pixels to be built need to be translated in order to build the complete house type map, and after the translation of the memory map coordinates of the pixels to be built is completed, the map building operation is executed in the memory of the sweeper according to the translated memory map coordinates of the pixels to be built until the complete house type map is stored in the memory map.
And step S104, executing map building operation in the memory of the sweeper according to the memory map coordinates of the pixel points to be built.
Under the condition that the memory map coordinate does not exceed the preset range of the memory map, the established house type map is indicated to be not expanded to the edge of the memory map, and under the condition, the map establishing operation can be directly executed in the memory map according to the memory map coordinate of the pixel point to be established, and corresponding house type map data are stored.
According to the method provided by the embodiment of the invention, according to the mapping operation for establishing the floor plan in the memory of the sweeper, the memory map coordinates of the pixel points to be established corresponding to the mapping operation are obtained; judging whether the coordinates of the memory map exceed the preset range of the memory map or not; if yes, translating the established house type graph in a memory map; according to the memory map coordinates of the pixel points to be built after translation, the map building operation is executed in the memory of the sweeper, so that when the house type map is gradually expanded along with the movement of the sweeper, the complete house type map can be stored in the memory of the sweeper, the sweeper can be favorably cleaned normally, and the defect that part of the space is not cleaned when the sweeper is used for cleaning is avoided.
Fig. 2A is a schematic flow chart illustrating a method for using a memory of a sweeper according to another embodiment of the present invention. As shown in fig. 2A, the method includes the steps of:
step S200, a memory map is created in the memory of the sweeper in advance, and the preset range of the memory map is determined according to the memory capacity of the sweeper.
The memory map used by the sweeper during working is stored in the memory of the sweeper in a two-dimensional array form. One pixel point on the memory map corresponds to one byte in the memory, and because the memory of the sweeper is limited, the maximum size of the memory map of the sweeper is correspondingly limited, for example, 640000 bytes of memory are allocated to the memory map of the sweeper, the size of each pixel point of the memory map of the sweeper corresponding to the real world is 5cmx5cm, and the maximum size of the memory map of the sweeper is as follows: 640000^ (1/2) ^ 0.05 ^ 40, namely 40mx40 m. In this embodiment, the created memory map is divided into four quadrants, and the created memory map of the sweeper is shown in fig. 2B.
When the floor sweeping machine establishes the house type map, the current point of the floor sweeping machine is taken as the central point of the internal memory map, and the house type map is gradually established on the internal memory map along with the movement of the floor sweeping machine. Ideally, the house-type map created in the memory map of the sweeper is shown in fig. 2C.
However, the above situation is usually an ideal situation, in a non-ideal situation, the start position of the sweeper is likely to be near the outermost corner point of the house type, and when the house type area is too large, a situation that the complete house type map cannot be stored in the memory map is likely to occur, as shown in fig. 2D.
In order to fully utilize the memory of the sweeper and store a complete house type map in the memory of the sweeper, after a memory map is created and a preset range of the memory map is determined, the map can be created according to the following method:
step S201, obtaining a memory map coordinate of a pixel point to be created corresponding to a mapping operation according to the mapping operation for creating the floor plan in the memory of the sweeper.
The floor sweeping machine often needs to establish a floor type map when performing a sweeping work, the floor sweeping machine triggers a map establishing operation of establishing the floor type map in a memory of the floor sweeping machine according to the map establishing requirement, the memory map is composed of pixel points, the map establishing operation occupies corresponding pixel points in the memory map, specifically, according to the map establishing operation for establishing the floor type map in the memory of the floor sweeping machine, coordinates in the real world are determined by using a laser emission direction of a laser sensor and a distance from an obstacle measured by the laser sensor, then the coordinates in the real world are converted into memory map coordinates, and a specific conversion method can adopt a conversion method listed in the prior art, and is not repeated here.
Step S202, judging whether the memory map coordinate exceeds a preset range of the memory map, if so, executing step S203; if not, go to step S208.
Because the memory of the sweeper is limited, the maximum size of the memory map of the sweeper is correspondingly limited, and the preset range of the memory map in the step corresponds to the maximum size of the memory map.
Judging whether the memory map coordinate exceeds the preset range of the memory map or not, wherein the purpose is to determine whether the map building operation can be continuously executed in the memory map according to the memory map coordinate of the pixel point to be built after the memory map coordinate of the pixel point to be built corresponding to the map building operation is obtained, if the memory map coordinate exceeds the preset range of the memory map, the map building operation cannot be directly executed in the memory map according to the memory map coordinate of the pixel point to be built, and the map can be continuously built only after the translation processing is required to be executed; if the memory map coordinate does not exceed the preset range of the memory map, the map building operation can be executed in the memory map directly according to the memory map coordinate of the pixel point to be built.
Taking the memory map shown in fig. 2B as an example, after determining the memory map coordinate according to step S201, comparing the numerical values corresponding to the abscissa and the ordinate of the memory map coordinate with 20m, and if the numerical values corresponding to the abscissa and the ordinate of the memory map coordinate are both less than or equal to 20m, determining that the memory map coordinate does not exceed the preset range of the memory map; and if the numerical value corresponding to the abscissa and/or the ordinate of the memory map coordinate is larger than 20m, determining that the memory map coordinate exceeds the preset range of the memory map. This is by way of example only and is not intended to be limiting.
Step S203, obtaining the memory map coordinates of the center point of the minimum circumscribed rectangle of the established house layout.
Under the condition that the memory map coordinate exceeds the preset range of the memory map, the established house type map is expanded to the edge of the memory map, the map establishing operation cannot be continuously executed in the memory map according to the memory map coordinate, in order to ensure that the whole memory house type map in the memory map can be completely stored, the established house type map needs to be translated in the memory map, specifically, the house type map established in the memory map by the sweeper is determined, then, the minimum external rectangle of the current established house type map is further determined, the memory map coordinate of the central point of the minimum external rectangle of the established house type map is calculated, in the step, the memory map coordinate of the four vertexes of the minimum external rectangle can be determined, the memory map coordinate of the central point of the minimum external rectangle can be determined according to the memory map coordinate of the four vertexes of the minimum external rectangle, the memory map coordinate of the central point of the minimum external rectangle of the established house type map is marked as (Cx, cy).
Step S204, determining translation parameters according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters.
After the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map are obtained, the translation parameters can be determined according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and the memory map coordinates of the central point of the minimum circumscribed rectangle are marked as (Cx, Cy), so that the determined translation parameters are (-Cx, -Cy).
When determining the translation parameter, considering the quadrant situation of the established house type map in the memory map, as shown in fig. 2D, when determining that the memory map coordinate exceeds the preset range of the memory map, it may be determined that the house type map is substantially located in the first quadrant of the memory map, and at this time, the spaces of the second quadrant, the third quadrant, and the fourth quadrant in the memory map are not fully utilized, so that it may be determined that the translation parameter is moving | Cy | downward, moving | Cx | leftward, and after determining the translation parameter, the established house type map may be translated in the memory map according to the translation parameter.
In an alternative embodiment of the invention, the translation may be performed by: and traversing the memory map coordinate of each established pixel point in the established household graph, and updating the memory map coordinate of each established pixel point according to the translation parameter.
Specifically, memory map coordinates of each established pixel point in the established family map are traversed, the memory map coordinates of each established pixel point are set to be (Pxi, Pyi), the determined translation parameters are (-Cx, -Cy), the memory map coordinates of each established pixel point are updated according to the translation parameters, and the updated memory map coordinates of each established pixel point are (Pxi-Cx, Pyi-Cy).
Step S205, according to the memory map coordinates of the translated pixel points to be built, the map building operation is executed in the memory of the sweeper.
In this embodiment, not only the built house type map needs to be translated in the memory map, but also the memory map coordinates of the pixels to be built need to be translated in order to build the complete house type map, and after the translation of the memory map coordinates of the pixels to be built is completed, the map building operation is executed in the memory of the sweeper according to the translated memory map coordinates of the pixels to be built.
And step S206, acquiring memory map coordinates corresponding to the position of the sweeper.
After the map building operation is executed, the sweeper can utilize the laser distance sensor to send and receive light, the rotation is 360 degrees, the surrounding environment can be accurately scanned, the self-positioning is carried out according to the distance measurement, the carried S L AM algorithm helps the sweeper body to be accurately positioned, and the sweeper can determine the memory map coordinate corresponding to the self-position of the sweeper according to the actual sweeping distance and direction.
And step S207, updating the memory map coordinate corresponding to the position of the sweeper according to the translation parameter.
For example, the obtained memory map coordinates corresponding to the own position of the sweeper are (Rx, Ry), the determined translation parameter is (-Cx, -Cy), the memory map coordinates corresponding to the own position of the sweeper are updated according to the translation parameter to be (Rx-Cx, Ry-Cy), and after the memory map coordinates corresponding to the own position of the sweeper are updated, the map is continuously built according to the memory map coordinates corresponding to the own position of the sweeper.
And S208, executing the map building operation in the memory of the sweeper according to the memory map coordinates of the pixel points to be built.
Under the condition that the memory map coordinate does not exceed the preset range of the memory map, the established house type map is indicated to be not expanded to the edge of the memory map, and under the condition, the map establishing operation can be directly executed in the memory map according to the memory map coordinate of the pixel point to be established, and corresponding house type map data are stored.
According to the method provided by the embodiment of the invention, a memory map is created in a memory of the sweeper in advance, a preset range of the memory map is determined according to the memory capacity of the sweeper, and memory map coordinates of pixels to be created corresponding to the map creating operation are obtained according to the map creating operation for creating a floor plan in the memory of the sweeper; judging whether the coordinates of the memory map exceed the preset range of the memory map or not; if so, acquiring the memory map coordinate of the central point of the minimum circumscribed rectangle of the established user-type map; determining translation parameters according to memory map coordinates of the center point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters; according to the memory map coordinates of the pixel points to be built after translation, the map building operation is executed in the memory of the sweeper, the memory map coordinates corresponding to the self position of the sweeper are obtained, the memory map coordinates corresponding to the self position of the sweeper are updated according to the translation parameters, the fact that when the house type map is gradually expanded along with movement of the sweeper is achieved, the complete house type map can be stored in the memory of the sweeper, normal sweeping of the sweeper is facilitated, limitation of the memory of the sweeper is avoided, and the defect that part of the space is not swept when the sweeper is used for sweeping due to incomplete storage of the house type map is overcome.
Fig. 3 is a schematic structural diagram illustrating a device for using a memory of a sweeper according to an embodiment of the present invention. As shown in fig. 3, the apparatus includes: a first obtaining module 300, a determining module 310, a translating module 320, and an executing module 330.
The first obtaining module 300 is adapted to obtain a memory map coordinate of a pixel point to be created corresponding to a mapping operation according to the mapping operation for creating a floor plan in a memory of the sweeper;
the judging module 310 is adapted to judge whether the memory map coordinate exceeds a preset range of the memory map;
the translation module 320 is adapted to translate the established house type map in the memory map if the memory map coordinate is judged to exceed the preset range of the memory map;
the executing module 330 is adapted to execute the map building operation in the memory of the sweeper according to the memory map coordinates of the translated pixel points to be built.
Optionally, the apparatus further comprises: the processing module 340 is adapted to create a memory map in the memory of the sweeper in advance, and determine a preset range of the memory map according to the memory capacity of the sweeper.
Optionally, the translation module 320 is further adapted to: acquiring the memory map coordinate of the central point of the minimum circumscribed rectangle of the established house type map;
and determining translation parameters according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters.
Optionally, the translation module 320 is further adapted to: traversing the memory map coordinates of each established pixel point in the established household map;
and updating the memory map coordinates of each established pixel point according to the translation parameters.
Optionally, the apparatus further comprises: the second obtaining module 350 is adapted to obtain a memory map coordinate corresponding to the own position of the sweeper;
and the updating module 360 is suitable for updating the memory map coordinate corresponding to the position of the sweeper according to the translation parameter.
According to the device provided by the embodiment of the invention, according to the mapping operation for establishing the floor plan in the memory of the sweeper, the memory map coordinates of the pixel points to be established corresponding to the mapping operation are obtained; judging whether the coordinates of the memory map exceed the preset range of the memory map or not; if yes, translating the established house type graph in a memory map; according to the memory map coordinates of the pixel points to be built after translation, the map building operation is executed in the memory of the sweeper, so that when the house type map is gradually expanded along with the movement of the sweeper, the complete house type map can be stored in the memory of the sweeper, the sweeper can be favorably cleaned normally, and the defect that part of the space is not cleaned when the sweeper is used for cleaning is avoided.
The embodiment of the invention also provides a nonvolatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the use method of the internal memory of the sweeper in any method embodiment.
Fig. 4 is a schematic structural diagram of a computing device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the computing device.
As shown in fig. 4, the computing device may include: a processor (processor)402, a Communications Interface 404, a memory 406, and a Communications bus 408.
Wherein:
the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.
A communication interface 404 for communicating with network elements of other devices, such as clients or other servers.
The processor 402 is configured to execute the program 410, and may specifically execute the relevant steps in the above-described embodiment of the method for using the memory of the sweeper.
In particular, program 410 may include program code comprising computer operating instructions.
The processor 402 may be a central processing unit CPU, or an application specific Integrated circuit asic, or one or more Integrated circuits configured to implement an embodiment of the present invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 406 for storing a program 410. Memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may be specifically configured to enable the processor 402 to execute the method for using the memory of the sweeper in any of the above-described method embodiments. For specific implementation of each step in the program 410, reference may be made to corresponding steps and corresponding descriptions in units in the above-described use embodiment of the memory of the sweeper, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the use of sweeper memory in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The invention discloses:
A1. a use method of a memory of a sweeper comprises the following steps:
according to mapping operation for building a household figure in a memory of a sweeper, obtaining memory map coordinates of pixels to be built corresponding to the mapping operation;
judging whether the memory map coordinate exceeds a preset range of the memory map or not;
if yes, translating the established house type graph in a memory map;
and executing the mapping operation in the memory of the sweeper according to the translated memory map coordinates of the pixel points to be mapped.
A2. The method of a1, wherein the method further comprises: the method comprises the steps of creating a memory map in a memory of the sweeper in advance, and determining a preset range of the memory map according to the memory capacity of the sweeper.
A3. The method of a1 or a2, wherein the translating the created house type map in the in-memory map further comprises:
acquiring the memory map coordinate of the central point of the minimum circumscribed rectangle of the established house type map;
and determining translation parameters according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters.
A4. The method according to a3, wherein the translating the created house type map in the memory map according to the translation parameter further comprises:
traversing the memory map coordinates of each established pixel point in the established household graph;
and updating the memory map coordinates of each established pixel point according to the translation parameters.
A5. The method of A3 or a4, wherein the method further comprises:
acquiring a memory map coordinate corresponding to the position of the sweeper;
and updating the memory map coordinate corresponding to the position of the sweeper according to the translation parameter.
B6. A use device of a memory of a sweeper comprises:
the first acquisition module is suitable for acquiring the memory map coordinates of the pixel points to be built corresponding to the mapping operation according to the mapping operation for building the floor type map in the memory of the sweeper;
the judging module is suitable for judging whether the memory map coordinate exceeds a preset range of the memory map;
the translation module is suitable for translating the established house type map in the memory map if the memory map coordinate is judged to exceed the preset range of the memory map;
and the execution module is suitable for executing the mapping operation in the memory of the sweeper according to the translated memory map coordinates of the pixel points to be built.
B7. The apparatus of B6, wherein the apparatus further comprises: and the processing module is suitable for creating a memory map in the memory of the sweeper in advance and determining the preset range of the memory map according to the memory capacity of the sweeper.
B8. The apparatus of B6 or B7, wherein the translation module is further adapted to:
acquiring the memory map coordinate of the central point of the minimum circumscribed rectangle of the established house type map;
and determining translation parameters according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters.
B9. The apparatus of B8, wherein the translation module is further adapted to:
traversing the memory map coordinates of each established pixel point in the established household graph;
and updating the memory map coordinates of each established pixel point according to the translation parameters.
B10. The apparatus of B8 or B9, wherein the apparatus further comprises:
the second acquisition module is suitable for acquiring memory map coordinates corresponding to the position of the sweeper;
and the updating module is suitable for updating the memory map coordinate corresponding to the position of the sweeper according to the translation parameter.
C11. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the using method of the internal memory of the sweeper, as described in any one of A1-A5.
D12. A computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the method of using the memory of the sweeper as described in any one of a1-a 5.
Claims (10)
1. A use method of a memory of a sweeper comprises the following steps:
according to mapping operation for building a household figure in a memory of a sweeper, obtaining memory map coordinates of pixels to be built corresponding to the mapping operation;
judging whether the memory map coordinate exceeds a preset range of the memory map or not;
if yes, translating the established house type graph in a memory map;
and executing the mapping operation in the memory of the sweeper according to the translated memory map coordinates of the pixel points to be mapped.
2. The method of claim 1, wherein the method further comprises: the method comprises the steps of creating a memory map in a memory of the sweeper in advance, and determining a preset range of the memory map according to the memory capacity of the sweeper.
3. The method of claim 1 or 2, wherein the translating the established house type map in the in-memory map further comprises:
acquiring the memory map coordinate of the central point of the minimum circumscribed rectangle of the established house type map;
and determining translation parameters according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters.
4. The method of claim 3, wherein said translating the created house type map in the in-memory map according to the translation parameters further comprises:
traversing the memory map coordinates of each established pixel point in the established household graph;
and updating the memory map coordinates of each established pixel point according to the translation parameters.
5. The method of claim 3 or 4, wherein the method further comprises:
acquiring a memory map coordinate corresponding to the position of the sweeper;
and updating the memory map coordinate corresponding to the position of the sweeper according to the translation parameter.
6. A use device of a memory of a sweeper comprises:
the first acquisition module is suitable for acquiring the memory map coordinates of the pixel points to be built corresponding to the mapping operation according to the mapping operation for building the floor type map in the memory of the sweeper;
the judging module is suitable for judging whether the memory map coordinate exceeds a preset range of the memory map;
the translation module is suitable for translating the established house type map in the memory map if the memory map coordinate is judged to exceed the preset range of the memory map;
and the execution module is suitable for executing the mapping operation in the memory of the sweeper according to the translated memory map coordinates of the pixel points to be built.
7. The apparatus of claim 6, wherein the apparatus further comprises: and the processing module is suitable for creating a memory map in the memory of the sweeper in advance and determining the preset range of the memory map according to the memory capacity of the sweeper.
8. The apparatus of claim 6 or 7, wherein the translation module is further adapted to:
acquiring the memory map coordinate of the central point of the minimum circumscribed rectangle of the established house type map;
and determining translation parameters according to the memory map coordinates of the central point of the minimum circumscribed rectangle of the established house type map, and translating the established house type map in the memory map according to the translation parameters.
9. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the using method of the internal memory of the sweeper in any one of claims 1-5.
10. A computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the method of using the sweeper memory of any one of claims 1-5.
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