CN111562777A - Sweeping path planning method and device of sweeping robot - Google Patents
Sweeping path planning method and device of sweeping robot Download PDFInfo
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- CN111562777A CN111562777A CN201910085706.5A CN201910085706A CN111562777A CN 111562777 A CN111562777 A CN 111562777A CN 201910085706 A CN201910085706 A CN 201910085706A CN 111562777 A CN111562777 A CN 111562777A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000004140 cleaning Methods 0.000 claims abstract description 170
- 238000001514 detection method Methods 0.000 claims description 48
- 238000004891 communication Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a sweeping path planning method and device for a sweeping robot, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring a map of a target area; determining one or more blocks to be cleaned according to the acquired map of the target area; and planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned. Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, the cleaning path of the sweeping robot to the target area is swept according to the determined block to be cleaned, instead of the fixed block being used as the cleaning path of the sweeping robot for cleaning, the planned path is more suitable for the target area, the cleaning efficiency is improved, and the user experience is enhanced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a sweeping path planning method and device of a sweeping robot, electronic equipment and a computer readable storage medium.
Background
Nowadays, various robots are applied to various industries, and people's daily life, such as a floor sweeping robot, is also entered, so that great convenience is brought to people's life. A user will typically use the sweeping robot to perform a cleaning operation in a designated area, such as a home. In the prior art, a sweeping robot usually cleans in units of blocks with fixed sizes, for example, squares with a length and a width of 2 meters, so that the sweeping robot cleans one unit of one unit no matter how large the area of a specified area is, and the cleaning efficiency is low due to the planned cleaning path.
Disclosure of Invention
In view of the above problems, the present invention is proposed to provide a cleaning path planning method, apparatus, electronic device and computer readable storage medium for a sweeping robot, which overcome or at least partially solve the above problems.
According to an aspect of the invention, a sweeping path planning method for a sweeping robot is provided, wherein the method comprises the following steps:
acquiring a map of a target area;
determining one or more blocks to be cleaned according to the acquired map of the target area;
and planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned.
Optionally, the obtaining the map of the target area includes:
receiving a control instruction of a detection target area sent by an intelligent terminal;
detecting the target area according to the control instruction to obtain detection information of the target area;
and determining a map of the target area according to the obtained detection information.
Optionally, the detecting the target area, and obtaining the detection information of the target area includes:
and generating detection information of the target area according to the transmitted detection signal and the received reflection signal.
Optionally, the determining one or more to-be-cleaned blocks according to the obtained map of the target area includes:
determining one or more connected regions in the target region according to the obtained map of the target region, and obtaining the area of each connected region;
judging whether the area of each communication area is larger than a first preset threshold value or not;
if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
Optionally, the determining one or more to-be-cleaned blocks according to the obtained map of the target area includes:
determining one or more closed ports in the target area according to the acquired map of the target area, and respectively acquiring the length of each closed port;
judging whether the length of each closed opening is greater than a second preset threshold value or not;
if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
Optionally, the planning a cleaning path of the cleaning robot for the target area according to the determined one or more to-be-cleaned blocks includes:
respectively planning a cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
Optionally, the determining the cleaning sequence of the cleaning robot for the area to be cleaned includes:
and receiving a cleaning sequence of the to-be-cleaned area of the cleaning robot sent by the intelligent terminal.
Optionally, the method further comprises:
and controlling the sweeping robot to complete the sweeping of one to-be-swept block according to the planned sweeping path, and then sweeping the next to-be-swept block according to the sweeping sequence.
According to another aspect of the present invention, a cleaning path planning device for a cleaning robot is provided, wherein the device comprises:
an acquisition unit adapted to acquire a map of a target area;
the determining unit is suitable for determining one or more blocks to be cleaned according to the acquired map of the target area;
and the planning unit is suitable for planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.
Alternatively,
the acquisition unit is suitable for receiving a control instruction of a detection target area sent by the intelligent terminal; detecting the target area according to the control instruction to obtain detection information of the target area; and determining a map of the target area according to the obtained detection information.
Alternatively,
the acquisition unit is suitable for generating detection information of the target area according to the transmitted detection signal and the received reflection signal.
Alternatively,
the determining unit is suitable for determining one or more connected regions in the target region according to the acquired map of the target region and acquiring the area of each connected region; judging whether the area of each communication area is larger than a first preset threshold value or not; if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
Alternatively,
the determining unit is suitable for determining one or more closed ports in the target area according to the acquired map of the target area and acquiring the length of each closed port respectively; judging whether the length of each closed opening is greater than a second preset threshold value or not; if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
Optionally, the planning unit is adapted to plan a cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
Optionally, the planning unit is adapted to receive a cleaning sequence of the to-be-cleaned area sent by the intelligent terminal.
Optionally, the apparatus further comprises:
and the control unit is suitable for controlling the sweeping robot to complete the sweeping of one to-be-swept block according to the planned sweeping path and then carry out the sweeping of the next to-be-swept block according to the sweeping sequence.
According to still another aspect of the present invention, there is provided an electronic apparatus, wherein the electronic apparatus includes:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to the foregoing.
According to yet another aspect of the present invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the aforementioned method.
According to the technical scheme of the invention, a map of a target area is obtained; determining one or more blocks to be cleaned according to the acquired map of the target area; and planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned. Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, the cleaning path of the sweeping robot to the target area is swept according to the determined block to be cleaned, instead of the fixed block being used as the cleaning path of the sweeping robot for cleaning, the planned path is more suitable for the target area, the cleaning efficiency is improved, and the user experience is enhanced.
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 of a cleaning path planning method of a cleaning robot according to an embodiment of the present invention;
FIG. 2 illustrates a map schematic of a target area according to one embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cleaning path planning device of a sweeping robot according to an embodiment of the present invention;
FIG. 4 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;
fig. 5 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present 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.
Fig. 1 shows a flow chart of a cleaning path planning method of a cleaning robot according to an embodiment of the present invention. As shown in fig. 1, the method includes:
in step S110, a map of the target area is acquired.
Step S120, one or more blocks to be cleaned are determined according to the acquired map of the target area.
Step S130, planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.
In the prior art, a sweeping robot determines a sweeping path by taking a block with a fixed size as a unit, and when the sweeping robot sweeps, the sweeping robot repeatedly moves the block with the fixed size, so that the sweeping efficiency is low.
In this embodiment, the cleaning path of the sweeping robot is planned by taking the determined block to be cleaned as a unit, and a fixed block is not taken as the cleaning path of the sweeping robot for cleaning, so that the cleaning efficiency is improved, and the user experience is enhanced. Because the area to be cleaned is determined according to the map of the target area, the determined cleaning path is more suitable for the target area. For example, if the determined size of the block to be cleaned is 4 × 4, the cleaning path of the sweeping robot is determined, the sweeping robot may first sweep along the wall for one turn, and then sweep repeatedly by 4 meters until the cleaning of the block is completed, if the 2 × 2 manner in the prior art is adopted, because the block to be cleaned includes 4 cells of 2 × 2, the sweeping robot needs to sweep repeatedly by 2 meters for 4 times, and compared with the technical scheme, the cleaning efficiency is low.
Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, the cleaning path of the sweeping robot to the target area is swept according to the determined block to be cleaned, instead of the fixed block being used as the cleaning path of the sweeping robot for cleaning, the planned path is more suitable for the target area, the cleaning efficiency is improved, and the user experience is enhanced.
In one embodiment of the present invention, the obtaining the map of the target area in step S110 of the method shown in fig. 1 includes: receiving a control instruction of a detection target area sent by an intelligent terminal; detecting the target area according to the control instruction to obtain detection information of the target area; and determining a map of the target area according to the obtained detection information.
In this embodiment, in order to obtain the map of the target area, before the user starts to use the sweeping robot, the intelligent terminal is required to control the robot to detect in the target area, so that the sweeping robot can determine the map of the target area according to the detection information.
Specifically, the above detecting the target area to obtain the detection information of the target area includes: and generating detection information of the target area according to the transmitted detection signal and the received reflection signal.
The sweeping robot is provided with a detection sensing module, so that a detection signal can be sent out when detection is carried out, a returned reflection signal is received, and detection information of a target area can be generated, such as where a wall is arranged, where an obstacle is arranged, where the robot can travel and the like.
In one embodiment of the present invention, the determining one or more to-be-cleaned blocks according to the acquired map of the target area in step S120 of the method shown in fig. 1 includes: determining one or more connected regions in the target region according to the obtained map of the target region, and obtaining the area of each connected region; judging whether the area of each communication area is larger than a first preset threshold value or not; if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
This technical scheme aims at improving and cleans efficiency, when confirming and waiting to clean the block, need regard as one and wait to clean the block with the area of being convenient for simultaneous processing, and the area of being inconvenient for simultaneous processing is regarded as one respectively and waits to clean the block. In this embodiment, the area of the connected region can be determined, and if the area of the connected region is greater than the first preset threshold, it is indicated that when each sub-region connected to the connected region is used as a block, the sweeping robot can easily and repeatedly pass through the connected sub-region, and the sweeping efficiency is not affected, then each sub-region connected to the connected region is used as a block to be swept; if the area of the connected area is not larger than the first preset threshold value, it is described that if the sub-areas connected to the connected area are used as a block to be cleaned, the sweeping robot is not easy to move, and the sweeping efficiency is reduced, for example, if the sweeping robot passes through the block repeatedly, the action of the sweeping robot is affected, and if the sweeping robot passes through the block repeatedly, the sub-areas connected to the connected area are used as blocks to be cleaned.
In one embodiment of the present invention, the determining one or more to-be-cleaned blocks according to the acquired map of the target area in step S120 of the method shown in fig. 1 includes: determining one or more closed ports in the target area according to the acquired map of the target area, and respectively acquiring the length of each closed port; judging whether the length of each closed opening is greater than a second preset threshold value or not; if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
In practical applications, the sub-regions in the target region are connected by a closed port, i.e., a gap in the peripheral line in each sub-region. For example, the sub-area is a room, which is connected with another room through a door, the periphery of the room is four walls, one or more walls of the room are provided with a door, the door is a closed opening, and the length of the closed opening is the width of the door.
In this embodiment, whether each sub-area connected with the closed opening is used as an area to be cleaned or is respectively used as an area to be cleaned is determined by setting a second preset threshold. For example, the second preset threshold is set to 1.2 meters. If the length of the closed opening connecting the sub-area 1 and the sub-area 2 is greater than 1.2 meters, if the length is greater than 1.2 meters, the sub-area 1 and the sub-area 2 are used as a block 1 to be cleaned, namely a block to be cleaned; if the length is not more than 1.2 meters, the sub-area 1 is used as the area 1 to be cleaned, and the sub-area 2 is used as the area 2 to be cleaned, i.e. two areas to be cleaned.
FIG. 2 shows a map schematic of a target area according to one embodiment of the invention. In combination with the schemes of determining the block to be cleaned in the above two embodiments, the target area shown in fig. 2 may be divided into blocks. As shown in fig. 2, determining the connected region of the target region according to the map includes a connected region 1, a closed port 2 and a closed port 3; firstly, the area of a connected region 1 is obtained, and if the area of the connected region 1 is judged to be larger than a first preset threshold value, a sub-region I and a sub-region II connected with the connected region 1 are used as a block to be cleaned. Then, the length of the closed opening 2 and the length of the closed opening 3 are respectively obtained, and whether the length of the closed opening 2 and the length of the closed opening 3 are larger than a second preset threshold value or not is respectively judged; judging that the length of the closed opening 2 and the length of the closed opening 3 are both smaller than a second preset threshold value, taking the subregion three connected with the closed opening 2 as a block to be cleaned, and taking the subregion four connected with the closed opening 2 as a block to be cleaned; and taking the sub-area I connected with the closed port 3 as a block to be cleaned, and taking the sub-area III connected with the closed port 3 as a block to be cleaned. Then, for the target area, the determined to-be-cleaned blocks are block 1 (sub-area one and sub-area two), block 2 (sub-area three), and block 3 (sub-area four).
In an embodiment of the present invention, the planning a cleaning path of the cleaning robot for the target area according to the determined one or more blocks to be cleaned in step S130 of the method shown in fig. 1 includes: respectively planning a cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
In this embodiment, since it is determined that the block to be cleaned can be cleaned as a unit, when the cleaning path of each block to be cleaned is determined, the block to be cleaned can be planned as a whole, for example, for a block to be cleaned, after a circle of cleaning is performed along the boundary, the block is cleaned back and forth by moving once in a single direction by taking the length or width of the block as a distance, until the cleaning of the block is completed. As shown in sub-area four (block 3) of fig. 2, the planned path is: and firstly, sweeping for a circle along the wall, and then, sweeping back and forth from top to bottom until the sweeping of the subregion four is completed.
Because it is determined that the number of the blocks to be cleaned may be multiple, when the cleaning path is planned, the cleaning sequence of the blocks to be cleaned needs to be determined, as shown in fig. 2, the cleaning sequence may be block 3 (sub-region four) - > block 2 (sub-region three) - > block 1 (sub-region one and sub-region two), so that the cleaning path of each block to be cleaned and the cleaning sequence of the cleaning blocks are taken as the cleaning path of the whole target region, that is, the planning of the cleaning path of the whole target region is completed.
Specifically, the determining the cleaning sequence of the cleaning robot for the area to be cleaned includes: and receiving a cleaning sequence of the to-be-cleaned area of the cleaning robot sent by the intelligent terminal.
In this embodiment, after determining the blocks to be cleaned, the user can set the cleaning sequence of the blocks to be cleaned according to the need. Specifically, the user can input the cleaning sequence in the intelligent terminal, so that the intelligent terminal outputs the cleaning sequence input by the user to the cleaning path planning device of the cleaning robot.
In one embodiment of the present invention, the method shown in fig. 1 further comprises: and after the sweeping robot is controlled to complete the sweeping of one block to be swept according to the planned sweeping path, the sweeping of the next block to be swept is carried out according to the sweeping sequence.
After the sweeping robot finishes the planning of the sweeping path, the sweeping robot can be controlled to carry out sweeping work according to the planned sweeping path. For example, as shown in fig. 2, the cleaning sequence may be zone 3 (sub-zone four) — > zone 2 (sub-zone three) — > zone 1 (sub-zone one and sub-zone two), so as to complete the planning of the cleaning path of the whole target area. Cleaning the block 3 from top to bottom after cleaning a circle along the wall according to the cleaning path of the block 3, controlling the sweeping robot to complete cleaning of the block 3, completing cleaning of the block 2 according to the cleaning path of the block 2 according to the cleaning sequence, and then completing cleaning of the block 1 according to the cleaning path of the block 1.
Fig. 3 shows a schematic structural diagram of a cleaning path planning device of a sweeping robot according to an embodiment of the present invention. As shown in fig. 3, the cleaning path planning apparatus 300 of the cleaning robot includes:
the obtaining unit 310 is adapted to obtain a map of the target area.
The determining unit 320 is adapted to determine one or more to-be-cleaned blocks according to the acquired map of the target area.
The planning unit 330 is adapted to plan a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.
In the prior art, a sweeping robot determines a sweeping path by taking a block with a fixed size as a unit, and when the sweeping robot sweeps, the sweeping robot repeatedly moves the block with the fixed size, so that the sweeping efficiency is low.
In this embodiment, the cleaning path of the sweeping robot is planned by taking the determined block to be cleaned as a unit, and a fixed block is not taken as the cleaning path of the sweeping robot for cleaning, so that the cleaning efficiency is improved, and the user experience is enhanced. Because the area to be cleaned is determined according to the map of the target area, the determined cleaning path is more suitable for the target area. For example, if the determined size of the block to be cleaned is 4 × 4, the cleaning path of the sweeping robot is determined, the sweeping robot may first sweep along the wall for one turn, and then sweep repeatedly by 4 meters until the cleaning of the block is completed, if the 2 × 2 manner in the prior art is adopted, because the block to be cleaned includes 4 cells of 2 × 2, the sweeping robot needs to sweep repeatedly by 2 meters for 4 times, and compared with the technical scheme, the cleaning efficiency is low.
Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, the cleaning path of the sweeping robot to the target area is swept according to the determined block to be cleaned, instead of the fixed block being used as the cleaning path of the sweeping robot for cleaning, the planned path is more suitable for the target area, the cleaning efficiency is improved, and the user experience is enhanced.
In an embodiment of the present invention, the obtaining unit 310 shown in fig. 3 is adapted to receive a control instruction for detecting a target area sent by an intelligent terminal; detecting the target area according to the control instruction to obtain detection information of the target area; and determining a map of the target area according to the obtained detection information.
In this embodiment, in order to obtain the map of the target area, before the user starts to use the sweeping robot, the intelligent terminal is required to control the robot to detect in the target area, so that the sweeping robot can determine the map of the target area according to the detection information.
Specifically, the above-mentioned obtaining unit 310 is adapted to generate the detection information of the target area according to the transmitted detection signal and the received reflection signal.
The sweeping robot is provided with a detection sensing module, so that a detection signal can be sent out when detection is carried out, a returned reflection signal is received, and detection information of a target area can be generated, such as where a wall is arranged, where an obstacle is arranged, where the robot can travel and the like.
In an embodiment of the present invention, the determining unit 320 shown in fig. 3 is adapted to determine one or more connected regions in the target region according to the obtained map of the target region, and obtain the area of each connected region; judging whether the area of each communication area is larger than a first preset threshold value or not; if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
This technical scheme aims at improving and cleans efficiency, when confirming and waiting to clean the block, need regard as one and wait to clean the block with the area of being convenient for simultaneous processing, and the area of being inconvenient for simultaneous processing is regarded as one respectively and waits to clean the block. In this embodiment, the area of the connected region can be determined, and if the area of the connected region is greater than the first preset threshold, it is indicated that when each sub-region connected to the connected region is used as a block, the sweeping robot can easily and repeatedly pass through the connected sub-region, and the sweeping efficiency is not affected, then each sub-region connected to the connected region is used as a block to be swept; if the area of the connected area is not larger than the first preset threshold value, it is described that if the sub-areas connected to the connected area are used as a block to be cleaned, the sweeping robot is not easy to move, and the sweeping efficiency is reduced, for example, if the sweeping robot passes through the block repeatedly, the action of the sweeping robot is affected, and if the sweeping robot passes through the block repeatedly, the sub-areas connected to the connected area are used as blocks to be cleaned.
In an embodiment of the present invention, the determining unit 320 shown in fig. 3 is adapted to determine one or more closed ports in the target area according to the obtained map of the target area, and obtain the length of each closed port respectively; judging whether the length of each closed opening is greater than a second preset threshold value or not; if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
In practical applications, the sub-regions in the target region are connected by a closed port, i.e., a gap in the peripheral line in each sub-region. For example, the sub-area is a room, which is connected with another room through a door, the periphery of the room is four walls, one or more walls of the room are provided with a door, the door is a closed opening, and the length of the closed opening is the width of the door.
In this embodiment, whether each sub-area connected with the closed opening is used as an area to be cleaned or is respectively used as an area to be cleaned is determined by setting a second preset threshold. For example, the second preset threshold is set to 1.2 meters. If the length of the closed opening connecting the sub-area 1 and the sub-area 2 is greater than 1.2 meters, if the length is greater than 1.2 meters, the sub-area 1 and the sub-area 2 are used as a block 1 to be cleaned, namely a block to be cleaned; if the length is not more than 1.2 meters, the sub-area 1 is used as the area 1 to be cleaned, and the sub-area 2 is used as the area 2 to be cleaned, i.e. two areas to be cleaned.
FIG. 2 shows a map schematic of a target area according to one embodiment of the invention. In combination with the schemes of determining the block to be cleaned in the above two embodiments, the target area shown in fig. 2 may be divided into blocks. As shown in fig. 2, determining the connected region of the target region according to the map includes a connected region 1, a closed port 2 and a closed port 3; firstly, the area of a connected region 1 is obtained, and if the area of the connected region 1 is judged to be larger than a first preset threshold value, a sub-region I and a sub-region II connected with the connected region 1 are used as a block to be cleaned. Then, the length of the closed opening 2 and the length of the closed opening 3 are respectively obtained, and whether the length of the closed opening 2 and the length of the closed opening 3 are larger than a second preset threshold value or not is respectively judged; judging that the length of the closed opening 2 and the length of the closed opening 3 are both smaller than a second preset threshold value, taking the subregion three connected with the closed opening 2 as a block to be cleaned, and taking the subregion four connected with the closed opening 2 as a block to be cleaned; and taking the sub-area I connected with the closed port 3 as a block to be cleaned, and taking the sub-area III connected with the closed port 3 as a block to be cleaned. Then, for the target area, the determined to-be-cleaned blocks are block 1 (sub-area one and sub-area two), block 2 (sub-area three), and block 3 (sub-area four).
In an embodiment of the present invention, the planning unit 330 shown in fig. 3 is adapted to respectively plan a cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
In this embodiment, since it is determined that the block to be cleaned can be cleaned as a unit, when the cleaning path of each block to be cleaned is determined, the block to be cleaned can be planned as a whole, for example, for a block to be cleaned, after a circle of cleaning is performed along the boundary, the block is cleaned back and forth by moving once in a single direction by taking the length or width of the block as a distance, until the cleaning of the block is completed. As shown in sub-area four (block 3) of fig. 2, the planned path is: and firstly, sweeping for a circle along the wall, and then, sweeping back and forth from top to bottom until the sweeping of the subregion four is completed.
Because the number of the blocks to be cleaned is determined to be multiple, when the cleaning path is planned, the cleaning sequence of the blocks to be cleaned is also determined, as shown in fig. 2, the cleaning sequence may be block 3 (sub-region four) - > block 2 (sub-region three) - > block 1 (sub-region one and sub-region two), so that the cleaning path of the whole target region is planned.
Specifically, the planning unit 330 is adapted to receive a cleaning sequence of the to-be-cleaned area sent by the intelligent terminal.
In this embodiment, after determining the blocks to be cleaned, the user can set the cleaning sequence of the blocks to be cleaned according to the need. Specifically, the user can input the cleaning sequence in the intelligent terminal, so that the intelligent terminal outputs the cleaning sequence input by the user to the cleaning path planning device of the cleaning robot.
In one embodiment of the present invention, the apparatus shown in fig. 3 further comprises:
and the control unit is suitable for controlling the sweeping robot to complete the sweeping of one block to be swept according to the planned sweeping path and then carry out the sweeping of the next block to be swept according to the sweeping sequence.
After the sweeping robot finishes the planning of the sweeping path, the sweeping robot can be controlled to carry out sweeping work according to the planned sweeping path. For example, as shown in fig. 2, the sweeping sequence may be tile 3 (sub-region four) — > tile 2 (sub-region three) — > tile 1 (sub-region one and sub-region two), so that the planning of the sweeping path of the whole target region is completed. Cleaning the block 3 from top to bottom after cleaning a circle along the wall according to the cleaning path of the block 3, controlling the sweeping robot to complete cleaning of the block 3, completing cleaning of the block 2 according to the cleaning path of the block 2 according to the cleaning sequence, and then completing cleaning of the block 1 according to the cleaning path of the block 1.
In summary, according to the technical scheme of the invention, a map of a target area is obtained; determining one or more blocks to be cleaned according to the acquired map of the target area; and planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned. Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, the cleaning path of the sweeping robot to the target area is swept according to the determined block to be cleaned, instead of the fixed block being used as the cleaning path of the sweeping robot for cleaning, the planned path is more suitable for the target area, the cleaning efficiency is improved, and the user experience is enhanced.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device 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 presented 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. It will be appreciated by those skilled in the art that some or all of the functions of some or all of the components of the cleaning path planning apparatus, electronics and computer readable storage medium of a sweeping robot according to embodiments of the present invention may be implemented in practice by a microprocessor or Digital Signal Processor (DSP). 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.
For example, fig. 4 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device 400 conventionally includes a processor 410 and a memory 420 arranged to store computer-executable instructions (program code). The memory 420 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 420 has a memory space 430 that stores program code 440 for performing any of the method steps shown in fig. 1 and in various embodiments. For example, the memory space 430 for the program code may include respective program codes 440 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is generally a computer-readable storage medium 500 such as described in fig. 5. The computer-readable storage medium 500 may have memory segments, memory spaces, etc. arranged similarly to the memory 420 in the electronic device of fig. 4. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 510 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 410, which when run by an electronic device causes the electronic device to perform the steps of the method described above.
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 words first, second, and third, etc. do not denote any order. These words may be interpreted as names.
The invention discloses A1 and a sweeping path planning method of a sweeping robot, wherein the method comprises the following steps:
acquiring a map of a target area;
determining one or more blocks to be cleaned according to the acquired map of the target area;
and planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned.
A2, the method of A1, wherein the obtaining the map of the target area comprises:
receiving a control instruction of a detection target area sent by an intelligent terminal;
detecting the target area according to the control instruction to obtain detection information of the target area;
and determining a map of the target area according to the obtained detection information.
The method of A3, as in a2, wherein the detecting the target area, and obtaining the detection information of the target area includes:
and generating detection information of the target area according to the transmitted detection signal and the received reflection signal.
A4, the method as claimed in a1, wherein the determining one or more to-be-cleaned blocks according to the obtained map of the target area comprises:
determining one or more connected regions in the target region according to the obtained map of the target region, and obtaining the area of each connected region;
judging whether the area of each communication area is larger than a first preset threshold value or not;
if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
A5, the method as claimed in a1, wherein the determining one or more to-be-cleaned blocks according to the obtained map of the target area comprises:
determining one or more closed ports in the target area according to the acquired map of the target area, and respectively acquiring the length of each closed port;
judging whether the length of each closed opening is greater than a second preset threshold value or not;
if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
A6, the method as claimed in a1, wherein the planning of the cleaning path of the cleaning robot to the target area according to the determined one or more to-be-cleaned blocks includes:
respectively planning a cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
A7, the method as in a6, wherein the determining the cleaning sequence of the cleaning robot to the area to be cleaned includes:
and receiving a cleaning sequence of the to-be-cleaned area of the cleaning robot sent by the intelligent terminal.
A8, the method of a6, wherein the method further comprises:
and controlling the sweeping robot to complete the sweeping of one to-be-swept block according to the planned sweeping path, and then sweeping the next to-be-swept block according to the sweeping sequence.
The invention discloses B9 and a sweeping path planning device of a sweeping robot, wherein the device comprises:
an acquisition unit adapted to acquire a map of a target area;
the determining unit is suitable for determining one or more blocks to be cleaned according to the acquired map of the target area;
and the planning unit is suitable for planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.
B10, the device of B9, wherein,
the acquisition unit is suitable for receiving a control instruction of a detection target area sent by the intelligent terminal; detecting the target area according to the control instruction to obtain detection information of the target area; and determining a map of the target area according to the obtained detection information.
B11, the device of B10, wherein,
the acquisition unit is suitable for generating detection information of the target area according to the transmitted detection signal and the received reflection signal.
B12, the device of B9, wherein,
the determining unit is suitable for determining one or more connected regions in the target region according to the acquired map of the target region and acquiring the area of each connected region; judging whether the area of each communication area is larger than a first preset threshold value or not; if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
B13, the device of B9, wherein,
the determining unit is suitable for determining one or more closed ports in the target area according to the acquired map of the target area and acquiring the length of each closed port respectively; judging whether the length of each closed opening is greater than a second preset threshold value or not; if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
B14, the device according to B9, wherein the planning unit is adapted to plan the cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
B15, the device according to B14, wherein the planning unit is adapted to receive a cleaning sequence of the area to be cleaned sent by the intelligent terminal.
B16, the apparatus of B14, wherein the apparatus further comprises:
and the control unit is suitable for controlling the sweeping robot to complete the sweeping of one to-be-swept block according to the planned sweeping path and then carry out the sweeping of the next to-be-swept block according to the sweeping sequence.
The invention also discloses C17 and an electronic device, wherein the electronic device comprises:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of a 1-A8.
The invention also discloses D18, a computer readable storage medium, wherein the computer readable storage medium stores one or more programs that when executed by a processor implement the method of any one of a 1-a 8.
Claims (10)
1. A cleaning path planning method of a cleaning robot comprises the following steps:
acquiring a map of a target area;
determining one or more blocks to be cleaned according to the acquired map of the target area;
and planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned.
2. The method of claim 1, wherein the obtaining a map of a target area comprises:
receiving a control instruction of a detection target area sent by an intelligent terminal;
detecting the target area according to the control instruction to obtain detection information of the target area;
and determining a map of the target area according to the obtained detection information.
3. The method of claim 2, wherein the detecting the target area to obtain the detection information of the target area comprises:
and generating detection information of the target area according to the transmitted detection signal and the received reflection signal.
4. The method of claim 1, wherein the determining one or more to-be-cleaned zones from the acquired map of the target area comprises:
determining one or more connected regions in the target region according to the obtained map of the target region, and obtaining the area of each connected region;
judging whether the area of each communication area is larger than a first preset threshold value or not;
if the judgment result is yes, taking each sub-area connected with the connected area as a block to be cleaned; if not, taking each sub-area connected with the connected area as a block to be cleaned.
5. The method of claim 1, wherein the determining one or more to-be-cleaned zones from the acquired map of the target area comprises:
determining one or more closed ports in the target area according to the acquired map of the target area, and respectively acquiring the length of each closed port;
judging whether the length of each closed opening is greater than a second preset threshold value or not;
if the judgment result is yes, all the sub-areas connected with the closed opening are used as blocks to be cleaned, and if the judgment result is no, all the sub-areas connected with the closed opening are used as blocks to be cleaned respectively.
6. The method of claim 1, wherein planning the cleaning path of the sweeping robot for the target area according to the determined one or more blocks to be cleaned comprises:
respectively planning a cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
7. The method of claim 6, wherein the determining the sweeping sequence of the sweeping robot for the area to be swept comprises:
and receiving a cleaning sequence of the to-be-cleaned area of the cleaning robot sent by the intelligent terminal.
8. A cleaning path planning device of a sweeping robot, wherein the device comprises:
an acquisition unit adapted to acquire a map of a target area;
the determining unit is suitable for determining one or more blocks to be cleaned according to the acquired map of the target area;
and the planning unit is suitable for planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.
9. An electronic device, wherein the electronic device comprises:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-7.
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