CN111562777B - 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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- CN111562777B CN111562777B CN201910085706.5A CN201910085706A CN111562777B CN 111562777 B CN111562777 B CN 111562777B CN 201910085706 A CN201910085706 A CN 201910085706A CN 111562777 B CN111562777 B CN 111562777B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000004140 cleaning Methods 0.000 claims abstract description 233
- 238000004891 communication Methods 0.000 claims description 64
- 238000001514 detection method Methods 0.000 claims description 49
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a cleaning path planning method and device of a cleaning 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 cleaning 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, and then the determined block to be cleaned is used for sweeping the cleaning path of the robot to the target area, instead of the fixed block serving as the cleaning path of the robot to clean, 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 present invention relates to the field of robots, and in particular, to a cleaning path planning method and apparatus for a cleaning robot, an electronic device, and a computer readable storage medium.
Background
Nowadays, various robots are applied to various industries, and enter into daily lives of people, such as sweeping robots, so that great convenience is brought to the lives of people. A user typically uses a sweeping robot to perform a sweeping operation for a designated area, such as a home. In the prior art, the sweeping robot usually cleans by taking a block with a fixed size as a unit, for example, a square with a length of 2 meters and a width of 2 meters, so that no matter how large the area of a designated area is, the sweeping robot performs one unit of cleaning, and the cleaning efficiency is lower due to the planned cleaning path.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems, and has as its object to provide a cleaning path planning method, apparatus, electronic device and computer-readable storage medium of a sweeping robot that overcomes or at least partially solves the above-mentioned problems.
According to an aspect of the present invention, there is provided a cleaning path planning method of a cleaning robot, wherein the method includes:
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 cleaning robot to the target area according to the determined one or more blocks to be cleaned.
Optionally, the acquiring the map of the target area includes:
receiving a control instruction of detecting a target area, which is sent by an intelligent terminal;
Detecting the target area according to the control instruction to obtain detection information of the target area;
and determining the map of the target area according to the obtained detection information.
Optionally, the detecting the target area, the obtaining the detection information of the target area includes:
And generating detection information of the target area according to the transmitted detection signals and the received reflection signals.
Optionally, the determining one or more areas to be cleaned according to the acquired map of the target area includes:
determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area;
judging whether the area of each communication area is larger than a first preset threshold value or not;
if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
Optionally, the determining one or more areas to be cleaned according to the acquired 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 acquiring the lengths of the closed ports respectively;
judging whether the length of each closed opening is larger than a second preset threshold value or not;
and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
Optionally, the planning the cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned includes:
respectively planning a cleaning path of the cleaning robot to 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 area to be cleaned by the cleaning robot includes:
And receiving the cleaning sequence of the cleaning robot to the area to be cleaned, which is sent by the intelligent terminal.
Optionally, the method further comprises:
and after the sweeping robot is controlled to finish sweeping one block to be swept according to the planned sweeping path, sweeping the next block to be swept according to the sweeping sequence.
According to another aspect of the present invention, there is provided a cleaning path planning apparatus of a cleaning robot, wherein the apparatus includes:
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 sweeping robot to the target area according to the determined one or more blocks to be cleaned.
Alternatively, the process may be carried out in a single-stage,
The acquisition unit is suitable for receiving a control instruction of the 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 the map of the target area according to the obtained detection information.
Alternatively, the process may be carried out in a single-stage,
The acquisition unit is suitable for generating detection information of the target area according to the transmitted detection signals and the received reflection signals.
Alternatively, the process may be carried out in a single-stage,
The determining unit is suitable for determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area; judging whether the area of each communication area is larger than a first preset threshold value or not; if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
Alternatively, the process may be carried out in a single-stage,
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 lengths of the closed ports respectively; judging whether the length of each closed opening is larger than a second preset threshold value or not; and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
Optionally, the planning unit is adapted to plan the cleaning path of the cleaning robot to 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 cleaning robot to the cleaning area sent by the intelligent terminal.
Optionally, the apparatus further comprises:
And the control unit is suitable for controlling the sweeping robot to sweep a block to be swept according to a planned sweeping path and then sweeping the next block to be swept 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
A memory arranged to store computer executable instructions which, 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 storing 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 cleaning 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, and then the determined block to be cleaned is used for sweeping the cleaning path of the robot to the target area, instead of the fixed block serving as the cleaning path of the robot to clean, 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 present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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 designate like parts throughout the figures. In the drawings:
fig. 1 shows a flow diagram 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 invention;
fig. 3 is a schematic view showing a construction of a cleaning path planning apparatus of a cleaning 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 illustrates a schematic structure 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 diagram 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:
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, according to the determined one or more blocks to be cleaned, a cleaning path of the cleaning robot to the target area is planned.
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 cleans, the sweeping robot repeatedly moves with the fixed block size, so that the sweeping efficiency is lower.
In this embodiment, the cleaning path of the cleaning robot is planned by taking the determined block to be cleaned as a unit, and the cleaning is not performed by taking the fixed block as the cleaning path of the cleaning robot, 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 cleaning robot may be determined by repeating cleaning with 4 meters after cleaning along the wall for one turn until the cleaning of the block is completed, and if the cleaning is performed in a 2×2 manner in the prior art, because the block to be cleaned includes 4 cells 2×2, the cleaning robot needs to perform 4 times of repeated cleaning with 2 meters as a unit.
Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used for sweeping the cleaning path of the robot to the target area, instead of the fixed block serving as the cleaning path of the robot to clean, 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 acquiring the map of the target area in step S110 of the method shown in fig. 1 includes: receiving a control instruction of detecting a target area, which is sent by an intelligent terminal; detecting a 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 a map of a target area, before a user starts to use the sweeping robot, the user needs to control the robot to detect in the target area through the intelligent terminal, so that the sweeping robot can determine the map of the target area according to detection information.
Specifically, the 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 robot cleaner is provided with a detection sensing module, which can send out detection signals and receive returned reflection signals when detecting, and can generate detection information of a target area, such as where a wall exists, where an obstacle exists, where the robot cleaner can travel, and the like.
In one embodiment of the present invention, determining one or more areas to be cleaned according to the acquired map of the target area in step S120 of the method shown in fig. 1 includes: determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area; judging whether the area of each communication area is larger than a first preset threshold value or not; if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
The technical scheme aims at improving cleaning efficiency, and when determining the area to be cleaned, the area which is convenient to process simultaneously is required to be used as the area to be cleaned, and the area which is inconvenient to process simultaneously is respectively used as the area to be cleaned. In this embodiment, the determination may be performed by the area of the communication area, if the area of the communication area is greater than the first preset threshold, which indicates that when each sub-area connected to the communication area is used as a block, the sweeping robot may easily and repeatedly pass through, and the sweeping efficiency is not affected, and then each sub-area connected to the communication area is used as a block to be cleaned; if the area of the communication area is not greater than the first preset threshold value, it is indicated that if the subareas connected with the communication area are used as a block for cleaning, the cleaning efficiency is reduced, for example, the action of the cleaning robot is affected due to narrower channels, and if the cleaning robot repeatedly passes through the subareas connected with the communication area to reduce the efficiency, the subareas connected with the communication area are respectively used as a block to be cleaned.
In one embodiment of the present invention, determining one or more areas to be cleaned 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 lengths of the closed ports; judging whether the length of each closed opening is larger than a second preset threshold value or not; and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
In practice, the sub-areas in the target area are connected by a closed port, i.e. a gap of peripheral connection in each sub-area. For example, a sub-area is a room that is connected to another room by a door, the periphery of the room is four walls, one or more of the walls 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, by setting the second preset threshold, it is determined whether each sub-area connected by the closing port is to be a region to be cleaned or is to be a region to be cleaned respectively. For example, the second preset threshold is set to 1.2 meters. If the length of the closed opening connecting the subarea 1 and the subarea 2 is greater than 1.2 meters, if the length is greater than 1.2 meters, the subarea 1 and the subarea 2 are used as a block 1 to be cleaned, namely, a block to be cleaned; if not more than 1.2 meters, the subarea 1 is used as a block 1 to be cleaned, and the subarea 2 is used as a block 2 to be cleaned, namely, two blocks to be cleaned.
Fig. 2 shows a map schematic of a target area according to an embodiment of the invention. In combination with the schemes for determining the to-be-cleaned block in the above two embodiments, the target area shown in fig. 2 may be partitioned into blocks. As shown in fig. 2, the communication area of the target area is determined to include a communication area 1, a closed port 2, and a closed port 3 according to the map; firstly, the area of a communication area 1 is obtained, and if the area of the communication area 1 is judged to be larger than a first preset threshold value, a first subarea and a second subarea connected with the communication area 1 are used as a block to be cleaned. Then, the length of the closed port 2 and the length of the closed port 3 are respectively obtained, and whether the length of the closed port 2 and the length of the closed port 3 are larger than a second preset threshold value or not is respectively judged; the result is that the length of the closed port 2 and the length of the closed port 3 are smaller than a second preset threshold value, then the third subarea connected with the closed port 2 is used as a block to be cleaned, and the fourth subarea connected with the closed port 2 is used as a block to be cleaned; the first subarea connected with the closed port 3 is used as a block to be cleaned, and the third subarea connected with the closed port 3 is used as a block to be cleaned. Then, for the target area, the determined to-be-cleaned areas are three of area 1 (area one and area two), area 2 (area three), and area 3 (area four).
In one embodiment of the present invention, in step S130 of the method shown in fig. 1, planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned includes: respectively planning a cleaning path of the cleaning robot to 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 the block to be cleaned is determined to be cleaned as one unit, when determining the cleaning path of each block to be cleaned, the block to be cleaned can be planned as a whole, for example, for one block to be cleaned, after cleaning along a boundary, the block is cleaned in a round manner with the length or width of the block as the distance of one-way movement, and the block is cleaned in a round manner until the block is cleaned. As shown in fig. 2 for sub-region four (block 3), the planned path is: and firstly cleaning along the wall for one circle, and then cleaning back and forth from top to bottom until the cleaning of the sub-area four is completed.
Since the number of the blocks to be cleaned can be multiple, when the cleaning path planning is performed, the cleaning sequence of the blocks to be cleaned needs to be determined, as shown in fig. 2, the cleaning sequence can be the block 3 (sub-area four) -block 2 (sub-area three) -block 1 (sub-area one and sub-area two), so that the cleaning path of each block to be cleaned and the cleaning sequence of the cleaning block are used as the cleaning path of the whole target area, namely, the planning of the cleaning path of the whole target area is completed.
Specifically, the above-mentioned determining the cleaning sequence of the cleaning robot to the area to be cleaned includes: and receiving the cleaning sequence of the cleaning robot to the area to be cleaned, which is sent by the intelligent terminal.
In this embodiment, after determining the blocks to be cleaned, the user may set the cleaning sequence of the blocks to be cleaned according to the needs. Specifically, the user may 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 apparatus 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 finish sweeping one block to be swept according to the planned sweeping path, the next block to be swept is swept according to the sweeping sequence.
After the cleaning path of the cleaning robot is planned, the cleaning robot can be controlled to perform cleaning work according to the planned cleaning path. For example, 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), thus completing the planning of the cleaning path for the entire target region. After the cleaning path of the block 3 is firstly cleaned along the wall for one circle, the cleaning is carried out back and forth from top to bottom, the cleaning robot is controlled to complete the cleaning of the block 3, the cleaning of the block 2 is completed according to the cleaning path of the block 2 according to the cleaning sequence, and then the cleaning of the block 1 is completed according to the cleaning path of the block 1.
Fig. 3 is a schematic view showing a construction of a cleaning path planning apparatus of a cleaning 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 acquisition unit 310 is adapted to acquire a map of the target area.
The determining unit 320 is adapted to determine one or more areas to be cleaned 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 cleans, the sweeping robot repeatedly moves with the fixed block size, so that the sweeping efficiency is lower.
In this embodiment, the cleaning path of the cleaning robot is planned by taking the determined block to be cleaned as a unit, and the cleaning is not performed by taking the fixed block as the cleaning path of the cleaning robot, 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 cleaning robot may be determined by repeating cleaning with 4 meters after cleaning along the wall for one turn until the cleaning of the block is completed, and if the cleaning is performed in a 2×2 manner in the prior art, because the block to be cleaned includes 4 cells 2×2, the cleaning robot needs to perform 4 times of repeated cleaning with 2 meters as a unit.
Therefore, in the technical scheme, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used for sweeping the cleaning path of the robot to the target area, instead of the fixed block serving as the cleaning path of the robot to clean, 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 unit 310 shown in fig. 3 is adapted to receive a control instruction of detecting a target area sent by an intelligent terminal; detecting a 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 a map of a target area, before a user starts to use the sweeping robot, the user needs to control the robot to detect in the target area through the intelligent terminal, so that the sweeping robot can determine the map of the target area according to detection information.
Specifically, the above-mentioned acquisition unit 310 is adapted to generate the detection information of the target area based on the transmitted detection signal and the received reflected signal.
The robot cleaner is provided with a detection sensing module, which can send out detection signals and receive returned reflection signals when detecting, and can generate detection information of a target area, such as where a wall exists, where an obstacle exists, where the robot cleaner can travel, and the like.
In one embodiment of the present invention, the determining unit 320 shown in fig. 3 is adapted to determine one or more connected areas in the target area according to the acquired map of the target area, and acquire the area of each connected area; judging whether the area of each communication area is larger than a first preset threshold value or not; if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
The technical scheme aims at improving cleaning efficiency, and when determining the area to be cleaned, the area which is convenient to process simultaneously is required to be used as the area to be cleaned, and the area which is inconvenient to process simultaneously is respectively used as the area to be cleaned. In this embodiment, the determination may be performed by the area of the communication area, if the area of the communication area is greater than the first preset threshold, which indicates that when each sub-area connected to the communication area is used as a block, the sweeping robot may easily and repeatedly pass through, and the sweeping efficiency is not affected, and then each sub-area connected to the communication area is used as a block to be cleaned; if the area of the communication area is not greater than the first preset threshold value, it is indicated that if the subareas connected with the communication area are used as a block for cleaning, the cleaning efficiency is reduced, for example, the action of the cleaning robot is affected due to narrower channels, and if the cleaning robot repeatedly passes through the subareas connected with the communication area to reduce the efficiency, the subareas connected with the communication area are respectively used as a block to be cleaned.
In one 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 acquired map of the target area, and acquire the lengths of the closed ports respectively; judging whether the length of each closed opening is larger than a second preset threshold value or not; and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
In practice, the sub-areas in the target area are connected by a closed port, i.e. a gap of peripheral connection in each sub-area. For example, a sub-area is a room that is connected to another room by a door, the periphery of the room is four walls, one or more of the walls 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, by setting the second preset threshold, it is determined whether each sub-area connected by the closing port is to be a region to be cleaned or is to be a region to be cleaned respectively. For example, the second preset threshold is set to 1.2 meters. If the length of the closed opening connecting the subarea 1 and the subarea 2 is greater than 1.2 meters, if the length is greater than 1.2 meters, the subarea 1 and the subarea 2 are used as a block 1 to be cleaned, namely, a block to be cleaned; if not more than 1.2 meters, the subarea 1 is used as a block 1 to be cleaned, and the subarea 2 is used as a block 2 to be cleaned, namely, two blocks to be cleaned.
Fig. 2 shows a map schematic of a target area according to an embodiment of the invention. In combination with the schemes for determining the to-be-cleaned block in the above two embodiments, the target area shown in fig. 2 may be partitioned into blocks. As shown in fig. 2, the communication area of the target area is determined to include a communication area 1, a closed port 2, and a closed port 3 according to the map; firstly, the area of a communication area 1 is obtained, and if the area of the communication area 1 is judged to be larger than a first preset threshold value, a first subarea and a second subarea connected with the communication area 1 are used as a block to be cleaned. Then, the length of the closed port 2 and the length of the closed port 3 are respectively obtained, and whether the length of the closed port 2 and the length of the closed port 3 are larger than a second preset threshold value or not is respectively judged; the result is that the length of the closed port 2 and the length of the closed port 3 are smaller than a second preset threshold value, then the third subarea connected with the closed port 2 is used as a block to be cleaned, and the fourth subarea connected with the closed port 2 is used as a block to be cleaned; the first subarea connected with the closed port 3 is used as a block to be cleaned, and the third subarea connected with the closed port 3 is used as a block to be cleaned. Then, for the target area, the determined to-be-cleaned areas are three of area 1 (area one and area two), area 2 (area three), and area 3 (area four).
In one embodiment of the present invention, the planning unit 330 shown in fig. 3 is adapted to plan the cleaning path of the cleaning robot for each to-be-cleaned block according to the determined one or more to-be-cleaned blocks; and determining the cleaning sequence of the cleaning robot to the area to be cleaned.
In this embodiment, since the block to be cleaned is determined to be cleaned as one unit, when determining the cleaning path of each block to be cleaned, the block to be cleaned can be planned as a whole, for example, for one block to be cleaned, after cleaning along a boundary, the block is cleaned in a round manner with the length or width of the block as the distance of one-way movement, and the block is cleaned in a round manner until the block is cleaned. As shown in fig. 2 for sub-region four (block 3), the planned path is: and firstly cleaning along the wall for one circle, and then cleaning back and forth from top to bottom until the cleaning of the sub-area four is completed.
Since the number of the blocks to be cleaned can be multiple, when cleaning path planning is performed, cleaning sequence of the blocks to be cleaned needs to be determined, as shown in fig. 2, the cleaning sequence can be block 3 (sub-area four) — block 2 (sub-area three) — block 1 (sub-area one and sub-area two), so that cleaning path planning of the whole target area is completed.
Specifically, the planning unit 330 is adapted to receive the cleaning sequence of the cleaning robot to the cleaning area sent by the intelligent terminal.
In this embodiment, after determining the blocks to be cleaned, the user may set the cleaning sequence of the blocks to be cleaned according to the needs. Specifically, the user may 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 apparatus of the cleaning robot.
In one embodiment of the present invention, the apparatus shown in fig. 3 further comprises:
the control unit is suitable for controlling the sweeping robot to sweep one block to be swept according to the planned sweeping path and then sweeping the next block to be swept according to the sweeping sequence.
After the cleaning path of the cleaning robot is planned, the cleaning robot can be controlled to perform cleaning work according to the planned cleaning path. For example, 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 planning of the cleaning path of the entire target region is completed. After the cleaning path of the block 3 is firstly cleaned along the wall for one circle, the cleaning is carried out back and forth from top to bottom, the cleaning robot is controlled to complete the cleaning of the block 3, the cleaning of the block 2 is completed according to the cleaning path of the block 2 according to the cleaning sequence, and then the cleaning of the block 1 is completed 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 cleaning 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, and then the determined block to be cleaned is used for sweeping the cleaning path of the robot to the target area, instead of the fixed block serving as the cleaning path of the robot to clean, 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 also be used with the teachings herein. The required structure for the construction of such devices is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood 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 construed as reflecting the intention that: i.e., the claimed invention 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 apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. 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. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units 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 but not others included in other embodiments, 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 can be implemented in any combination.
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 some or all of the functions of some or all of the components in the cleaning path planning apparatus, the electronic device, and the computer-readable storage medium of the cleaning robot according to the embodiments of the present invention may be implemented in practice by a microprocessor or a Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
For example, fig. 4 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 400 conventionally comprises 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. Memory 420 has storage space 430 storing 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 individual program code 440 for implementing the various steps in the above method, respectively. 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 typically 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. Typically, the memory unit stores program code 510 for performing the method steps 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 in 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, third, etc. do not denote any order. These words may be interpreted as names.
The invention discloses a cleaning path planning method of a sweeping robot, which 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 cleaning robot to the target area according to the determined one or more blocks to be cleaned.
A2, the method of A1, wherein the step of obtaining the map of the target area comprises the following steps:
receiving a control instruction of detecting a target area, which is sent by an intelligent terminal;
Detecting the target area according to the control instruction to obtain detection information of the target area;
and determining the map of the target area according to the obtained detection information.
A3, the method of A2, wherein the 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 signals and the received reflection signals.
A4, the method of A1, wherein determining one or more blocks to be cleaned according to the acquired map of the target area comprises:
determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area;
judging whether the area of each communication area is larger than a first preset threshold value or not;
if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
A5, the method of A1, wherein determining one or more blocks to be cleaned according to 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 acquiring the lengths of the closed ports respectively;
judging whether the length of each closed opening is larger than a second preset threshold value or not;
and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
A6, the method of A1, wherein the planning the cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned comprises:
respectively planning a cleaning path of the cleaning robot to 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 of A6, wherein the determining the cleaning sequence of the cleaning robot to the area to be cleaned comprises the following steps:
And receiving the cleaning sequence of the cleaning robot to the area to be cleaned, which is sent by the intelligent terminal.
A8, the method of A6, wherein the method further comprises:
and after the sweeping robot is controlled to finish sweeping one block to be swept according to the planned sweeping path, sweeping the next block to be swept according to the sweeping sequence.
The invention discloses a sweeping path planning device of a sweeping robot, which 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 sweeping 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 the 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 the 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 signals and the received reflection signals.
B12, the device of B9, wherein,
The determining unit is suitable for determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area; judging whether the area of each communication area is larger than a first preset threshold value or not; if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used 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 lengths of the closed ports respectively; judging whether the length of each closed opening is larger than a second preset threshold value or not; and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
B14, the device of B9, wherein the planning unit is adapted to plan the cleaning path of the cleaning robot to 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.
And B15, the device as set forth in B14, wherein the planning unit is suitable for receiving the cleaning sequence of the cleaning robot to the cleaning area 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 sweep a block to be swept according to a planned sweeping path and then sweeping the next block to be swept according to the sweeping sequence.
The invention also discloses C17, an electronic device, wherein the electronic device comprises:
A processor; and
A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method according to any one of A1 to A8.
The invention also discloses D18, 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 one of A1-A8.
Claims (16)
1. A cleaning path planning method of a cleaning robot, wherein the method comprises the following steps:
Acquiring a map of a target area; the map of the target area is obtained according to the detection information in the target area;
determining one or more blocks to be cleaned according to the acquired map of the target area;
planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned;
wherein, determining one or more blocks to be cleaned according to the acquired map of the target area includes:
determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area;
judging whether the area of each communication area is larger than a first preset threshold value or not;
if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
2. The method of claim 1, wherein the acquiring a map of a target area comprises:
receiving a control instruction of detecting a target area, which is sent by an intelligent terminal;
Detecting the target area according to the control instruction to obtain detection information of the target area;
and determining the 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 includes:
And generating detection information of the target area according to the transmitted detection signals and the received reflection signals.
4. The method of claim 1, wherein the determining one or more areas to be cleaned based on 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 acquiring the lengths of the closed ports respectively;
judging whether the length of each closed opening is larger than a second preset threshold value or not;
and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
5. The method of claim 1, wherein planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned comprises:
respectively planning a cleaning path of the cleaning robot to 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.
6. The method of claim 5, wherein the determining a cleaning sequence of the area to be cleaned by the cleaning robot comprises:
And receiving the cleaning sequence of the cleaning robot to the area to be cleaned, which is sent by the intelligent terminal.
7. The method of claim 5, wherein the method further comprises:
and after the sweeping robot is controlled to finish sweeping one block to be swept according to the planned sweeping path, sweeping the next block to be swept according to the sweeping sequence.
8. A cleaning path planning apparatus of a cleaning robot, wherein the apparatus comprises:
An acquisition unit adapted to acquire a map of a target area; the map of the target area is obtained according to the detection information in the 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;
The planning unit is suitable for planning a cleaning path of the sweeping robot to the target area according to the determined one or more blocks to be cleaned;
The determining unit is suitable for determining one or more communication areas in the target area according to the acquired map of the target area, and acquiring the area of each communication area; judging whether the area of each communication area is larger than a first preset threshold value or not; if yes, each sub-area connected with the communication area is used as a block to be cleaned; if not, each sub-area connected with the communication area is used as a block to be cleaned.
9. The apparatus of claim 8, wherein,
The acquisition unit is suitable for receiving a control instruction of the 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 the map of the target area according to the obtained detection information.
10. The apparatus of claim 9, wherein,
The acquisition unit is suitable for generating detection information of the target area according to the transmitted detection signals and the received reflection signals.
11. The apparatus of claim 8, 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 lengths of the closed ports respectively; judging whether the length of each closed opening is larger than a second preset threshold value or not; and if not, respectively taking all the subregions connected with the closed port as one block to be cleaned.
12. The device of claim 8, wherein the planning unit is adapted to plan the cleaning path of the cleaning robot to 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.
13. The apparatus of claim 12, wherein the planning unit is adapted to receive a cleaning sequence of the area to be cleaned by the cleaning robot sent by the intelligent terminal.
14. The apparatus of claim 12, wherein the apparatus further comprises:
And the control unit is suitable for controlling the sweeping robot to sweep a block to be swept according to a planned sweeping path and then sweeping the next block to be swept according to the sweeping sequence.
15. An electronic device, wherein the electronic device comprises:
A processor; and
A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method according to any one of claims 1 to 7.
16. 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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