CN111578943B - Cleaning path generation method and device, computer device and storage device - Google Patents
Cleaning path generation method and device, computer device and storage device Download PDFInfo
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Abstract
The invention is applicable to the technical field of mobile robots, and provides a cleaning path generation method and device, a computer device and a storage device, wherein the method comprises the following steps: s1, obtaining map information scaled with an actual map in equal proportion; s2, outputting map information to a user and a database containing a plurality of path planning modes; s3, receiving a planning path mode selected by a user in a database, and generating a cleaning path according to the cleaning path mode; s4, receiving a reconstruction path area selected by a user in a cleaning path middle frame; s5, receiving a planning path mode selected by a user aiming at the reconstruction path area, and generating a cleaning path according to the cleaning path; s6, judging whether a reconstruction path area selected by a user in a cleaning path middle frame is received, if yes, returning to the S5, and if not, generating a complete cleaning path according to all the cleaning paths. The flexibility of cleaning the path can be improved, and cleaning efficiency is improved, so that the cleaning path is generated conveniently and efficiently.
Description
Technical Field
The present invention relates to the field of mobile robots, and in particular, to a method and apparatus for generating a cleaning path, a computer apparatus, and a storage apparatus.
Background
Along with the development of the internet of things, intelligent household equipment is continuously researched and developed and applied to actual life so as to relieve people from business work of vexation, for example, floor cleaning equipment such as floor washing machines, sweeping vehicles and the like can help people to clean the floor sanitation of various scenes such as houses, offices, public and the like, and corresponding manpower is relieved.
The existing cleaning path generation mode is an autonomous planning mode, wherein the autonomous planning mode is to collect environment information through a radar or a sensor, establish a map according to the environment information and then autonomously plan and generate the cleaning path according to the map. In complex scenarios, however, local coverage planning for real-time map changes can result in inefficiency of global coverage. In addition, there is a problem in that the vehicle body model is limited; in particular, the executable routes of the bicycle model, the three-wheel model, the four-wheel automobile model and the like are limited, and the global coverage planning can hardly be completed autonomously in complex environments such as staggered channels, narrow channels and the like.
Therefore, how to implement a more convenient and efficient cleaning path generation method has been one of the problems that those skilled in the art have focused on.
Disclosure of Invention
The embodiment of the invention aims to provide a cleaning path generation method, which aims to solve the problem that the conventional cleaning mode cannot generate a cleaning path conveniently and efficiently.
The embodiment of the invention is realized in such a way that a cleaning path generating method comprises the following steps:
s1, obtaining map information scaled with an actual map in equal proportion;
s2, outputting the map information to a user and a database containing a plurality of path planning modes;
s3, receiving the planned path mode selected by the user in the database, and generating a cleaning path according to the cleaning path mode;
s4, receiving a reconstruction path area selected by a user in the cleaning path middle frame;
s5, receiving the planning path mode selected by a user aiming at the reconstruction path area, and generating the cleaning path according to the cleaning path;
s6, judging whether the reconstructed path area selected by the user in the cleaning path middle frame is received, if yes, returning to the S5, and if not, generating a complete cleaning path according to all the cleaning paths.
Further, after the step of outputting the map information and the database including the plurality of path planning modes to the user, the method further includes:
Receiving a dividing region instruction input by a user aiming at the map information, dividing the map information into a plurality of set regions according to the dividing region instruction, wherein the dividing region instruction comprises closed boundary region information and moving track information;
and generating the cleaning path according to the movement track information.
Further, the step of receiving the planned path mode selected by the user in the database and generating the cleaning path according to the cleaning path mode specifically includes:
and receiving the planned path mode selected by the user for each closed boundary area information, and generating the cleaning path according to the cleaning path mode.
Further, after the step of dividing the map information into a plurality of setting areas according to the area dividing instruction, the method further includes:
receiving a generation number instruction input by a user aiming at a plurality of setting areas, and numbering each setting area according to the generation number instruction;
and receiving selection number instructions input by a user for a plurality of setting areas, and generating the cleaning path for the setting areas corresponding to the selection number instructions.
Further, the step of generating the complete cleaning path according to all the cleaning paths specifically includes:
receiving a cleaning path selection instruction input by a user and a cleaning robot selection instruction corresponding to the cleaning path selection instruction;
and issuing each cleaning path to each corresponding cleaning robot according to the cleaning path selecting instruction and the cleaning robot selecting instruction, and generating complete cleaning paths by all the cleaning paths of the cleaning robots.
Further, before the step of generating the complete cleaning path according to all the cleaning paths, the method further includes:
and receiving a deleting instruction input by a user, and deleting the corresponding cleaning path in real time according to the deleting instruction.
Further, when generating the cleaning path, the method further comprises the following steps:
and outputting the coverage rate of the cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path to a user.
Another embodiment of the present invention also provides a cleaning path generating apparatus, including:
a map information acquisition unit for acquiring map information scaled in equal proportion to an actual map;
The map information and database output unit is used for outputting the map information and a database containing a plurality of path planning modes to a user;
the first cleaning path generating unit is used for receiving the planning path mode selected by a user in the database and generating a cleaning path according to the cleaning path mode;
the frame selection unit is used for receiving a reconstruction path area selected by a user in the cleaning path through a frame;
the second cleaning path generating unit is used for receiving the planning path mode selected by a user aiming at the reconstruction path area and generating the cleaning path according to the cleaning path;
and the judging unit is used for judging whether the reconstructed path area selected by the user in the cleaning path middle frame is received, if yes, returning to the second cleaning path generating unit, and if not, generating a complete cleaning path according to all the cleaning paths.
Further, the cleaning path generating device further includes:
the dividing unit is used for receiving a dividing region instruction input by a user aiming at the map information, dividing the map information into a plurality of set regions according to the dividing region instruction, wherein the dividing region instruction comprises closed boundary region information and moving track information;
And the first cleaning path generation module is used for generating the cleaning path according to the movement track information.
Further, the first cleaning path generating unit includes:
and the second cleaning path generation module is used for receiving the planning path modes selected by the user for each piece of closed boundary area information and generating the cleaning path according to the cleaning path modes.
Still further, the dividing unit includes:
the numbering module is used for receiving the generating numbering instructions input by the user aiming at a plurality of setting areas and numbering each setting area according to the generating numbering instructions;
and the third cleaning path generation module is used for receiving selection number instructions input by a user for a plurality of setting areas and generating the cleaning path for the setting areas corresponding to the selection number instructions.
Still further, the judging unit includes:
the instruction receiving unit is used for receiving a cleaning path selection instruction input by a user and a cleaning robot selection instruction corresponding to the cleaning path selection instruction;
and the issuing unit is used for issuing each cleaning path to each corresponding cleaning robot according to the cleaning path selecting instruction and the cleaning robot selecting instruction, and all the cleaning paths of the cleaning robots generate complete cleaning paths.
Further, the cleaning path generating device further includes:
and the deleting unit is used for receiving a deleting instruction input by a user and deleting the corresponding cleaning path in real time according to the deleting instruction.
Further, the cleaning path generating device further includes:
and a parameter output unit for outputting the coverage rate of the cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path to a user.
Another embodiment of the present invention also provides a computer apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the cleaning path generating method according to any one of the embodiments of the present invention when the processor executes the computer program.
Another embodiment of the present invention also provides a storage device storing a computer program executable to implement the steps of the cleaning path generating method according to any one of the embodiments of the present invention.
According to the cleaning path generation method provided by the embodiment of the invention, the map information and the database containing a plurality of planning path modes are output to the user, the planning path modes selected by the user are received to generate the corresponding cleaning path, and the user is received to generate the complete cleaning path in the reconstruction path area and the cleaning path in the reconstruction path area of the cleaning path, so that the effect of generating the corresponding cleaning path according to the selection of the user is realized, the flexibility of the cleaning path is improved, the cleaning efficiency is further improved, and the cleaning path is generated conveniently and efficiently.
Drawings
FIG. 1 is a flow chart of a cleaning path generating method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for framing a map according to an embodiment of the present invention;
FIG. 3 is a flowchart of a cleaning path generating method according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of map region division according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of cleaning path deletion according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a cleaning path generating device according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a cleaning path generating device according to another embodiment of the present invention;
fig. 8 is a schematic structural view of a cleaning path generating device according to another embodiment of the present invention;
FIG. 9 is a schematic diagram of a partition unit according to an embodiment of the present invention;
fig. 10 is a schematic structural view of a cleaning path generating device according to another embodiment of the present invention;
FIG. 11 is a schematic diagram of a judging unit according to an embodiment of the present invention;
fig. 12 is a schematic structural view of a cleaning path generating device according to another embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
According to the invention, map information and a database containing a plurality of planning path modes are output to a user, the planning path modes selected by the user are received, the corresponding cleaning path is generated, the reconstruction path area of the cleaning path and the cleaning path in the reconstruction path area are received by the user, so that the complete cleaning path is generated, the effect of generating the corresponding cleaning path according to the selection of the user is realized, the flexibility of the cleaning path is improved, the cleaning efficiency is further improved, and the cleaning path is generated conveniently and efficiently.
Example 1
Referring to fig. 1, a flow chart of a cleaning path generating method according to a first embodiment of the present invention is shown, for convenience of explanation, only the portions related to the embodiments of the present invention are shown. The cleaning path generating method comprises the following steps:
step S1, map information scaled with the actual map in equal proportion is acquired.
The actual map refers to an actual map of the area to be cleaned, for example, if the user wants to clean a living room, the actual map is an actual map of the living room; the user wants to clean the office, and the actual map is the actual map of the office; the user wants to clean the square, and the actual map is the actual map of the square.
The actual map can be obtained through mapping, visual scanning and other modes, and map information with multiple resolution scales can be obtained through scaling the actual map in equal proportion so as to adapt to user terminal interfaces with different resolutions.
And S2, outputting map information to a user and a database containing a plurality of path planning modes.
In the step, after receiving a map information request sent by a user terminal, the map information is displayed and output to the user terminal, wherein the map information is the map information which is suitable for the resolution of the user terminal interface.
The database including a plurality of route planning methods may be understood as a data packet including a plurality of route planning methods, and the route planning methods may be route planning methods for the map information. The path planning mode can be a general mode, such as an arcuate mode, a return mode, an arc mode and the like; or a user-defined path planning mode, and planning the cleaning path according to the personal requirements of the user.
The user can select a corresponding planning path mode through a user terminal interface, for example, selecting a planning path mode such as an arcuate mode, a return mode, an arc mode, a self-defining mode and the like.
And step S3, receiving a planning path mode selected by a user in the database, and generating a cleaning path according to the cleaning path mode.
After the user selects the corresponding planning path mode in the database through the user terminal interface, a corresponding cleaning path is generated in the map information according to the planning path selected by the user, for example, the planning path mode selected by the user is an arch-shaped mode, the cleaning path with an arch shape is generated, the planning path mode selected by the user is a return-shaped mode, the cleaning path with a return-shaped mode is generated, and the generated cleaning path is displayed on the user terminal interface.
And S4, receiving a reconstruction path area selected by a user in a cleaning path middle frame.
In the cleaning path generated by the user terminal interface, the user can select a corresponding reconstruction path area in the map information through a frame selection operation on the user terminal interface, as shown in fig. 2, in the map 21 of fig. 2, the user selects a planning path mode in the database as an arch shape through the user terminal interface, a cleaning path of the arch shape is generated, and the user selects a first reconstruction path area 22 and a second reconstruction path area 23 through a frame in the map.
And S5, receiving a planning path mode selected by a user for the reconstruction path area, and generating a cleaning path according to the cleaning path.
After the user selects the first reconstruction path region 22 and the second reconstruction path region 23 in the map frame, the user may select corresponding planning path manners in the first reconstruction path region 22 and the second reconstruction path region 23, respectively, as shown in fig. 2, in the first reconstruction path region 22, the selected planning path manner is a return font, a cleaning path in the return font is generated in the first reconstruction path region 22, in the second reconstruction path region 23, the selected planning path manner is an arc, and an arc cleaning path is generated in the second reconstruction path region 23.
It will be appreciated that the above-described cleaning paths are generated by way of planned paths corresponding to one or more reconstructed path regions. Of course, in the above-mentioned reconstructed path area, the cleaning path may be generated by selecting a corresponding planned path, or by manually drawing a path by a user in the reconstructed path area.
Further, in the same reconstruction path area, because the cleaning path generated by one planning path mode may have an incomplete structure, for example, some places are dead corners for the cleaning path generated by the planning path mode, the cleaning equipment cannot clean the dead corners, at this time, the cleaning path of the dead corners can be generated by another planning path mode (which can be manually drawn by a user) for the dead corners automatic area, so that the cleaning path generation of the dead corners area is completed. Therefore, different planning path modes can be adopted through different reconstruction path areas, so that the cleaning path generation is more flexible, and different regular path modes are adopted through the same reconstruction path area, so that the cleaning path generation is more complete.
Taking a cleaning path for generating an arch shape as an example, after a planning path mode is selected as the arch shape, dividing a reconstruction path area into a plurality of lines, and then dividing the vertex of each line into a point_max maximum point and a point_min minimum point.
And searching paths in two directions of point_max and point_min according to the current position point of the current.
If the bidirectional searching is successful, firstly planning the direction with few path points, then turning around to plan the direction with more path points, and if the unidirectional searching is successful, directly planning in one direction; if the bidirectional search fails, adding an A algorithm to perform direct search (A-Star algorithm is a direct search method which is most effective in solving the shortest path in a static road network).
Further, in the planning process, the side edges are left and right when the obstacle is encountered, and the side edges with fewer path points are selected for planning. If the two-way search and the one-way search are unsuccessful, the cleaning path is ended, and current, point_max and point_min are updated; and searching an uncleaned area of the cleaning path every time the line is changed.
The generation of the cleaning path corresponding to the rest of the planning path modes is similar to the generation of the cleaning path corresponding to the arch shape, and is not described in detail herein.
S6, judging whether the reconstructed path area selected by the user in the cleaning path middle frame is received, if yes, returning to the S5, and if not, generating a complete cleaning path according to all the cleaning paths.
In this step, if the user receives the reconstructed route area and the cleaning route of the reconstructed route area selected by the user in the cleaning route middle frame, a complete cleaning route is generated according to the cleaning route in the map and the cleaning route in the reconstructed route area.
Further, the cleaning robots may be one or more, and in the case that the cleaning robots are plural, the cleaning robot may receive a cleaning path selecting instruction input by a user and a cleaning robot selecting instruction corresponding to the cleaning path selecting instruction, and issue each cleaning path to the corresponding cleaning robot according to the cleaning path selecting instruction and the cleaning robot selecting instruction, and the cleaning paths of all the cleaning robots generate a complete cleaning path.
It should be noted that the user terminal may be a mobile phone, a computer, a notebook, an internet of things gateway, or other devices with an interactive interface.
In the embodiment of the invention, map information and a database containing a plurality of planning path modes are output to a user, the planning path modes selected by the user are received to generate the corresponding cleaning path, and the user is received to reconstruct a path area of the cleaning path and the cleaning path in the reconstructed path area, so that a complete cleaning path is generated, the effect of generating the corresponding cleaning path according to the selection of the user is realized, the flexibility of the cleaning path is improved, the cleaning efficiency is further improved, and the cleaning path is generated conveniently and efficiently.
Example two
Fig. 3 is a flowchart of another cleaning path generating method according to a second embodiment of the present invention. The method comprises the following steps:
step S31, map information scaled in equal proportion to the actual map is acquired.
The actual map refers to an actual map of the area to be cleaned, for example, if the user wants to clean a living room, the actual map is an actual map of the living room; the user wants to clean the office, and the actual map is the actual map of the office; the user wants to clean the square, and the actual map is the actual map of the square.
The actual map can be obtained through mapping, visual scanning and other modes, and map information with multiple resolution scales can be obtained through scaling the actual map in equal proportion so as to adapt to user terminal interfaces with different resolutions.
Step S32, outputting map information to the user and a database containing a plurality of path planning modes.
In the step, after receiving a map information request sent by a user terminal, the map information is displayed and output to the user terminal, wherein the map information is the map information which is suitable for the resolution of the user terminal interface.
The database including a plurality of route planning methods may be understood as a data packet including a plurality of route planning methods, and the route planning methods may be route planning methods for the map information. The path planning mode can be a general mode, such as an arcuate mode, a return mode, an arc mode and the like.
The user can select a corresponding planning path mode, such as selecting a planning path mode of an arch shape, a return shape, an arc shape and the like through a user terminal interface.
Step S33, receiving a dividing region instruction input by a user for map information, and dividing the map information into a plurality of setting regions according to the dividing region instruction.
The above-mentioned region dividing instruction includes closed boundary region information and movement track information.
The closed boundary area information may be square or triangle, the movement trajectory information may be any drawn line, and the any drawn line may be referred to as an unclosed boundary. As shown in fig. 4, a closed boundary area of a square 41, a triangle 42, and movement trace information 43 are included in a map 400.
The user can edit the closed boundary region information and the movement track information on the user terminal interface to obtain corresponding closed boundary region information or movement track information.
Step S34, receiving a generation number instruction input by a user for a plurality of setting areas, and numbering each setting area according to the generation number instruction.
The user performs numbering operation on the set areas in the user terminal interface, a generated numbering instruction corresponding to each set area can be generated, after each set area is numbered according to the generated numbering instruction, each number is returned to the corresponding set area in the user terminal interface for displaying.
Step S35, receiving a planned path mode selected by a user in the database, and generating a cleaning path according to the cleaning path mode.
Specifically, a selection number instruction input by a user for a plurality of setting areas is received, and a cleaning path is generated for the setting area corresponding to the selection number instruction.
After numbering the set areas, the user can generate a corresponding selection number instruction by selecting the set areas or the corresponding numbers of the set areas, wherein the selection number instruction is used for indicating the set areas selected by the user.
After the user selects a set area or a number corresponding to the set area in the user terminal interface, a planned path mode may be selected in the set area, for example, in fig. 4, a mode of retrieving a font planned path is selected in a square 41, and a cleaning path of returning a font is generated in the square 41; an arc-shaped path planning mode is selected in the triangle 42, and an arc-shaped cleaning path is generated in the triangle 42.
Taking a cleaning path for generating an arch shape as an example, after a planning path mode is selected as the arch shape, dividing a set area into a plurality of lines, and then dividing the vertex of each line into a point_max maximum point and a point_min minimum point.
And searching paths in two directions of point_max and point_min according to the current position point of the current.
If the bidirectional searching is successful, firstly planning the direction with few path points, then turning around to plan the direction with more path points, and if the unidirectional searching is successful, directly planning in one direction; if the bidirectional search fails, adding an A algorithm to perform direct search (A-Star algorithm is a direct search method which is most effective in solving the shortest path in a static road network).
Further, in the planning process, the side edges are left and right when the obstacle is encountered, and the side edges with fewer path points are selected for planning. If the two-way search and the one-way search are unsuccessful, the cleaning path is ended, and current, point_max and point_min are updated; and searching an uncleaned area of the cleaning path every time the line is changed.
The generation of the cleaning path corresponding to the rest of the planning path modes is similar to the generation of the cleaning path corresponding to the arch shape, and is not described in detail herein.
The above-described region dividing instruction may include movement locus information, and the cleaning route may be generated based on the movement locus information. For example, if the user draws an S-shaped curve on the user terminal interface, an S-shaped cleaning path may be generated according to the S-shaped curve.
Step S36, receiving a reconstruction path area selected by a user in a cleaning path middle frame.
In the cleaning path generated by the user terminal interface, the user can select a corresponding reconstruction path area in the map information through a frame selection operation on the user terminal interface, as shown in fig. 2, in the map 21 of fig. 2, the user selects a planning path mode in the database as an arch shape through the user terminal interface, a cleaning path of the arch shape is generated, and the user selects a first reconstruction path area 22 and a second reconstruction path area 23 through a frame in the map.
Step S37, receiving a planning path mode selected by a user for the reconstruction path area, and generating a cleaning path according to the cleaning path.
After the user selects the first reconstruction path region 22 and the second reconstruction path region 23 in the map frame, the user may select corresponding planning path manners in the first reconstruction path region 22 and the second reconstruction path region 23, respectively, as shown in fig. 2, in the first reconstruction path region 22, the selected planning path manner is a return font, a cleaning path in the return font is generated in the first reconstruction path region 22, in the second reconstruction path region 23, the selected planning path manner is an arc, and an arc cleaning path is generated in the second reconstruction path region 23.
S38, receiving a deleting instruction input by a user, and deleting the corresponding cleaning path in real time according to the deleting instruction.
The user selects all or part of the cleaning paths through the user terminal interface, deletes or erases all or part of the paths through the deleting or erasing function of the user terminal interface, and updates the cleaning paths in the user terminal interface in real time according to the deleting or erasing result.
As shown in fig. 5, the first cleaning path 51 is selected to be deleted or erased. Drawing a new cleaning path, generating a second cleaning path 52 according to the new cleaning path, and generating a second cleaning path 52; or select a new location point and generate a second cleaning path 52 to the new location point.
S39, judging whether the reconstructed path area selected by the user in the cleaning path middle frame is received, if yes, returning to S38, and if not, generating a complete cleaning path according to all the cleaning paths.
In this step, if the user receives the reconstructed route area and the cleaning route of the reconstructed route area selected by the user in the cleaning route middle frame, a complete cleaning route is generated according to the cleaning route in the map and the cleaning route in the reconstructed route area.
Further, the cleaning robots may be one or more, and in the case that the cleaning robots are plural, the cleaning robot may receive a cleaning path selecting instruction input by a user and a cleaning robot selecting instruction corresponding to the cleaning path selecting instruction, and issue each cleaning path to the corresponding cleaning robot according to the cleaning path selecting instruction and the cleaning robot selecting instruction, and the cleaning paths of all the cleaning robots generate a complete cleaning path.
Further, in the case where there are a plurality of cleaning robots, each cleaning robot performs a cleaning task of one or more cleaning paths.
Specifically, the user selects a reconstruction path area from a map center frame, generates a corresponding cleaning path in the reconstruction path area, forms a corresponding cleaning task by the cleaning paths in each reconstruction path area and the cleaning paths in the map, and sends the cleaning tasks to the corresponding cleaning robots so that each cleaning robot executes the corresponding cleaning task.
The reconstruction path region may be provided with a corresponding region number, and may be distinguished from the number of the set region. The cleaning route generated in the reconstruction route area forms a first cleaning task, the cleaning route generated in the setting area forms a second cleaning task, and the first cleaning task and the second cleaning task are respectively allocated by the number of the reconstruction route area and the number of the setting area.
In one possible embodiment, each cleaning task may be allocated to a corresponding cleaning robot according to a proximity principle according to a position of each cleaning robot, so that the cleaning robot performs the cleaning task nearby.
Optionally, when generating the cleaning path, calculating the coverage rate of the cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path according to the cleaning path selected by the user, so that the user can conveniently adjust the cleaning path according to the coverage rate of the cleaning path in the map information, the path length of the cleaning path, the cleaning estimated time of the cleaning path and the repetition rate of the cleaning path.
The path is composed of points in the map, each point is expanded according to the effective cleaning area (the brush tray coverage area of the cleaning robot), so that the whole path is a covered area after expansion, the cleanable area can be calculated according to the brush tray coverage area and the cleaning path length of the cleaning robot, and the coverage rate is obtained by dividing the total area required to be covered.
The path length can be obtained by counting the number of points in the path or by sweeping the path length and calculating the path length according to the fraying proportion.
And according to the motion characteristics of the cleaning robot and the parameters of acceleration and deceleration of the vehicle body model, turning acceleration and deceleration, calculating to obtain the cleaning predicted time.
The repetition rate can be obtained by dividing the repetition cleaning area by the cleanable area according to the brush disc coverage area and the cleaning path calculation of the cleaning robot.
The coverage rate of the cleaning path in the map information, the path length of the cleaning path, and the repetition rate of the cleaning path may be displayed on the user terminal interface in real time, or may be displayed on the user terminal interface after the corresponding cleaning path is generated according to the user selection.
In the embodiment of the invention, map information and a database containing a plurality of planning path modes are output to a user, the planning path modes selected by the user are received to generate the corresponding cleaning path, and the user is received to reconstruct a path area of the cleaning path and the cleaning path in the reconstructed path area, so that a complete cleaning path is generated, the effect of generating the corresponding cleaning path according to the selection of the user is realized, the flexibility of the cleaning path is improved, the cleaning efficiency is further improved, and the cleaning path is generated conveniently and efficiently.
Example III
Referring to fig. 6, a schematic structural diagram of a cleaning path generating device according to a third embodiment of the present invention is shown, for convenience of explanation, only the portions related to the embodiment of the present invention are shown.
The cleaning route generation device 600 includes: map information acquisition section 61, map information and database output section 62, first cleaning route generation section 63, frame selection section 64, second cleaning route generation section 65, and judgment section 66.
The map information acquisition unit 61 is used to acquire map information scaled in equal proportion to an actual map.
The actual map refers to an actual map of the area to be cleaned, for example, if the user wants to clean a living room, the actual map is an actual map of the living room; the user wants to clean the office, and the actual map is the actual map of the office; the user wants to clean the square, and the actual map is the actual map of the square.
The actual map can be obtained through mapping, visual scanning and other modes, and map information with multiple resolution scales can be obtained through scaling the actual map in equal proportion so as to adapt to user terminal interfaces with different resolutions.
The map information and database output unit 62 is used for outputting map information to a user and includes a database of a plurality of route planning modes.
In this unit, after receiving a cleaning request or a cleaning route request sent by a user terminal, map information is output to the user terminal, wherein the map information is map information that is adapted to the resolution of the user terminal interface.
The database including a plurality of route planning methods may be understood as a data packet including a plurality of route planning methods, and the route planning methods may be route planning methods for the map information. The path planning mode can be a general mode, such as an arcuate mode, a return mode, an arc mode and the like; or a user-defined path planning mode, and planning the cleaning path according to the personal requirements of the user.
The user can select a corresponding planning path mode through a user terminal interface, for example, selecting a planning path mode such as an arcuate mode, a return mode, an arc mode, a self-defining mode and the like.
Referring to fig. 7, the cleaning path generating apparatus 600 further includes: a dividing unit 67, a first cleaning path module 68.
The dividing unit 67 is for receiving a dividing region instruction input by a user for map information, and dividing the map information into a plurality of setting regions according to the dividing region instruction.
The above-mentioned region dividing instruction includes closed boundary region information and movement track information.
The first cleaning path generating unit 63 is configured to receive a planned path manner selected by a user in the database, and generate a cleaning path according to the cleaning path manner, and further, referring to fig. 8, the first cleaning path generating unit 63 includes: the second cleaning path generation module 631.
The second cleaning path generating module 631 is configured to receive the planned path mode selected by the user for each of the closed boundary area information, and generate the cleaning path according to the cleaning path mode.
The closed boundary area information may be square or triangle, the movement trajectory information may be any drawn line, and the any drawn line may be referred to as an unclosed boundary. As shown in fig. 4, a closed boundary area of a square 41, a triangle 42, and movement trace information 43 are included in a map 400.
The user can edit the closed boundary region information and the movement track information on the user terminal interface to obtain corresponding closed boundary region information or movement track information.
Referring to fig. 9, the above-described dividing unit 67 includes: a numbering module 671, a third cleaning path generating module 672.
The numbering module 671 is configured to receive a generation numbering instruction input by a user for a plurality of setting areas, and number each setting area according to the generation numbering instruction.
The user performs numbering operation on the set areas in the user terminal interface, a generated numbering instruction corresponding to each set area can be generated, after each set area is numbered according to the generated numbering instruction, each number is returned to the corresponding set area in the user terminal interface for displaying.
The third cleaning path generating module 672 is configured to receive the planned path mode selected by the user in the database, and generate a cleaning path according to the cleaning path mode.
Specifically, a selection number instruction input by a user for a plurality of setting areas is received, and a cleaning path is generated for the setting area corresponding to the selection number instruction.
After numbering the set areas, the user can generate a corresponding selection number instruction by selecting the set areas or the corresponding numbers of the set areas, wherein the selection number instruction is used for indicating the set areas selected by the user.
After the user selects a set area or a number corresponding to the set area in the user terminal interface, a planned path mode may be selected in the set area, and a corresponding cleaning path is generated in the set area, for example, in fig. 4, a mode of retrieving a font planned path is selected in the square 41, and a cleaning path of returning a font is generated in the square 41; an arc-shaped path planning mode is selected in the triangle 42, and an arc-shaped cleaning path is generated in the triangle 42.
Taking a cleaning path for generating an arch shape as an example, after a planning path mode is selected as the arch shape, dividing a set area into a plurality of lines, and then dividing the vertex of each line into a point_max maximum point and a point_min minimum point.
And searching paths in two directions of point_max and point_min according to the current position point of the current.
If the bidirectional searching is successful, firstly planning the direction with few path points, then turning around to plan the direction with more path points, and if the unidirectional searching is successful, directly planning in one direction; if the bidirectional search fails, adding an A algorithm to perform direct search (A-Star algorithm is a direct search method which is most effective in solving the shortest path in a static road network).
Further, in the planning process, the side edges are left and right when the obstacle is encountered, and the side edges with fewer path points are selected for planning. If the two-way search and the one-way search are unsuccessful, the cleaning path is ended, and current, point_max and point_min are updated; and searching an uncleaned area of the cleaning path every time the line is changed.
The generation of the cleaning path corresponding to the rest of the planning path modes is similar to the generation of the cleaning path corresponding to the arch shape, and is not described in detail herein.
The above-described dividing instruction includes movement locus information, and the first cleaning path module 68 is configured to generate the cleaning path based on the movement locus information. For example, if the user draws an S-shaped curve on the user terminal interface, an S-shaped cleaning path may be generated according to the S-shaped curve.
The framing unit 64 is configured to receive a reconstruction path region framed by a user in the cleaning path.
In the cleaning path generated by the user terminal interface, the user can select a corresponding reconstruction path area in the map information through a frame selection operation on the user terminal interface, as shown in fig. 2, in the map 21 of fig. 2, the user selects a planning path mode in the database as an arch shape through the user terminal interface, a cleaning path of the arch shape is generated, and the user selects a first reconstruction path area 22 and a second reconstruction path area 23 through a frame in the map.
The second cleaning path generating unit 65 is configured to receive a planned path mode selected by a user for the reconstructed path region, and generate a cleaning path according to the cleaning path.
After the user selects the first reconstruction path region 22 and the second reconstruction path region 23 in the map frame, the user may select corresponding planning path manners in the first reconstruction path region 22 and the second reconstruction path region 23, respectively, as shown in fig. 2, in the first reconstruction path region 22, the selected planning path manner is a return font, a cleaning path in the return font is generated in the first reconstruction path region 22, in the second reconstruction path region 23, the selected planning path manner is an arc, and an arc cleaning path is generated in the second reconstruction path region 23.
It will be appreciated that the above-described cleaning paths are generated by way of planned paths corresponding to one or more reconstructed path regions. Of course, in the above-mentioned reconstructed path area, the cleaning path may be generated by selecting a corresponding planned path, or by manually drawing a path by a user in the reconstructed path area.
Further, in the same reconstruction path area, because the cleaning path generated by one planning path mode may have an incomplete structure, for example, some places are dead corners for the cleaning path generated by the planning path mode, the cleaning equipment cannot clean the dead corners, at this time, the cleaning path of the dead corners can be generated by another planning path mode (which can be manually drawn by a user) for the dead corners automatic area, so that the cleaning path generation of the dead corners area is completed. Therefore, different planning path modes can be adopted through different reconstruction path areas, so that the cleaning path generation is more flexible, and different regular path modes are adopted through the same reconstruction path area, so that the cleaning path generation is more complete.
Referring to fig. 10, the cleaning path generating apparatus 600 further includes: the deletion unit 69.
The deleting unit 69 is configured to receive a deleting instruction input by a user, and delete the corresponding cleaning path in real time according to the deleting instruction.
The user selects all or part of the cleaning paths through the user terminal interface, deletes or erases all or part of the paths through the deleting or erasing function of the user terminal interface, and updates the cleaning paths in the user terminal interface in real time according to the deleting or erasing result.
As shown in fig. 5, the first cleaning path 51 is selected to be deleted or erased. Drawing a new cleaning path, generating a second cleaning path 52 according to the new cleaning path, and generating a second cleaning path 52; or select a new location point and generate a second cleaning path 52 to the new location point.
The judging unit 66 is configured to judge whether the reconstructed path area selected by the user in the cleaning path middle box is received, if yes, return to the second cleaning path generating unit 65 for processing, and if not, generate a complete cleaning path according to all the cleaning paths.
Referring to fig. 11, the above-described judging unit 66 includes: instruction receiving unit 661, issue unit 662.
The instruction receiving unit 661 is configured to generate a complete cleaning path according to the cleaning path in the map and the cleaning path in the reconstructed path area if the user receives the reconstructed path area and the cleaning path of the reconstructed path area selected by the user in the cleaning path middle frame.
Further, the number of the cleaning robots may be one or more, and in the case where there are a plurality of cleaning robots, the command receiving unit 661 receives a cleaning path selection command inputted by the user and a cleaning robot selection command corresponding to the cleaning path selection command, and the issuing unit 662 issues each cleaning path to the corresponding cleaning robot according to the cleaning path selection command and the cleaning robot selection command, and all the cleaning paths of the cleaning robots generate a complete cleaning path.
Further, in the case where there are a plurality of cleaning robots, each cleaning robot performs a cleaning task of one or more cleaning paths.
Specifically, the user selects a reconstruction path area from a map center frame, generates a corresponding cleaning path in the reconstruction path area, forms a corresponding cleaning task by the cleaning paths in each reconstruction path area and the cleaning paths in the map, and sends the cleaning tasks to the corresponding cleaning robots so that each cleaning robot executes the corresponding cleaning task.
The reconstruction path region may be provided with a corresponding region number, and may be distinguished from the number of the set region. The cleaning route generated in the reconstruction route area forms a first cleaning task, the cleaning route generated in the setting area forms a second cleaning task, and the first cleaning task and the second cleaning task are respectively allocated by the number of the reconstruction route area and the number of the setting area.
In one possible embodiment, each cleaning task may be allocated to a corresponding cleaning robot according to a proximity principle according to a position of each cleaning robot, so that the cleaning robot performs the cleaning task nearby.
Referring to fig. 12, the cleaning path generating apparatus 600 further includes: and a parameter output unit 610.
The parameter output unit 610 is configured to calculate, when generating the cleaning path, a coverage rate of the cleaning path in the map information, a path length of the cleaning path, and a repetition rate of the cleaning path according to the cleaning path selected by the user, so as to facilitate the user to adjust the cleaning path according to the coverage rate of the cleaning path in the map information, the path length of the cleaning path, the estimated time of cleaning of the cleaning path, and the repetition rate of the cleaning path.
The path is composed of points in the map, each point is expanded according to the effective cleaning area (the brush tray coverage area of the cleaning robot), so that the whole path is a covered area after expansion, the cleanable area can be calculated according to the brush tray coverage area and the cleaning path length of the cleaning robot, and the coverage rate is obtained by dividing the total area required to be covered.
The path length can be obtained by counting the number of points in the path or by sweeping the path length and calculating the path length according to the fraying proportion.
And according to the motion characteristics of the cleaning robot and the parameters of acceleration and deceleration of the vehicle body model, turning acceleration and deceleration, calculating to obtain the cleaning predicted time.
The repetition rate can be obtained by dividing the repetition cleaning area by the cleanable area according to the brush disc coverage area and the cleaning path calculation of the cleaning robot.
The coverage rate of the cleaning path in the map information, the path length of the cleaning path, and the repetition rate of the cleaning path may be displayed on the user terminal interface in real time, or may be displayed on the user terminal interface after the corresponding cleaning path is generated according to the user selection.
In the embodiment of the invention, map information and a database containing a plurality of planning path modes are output to a user, the planning path modes selected by the user are received to generate the corresponding cleaning path, and the user is received to reconstruct a path area of the cleaning path and the cleaning path in the reconstructed path area, so that a complete cleaning path is generated, the effect of generating the corresponding cleaning path according to the selection of the user is realized, the flexibility of the cleaning path is improved, the cleaning efficiency is further improved, and the cleaning path is generated conveniently and efficiently.
Example IV
A fourth embodiment of the present invention provides a computer apparatus including a processor configured to implement the steps of the cleaning path generating method described above when executing a computer program stored in a memory.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program (instruction) is stored, characterized in that the computer program (instruction) when executed by a processor implements the steps of the cleaning path generating method as described above.
For example, a computer program may be split into one or more modules, one or more modules stored in memory and executed by a processor to perform the present invention. One or more modules may be a series of computer program instruction segments capable of performing particular functions to describe the execution of a computer program in a computer device. For example, the computer program may be divided into the steps of the cleaning path generation method provided by the respective method embodiments described above.
It will be appreciated by those skilled in the art that the foregoing description of computer apparatus is merely an example and is not intended to be limiting, and that more or fewer components than the foregoing description may be included, or certain components may be combined, or different components may be included, for example, input-output devices, network access devices, buses, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the computer device, connecting various parts of the overall computer device using various interfaces and lines.
The memory may be used to store the computer program and/or modules, and the processor may implement various functions of the computer device by running or executing the computer program and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as an interface display function, an interface interaction function, etc.) required for at least one function, and the like; the stored data area may store data created according to the use of the handset (e.g., map interface, selection interface, etc.), etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The modules/units integrated with the computer apparatus may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier wave signal, an electrical signal, a software distribution medium, and so forth.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (16)
1. A cleaning path generating method, comprising the steps of:
s1, obtaining map information scaled with an actual map in equal proportion;
s2, outputting the map information to a user and a database containing a plurality of path planning modes;
s3, receiving the planned path mode selected by the user in the database, and generating a cleaning path corresponding to the planned path mode according to the planned path mode;
s4, receiving a reconstruction path area selected by a user in the cleaning path middle frame;
s5, receiving the planned path mode selected by a user aiming at the reconstructed path area, and generating the cleaning path according to the cleaning path, wherein after the user selects the reconstructed path area in a map, the user selects the planned path mode in the reconstructed path area so as to generate the cleaning path corresponding to the planned path mode in the reconstructed path area;
s6, judging whether the reconstructed path area selected by the user in the cleaning path middle frame is received, if yes, returning to the S5, and if not, generating a complete cleaning path according to all the cleaning paths.
2. The cleaning route generating method according to claim 1, wherein after the step of outputting the map information and the database including a plurality of route planning methods to the user, further comprising:
Receiving a dividing region instruction input by a user aiming at the map information, dividing the map information into a plurality of set regions according to the dividing region instruction, wherein the dividing region instruction comprises closed boundary region information and moving track information;
and generating the cleaning path according to the movement track information.
3. The method of generating a cleaning path according to claim 2, wherein the step of receiving the planned path pattern selected by the user in the database and generating a cleaning path corresponding to the planned path pattern according to the cleaning path pattern specifically includes:
and receiving the planned path mode selected by the user for each closed boundary area information, and generating the cleaning path according to the cleaning path mode.
4. The cleaning route generating method according to claim 3, wherein after the step of dividing the map information into a plurality of set areas according to the dividing area instruction, further comprising:
receiving a generation number instruction input by a user aiming at a plurality of setting areas, and numbering each setting area according to the generation number instruction;
And receiving selection number instructions input by a user for a plurality of setting areas, and generating the cleaning path for the setting areas corresponding to the selection number instructions.
5. The cleaning path generation method as claimed in claim 1, wherein the step of generating a complete cleaning path from all the cleaning paths specifically comprises:
receiving a cleaning path selection instruction input by a user and a cleaning robot selection instruction corresponding to the cleaning path selection instruction;
and issuing each cleaning path to each corresponding cleaning robot according to the cleaning path selecting instruction and the cleaning robot selecting instruction, and generating complete cleaning paths by all the cleaning paths of the cleaning robots.
6. The method of generating a cleaning path according to claim 1, further comprising, before the step of generating a complete cleaning path from all the cleaning paths:
and receiving a deleting instruction input by a user, and deleting the corresponding cleaning path in real time according to the deleting instruction.
7. The cleaning path generation method according to claim 1, further comprising, when generating the cleaning path, the steps of:
And outputting the coverage rate of the cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path to a user.
8. A cleaning path generating device, comprising:
a map information acquisition unit for acquiring map information scaled in equal proportion to an actual map;
the map information and database output unit is used for outputting the map information and a database containing a plurality of path planning modes to a user;
the first cleaning path generating unit is used for receiving the planning path mode selected by a user in the database and generating a cleaning path corresponding to the planning path mode according to the planning path mode;
the frame selection unit is used for receiving a reconstruction path area selected by a user in the cleaning path through a frame;
the second cleaning path generating unit is used for receiving the planning path mode selected by a user aiming at the reconstruction path area and generating the cleaning path according to the cleaning path, wherein the user selects the planning path mode in the reconstruction path area after selecting the reconstruction path area in a map center frame so as to generate the cleaning path corresponding to the planning path mode in the reconstruction path area;
And the judging unit is used for judging whether the reconstructed path area selected by the user in the cleaning path middle frame is received, if yes, returning to the second cleaning path generating unit, and if not, generating a complete cleaning path according to all the cleaning paths.
9. The cleaning path generating apparatus as claimed in claim 8, wherein the cleaning path generating apparatus further comprises:
the dividing unit is used for receiving a dividing region instruction input by a user aiming at the map information, dividing the map information into a plurality of set regions according to the dividing region instruction, wherein the dividing region instruction comprises closed boundary region information and moving track information;
and the first cleaning path generation module is used for generating the cleaning path according to the movement track information.
10. The cleaning path generating apparatus according to claim 9, wherein the first cleaning path generating unit includes:
and the second cleaning path generation module is used for receiving the planning path modes selected by the user for each piece of closed boundary area information and generating the cleaning path according to the cleaning path modes.
11. The cleaning path generating apparatus according to claim 10, wherein the dividing unit includes:
The numbering module is used for receiving the generating numbering instructions input by the user aiming at a plurality of setting areas and numbering each setting area according to the generating numbering instructions;
and the third cleaning path generation module is used for receiving selection number instructions input by a user for a plurality of setting areas and generating the cleaning path for the setting areas corresponding to the selection number instructions.
12. The cleaning path generating apparatus according to claim 8, wherein the judging unit includes:
the instruction receiving unit is used for receiving a cleaning path selection instruction input by a user and a cleaning robot selection instruction corresponding to the cleaning path selection instruction;
and the issuing unit is used for issuing each cleaning path to each corresponding cleaning robot according to the cleaning path selecting instruction and the cleaning robot selecting instruction, and all the cleaning paths of the cleaning robots generate complete cleaning paths.
13. The cleaning path generating apparatus as claimed in claim 8, wherein the cleaning path generating apparatus further comprises:
and the deleting unit is used for receiving a deleting instruction input by a user and deleting the corresponding cleaning path in real time according to the deleting instruction.
14. The cleaning path generating apparatus as claimed in claim 8, wherein the cleaning path generating apparatus further comprises:
and a parameter output unit for outputting the coverage rate of the cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path to a user.
15. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the cleaning path generation method according to any one of claims 1 to 7 when the computer program is executed by the processor.
16. A storage device storing a computer program executable to implement the steps of the cleaning path generation method according to any one of claims 1 to 7.
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| CN112256039B (en) * | 2020-11-05 | 2023-05-26 | 深圳市锐曼智能装备有限公司 | Cleaning robot control system and cleaning route generation method |
| CN112595311A (en) * | 2020-12-08 | 2021-04-02 | 深圳市银星智能科技股份有限公司 | Cleaning path planning method and device, mobile robot and storage medium |
| CN115040031B (en) * | 2021-02-26 | 2024-03-29 | 云米互联科技(广东)有限公司 | Environment information acquisition method, sweeper, terminal equipment and readable storage medium |
| CN114237061A (en) * | 2021-12-10 | 2022-03-25 | 珠海格力电器股份有限公司 | Equipment control method and device, nonvolatile storage medium and intelligent gateway |
| CN115088463A (en) * | 2022-07-06 | 2022-09-23 | 松灵机器人(深圳)有限公司 | Mowing method, mowing device, mowing robot and storage medium |
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