CN111685655A - Task scheduling method and device for sweeping robot - Google Patents
Task scheduling method and device for sweeping robot Download PDFInfo
- Publication number
- CN111685655A CN111685655A CN201910197426.3A CN201910197426A CN111685655A CN 111685655 A CN111685655 A CN 111685655A CN 201910197426 A CN201910197426 A CN 201910197426A CN 111685655 A CN111685655 A CN 111685655A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- instruction
- sweeping
- sweeping robot
- task
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a task scheduling method and a task scheduling device for a sweeping robot, wherein the method comprises the following steps: the method comprises the steps of obtaining a task instruction input by a user, repositioning the current position of the sweeping robot, if the task instruction is the sweeping instruction, judging whether a first sweeping position corresponding to the current position of the sweeping robot is recorded in advance, if so, taking the first sweeping position recorded in advance as a second sweeping position, if not, taking the current position of the sweeping robot as the second sweeping position, and driving the sweeping robot to complete sweeping according to the second sweeping position. By the method, the current position of the sweeping robot is repositioned, and whether the first sweeping position corresponding to the current position of the sweeping robot recorded in advance exists or not is judged, so that repeated sweeping of the swept area can be avoided no matter what task mode is used.
Description
Technical Field
The invention relates to the technical field of intelligent household appliances, in particular to a task scheduling method and device for a sweeping robot, the sweeping robot and a storage medium.
Background
With the continuous development of artificial intelligence technology, intelligent household appliances based on the artificial intelligence technology are gradually applied to daily life of people, such as a floor sweeping robot.
At present, the sweeping robot can face complex and changeable sweeping conditions in the actual sweeping process, for example, the sweeping process is suddenly powered off, or a sensor is in fault, and the like.
Furthermore, in order to control the sweeping robot to use corresponding task modes according to complex and variable sweeping conditions, a complete set of task scheduling method for each task mode needs to be provided.
Disclosure of Invention
In view of the above problems, the present invention is proposed to provide a task scheduling method and apparatus for a sweeping robot, and a storage medium, which overcome the above problems or at least partially solve the above problems.
According to one aspect of the invention, a task scheduling method for a sweeping robot comprises the following steps:
acquiring a task instruction input by a user;
repositioning the current position of the sweeping robot;
if the task instruction is a cleaning instruction, judging whether a first cleaning position corresponding to the current position of the sweeping robot recorded in advance exists or not;
if so, taking the pre-recorded first cleaning position as a second cleaning position;
if not, taking the current position of the sweeping robot as a second sweeping position;
and driving the sweeping robot to complete sweeping according to the second sweeping position.
According to another aspect of the present invention, there is provided a task scheduling apparatus for a sweeping robot, the apparatus including:
the acquisition module is used for acquiring a task instruction input by a user;
the repositioning module is used for repositioning the current position of the sweeping robot;
the state recovery module is used for judging whether a first cleaning position which is recorded in advance by the state recording module and corresponds to the current position of the sweeping robot exists or not if the task instruction is a cleaning instruction, taking the first cleaning position which is recorded in advance as a second cleaning position if the task instruction is the cleaning instruction, and taking the current position of the sweeping robot as the second cleaning position if the task instruction is not the cleaning instruction;
and the cleaning module is used for driving the sweeping robot to complete cleaning according to the second cleaning position.
According to another aspect of the present invention, there is provided a sweeping robot comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to:
acquiring a task instruction input by a user;
repositioning the current position of the sweeping robot;
if the task instruction is a cleaning instruction, judging whether a first cleaning position corresponding to the current position of the sweeping robot recorded in advance exists or not;
if so, taking the pre-recorded first cleaning position as a second cleaning position;
if not, taking the current position of the sweeping robot as a second sweeping position;
and driving the sweeping robot to complete sweeping according to the second sweeping position.
According to yet another aspect of the present invention, there is provided a storage medium having stored therein at least one executable instruction, the executable instruction causing a processor to:
acquiring a task instruction input by a user;
repositioning the current position of the sweeping robot;
if the task instruction is a cleaning instruction, judging whether a first cleaning position corresponding to the current position of the sweeping robot recorded in advance exists or not;
if so, taking the pre-recorded first cleaning position as a second cleaning position;
if not, taking the current position of the sweeping robot as a second sweeping position;
and driving the sweeping robot to complete sweeping according to the second sweeping position.
According to the task scheduling method and device for the sweeping robot, the method comprises the following steps: the method comprises the steps of obtaining a task instruction input by a user, repositioning the current position of the sweeping robot, if the task instruction is the sweeping instruction, judging whether a first sweeping position corresponding to the current position of the sweeping robot is recorded in advance, if so, taking the first sweeping position recorded in advance as a second sweeping position, if not, taking the current position of the sweeping robot as the second sweeping position, and driving the sweeping robot to complete sweeping according to the second sweeping position. By the method, the current position of the sweeping robot is repositioned, and whether the first sweeping position corresponding to the current position of the sweeping robot recorded in advance exists or not is judged, so that repeated sweeping of the swept area can be avoided no matter what task mode is used.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of a task scheduling method for a sweeping robot according to an embodiment of the present invention;
figure 2 shows a device architecture diagram for task scheduling of a sweeping robot according to one embodiment of the present invention;
fig. 3 shows a schematic diagram of a task scheduling device for a sweeping robot according to another embodiment of the present invention;
fig. 4 shows a schematic structural diagram of a sweeping robot 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 flowchart of a task scheduling method for a sweeping robot according to an embodiment of the present invention. The method is used for scheduling the cleaning mode set by the sweeping robot. As shown in fig. 1, the method comprises the steps of:
s101: and acquiring a task instruction input by a user.
In practical application, the sweeping robot can face complex and variable sweeping conditions in an actual sweeping process, for example, the sweeping process is suddenly powered off, or a sensor fails, and in order to deal with different sweeping conditions, the sweeping robot with different types of task modes is usually developed for different sweeping conditions, so as to meet the requirements of users.
Therefore, in order to control the sweeping robot to use corresponding task modes according to complex and variable sweeping conditions, a set of complete task scheduling modes for each task mode is provided in the embodiment of the application.
In the embodiment of the application, when task scheduling is performed for each task mode, a task instruction input by a user needs to be acquired first.
It should be noted that, a user may input through keys of different task modes set on the sweeping robot, as shown in fig. 2, five task modes, namely, breakpoint sweeping, recharging, fixed point sweeping, fixed area sweeping and global sweeping, may be set on the sweeping robot, and each task mode has a corresponding control key, for example, a start key for controlling breakpoint sweeping; controlling a start button, a pause button and a low-power button of recharging; a start button, a pause button and a continue button for controlling fixed-point cleaning; controlling a start button, a pause button and a continue button for cleaning the fixed area; a start button, a pause button, and a continue button to control global cleaning.
S102: and repositioning the current position of the sweeping robot.
In practical application, it may happen that a user presses a pause key for some reasons (for example, the sweeping robot needs to be charged in time due to insufficient electric quantity) during the sweeping process of the sweeping robot, and holds the sweeping robot away from the position being swept, and presses a start or continue key to continue sweeping the sweeping robot after the reasons are eliminated, so that if the user places the sweeping robot at which place and presses the start or continue key to continue sweeping the sweeping robot, the sweeping robot continues sweeping according to the current position, and the swept place is swept again.
Based on the above situation, in the embodiment of the present application, the current position of the sweeping robot needs to be repositioned.
S103: and if the task instruction is a cleaning instruction, judging whether a first cleaning position corresponding to the current position of the sweeping robot, which is recorded in advance, exists.
In the embodiment of the present application, after the current position of the sweeping robot is determined again, it is required to know whether the task instruction input by the user is a new sweeping task, that is, the task instruction input by the user is to enable the sweeping robot to start sweeping at the current position, or to enable the sweeping robot to continue sweeping following the last sweeping task, so in the embodiment of the present application, it can be determined whether the task instruction input by the user is a new sweeping task by checking whether the first sweeping position is already stored, that is, if the first sweeping position is stored in the sweeping robot, it is indicated that the user has only paused the sweeping task of the sweeping robot before, the sweeping robot has already completed a part of sweeping, and if the first sweeping position is not stored in the sweeping robot, the user has not paused the sweeping task of the sweeping robot before, the task order entered by the user is a new cleaning task.
Specifically, if the task instruction is a cleaning instruction, it is determined whether a first cleaning position corresponding to the current position of the sweeping robot, which is recorded in advance, exists, if so, step S104 is executed, and if not, step S105 is executed.
S104: the first cleaning position recorded in advance is set as a second cleaning position.
S105: and taking the current position of the sweeping robot as a second sweeping position.
Here, the cleaning instruction includes: the sweeping robot comprises a global sweeping instruction, a fixed-area sweeping instruction, a fixed-point sweeping instruction or a breakpoint continuous sweeping instruction, wherein the sweeping instruction refers to an instruction generated by inputting a start key or a continuation key or a low-power key of any task mode by a user in the sweeping robot.
It should be further noted that, the first cleaning position corresponding to the current position of the sweeping robot is recorded in advance, and specifically, the cleaning suspension instruction input by the user may be acquired, and the first cleaning position of the sweeping robot is recorded.
In addition, in order to better distinguish between the pre-recorded cleaning position and the position that the sweeping robot should actually clean, in the embodiment of the present application, the pre-recorded cleaning position is defined as the first cleaning position, and the position that the sweeping robot should actually clean is defined as the second cleaning position.
S106: and driving the sweeping robot to complete sweeping according to the second sweeping position.
Further, after the second cleaning position is determined, the cleaning robot moves from the current position to the second cleaning position, and starts cleaning.
The embodiment of the application provides an implementation mode that robot that sweeps floor cleaned, and is specific, removes robot that sweeps floor arrives the second cleans the position, selects the rule according to the predetermined block that cleans, removes robot that sweeps floor arrives clean the position at block place, clean the block until accomplishing the cleaning of all blocks.
It should be noted that, the cleaning robot may clean the cleaning block by sweeping along the side of the cleaning block for one turn, while sweeping along the side, a cleaning line may be generated in the cleaning block, after sweeping along the side of the cleaning block for one turn, then, according to the generated cleaning lines, one by one, after the cleaning of the cleaning block is completed, the next cleaning block is selected according to a preset cleaning block selection rule, until all the cleaning blocks are completely cleaned.
In addition, in the cleaning process, a situation that the cleaning robot needs recharging may occur, and therefore, in the embodiment of the application, if the task instruction is a recharging instruction, a recharging route is determined according to the current position of the cleaning robot, and the cleaning robot is driven to complete recharging.
In practical application, a task mode of fixed-area cleaning or fixed-point cleaning exists, that is, an area designated by a user needs to be cleaned, so in the embodiment of the application, the user can directly receive the area which the user wants to designate to be cleaned through the area of the cleaning robot by using a key, the cleaning robot stores the area designated to be cleaned by the user into a cleaning area list, that is, the cleaning robot can receive the information of the cleaning area input by the user and record the information of the cleaning area into the cleaning area list, subsequently, if the cleaning instruction is a fixed-area cleaning instruction or a fixed-point cleaning instruction, whether a first cleaning position corresponding to the current position of the cleaning robot exists in advance is judged, if yes, the first cleaning position recorded in advance is taken as a second cleaning position, if not, the current position of the cleaning robot is taken as a second cleaning position, and inquiring the cleaning area list, acquiring the information of the cleaning area, and driving the sweeping robot to finish cleaning in the corresponding cleaning area according to the second cleaning position.
By the method, the current position of the sweeping robot is repositioned, and whether the pre-recorded first sweeping position corresponding to the current position of the sweeping robot exists or not is judged, so that repeated sweeping of the swept area can be avoided no matter what task mode is used.
In order to accurately illustrate the implementation process of the present invention, the embodiment of the present application is combined with the apparatus shown in fig. 2 to illustrate the implementation process of the present invention.
The apparatus shown in fig. 2 comprises: a task mode setting module 201, a repositioning module 202, a state recording module 203 and a cleaning module 204;
the task mode setting module 201 includes five task mode units and operation keys corresponding to the five task mode units, which are respectively: a start button of the breakpoint cleaning unit 2011; a start button, a pause button, and a low battery button of the recharge unit 2012; a start button, a pause button and a continue button of the fixed point cleaning unit 2013; a start button, a pause button and a continue button of the localized cleaning unit 2014; the global cleaning unit 2015 includes a start key, a pause key, and a continue key, and further includes a region receiving unit 2016 configured to receive a region that the user wants to specify cleaning.
When the task mode setting module 201 receives a task instruction input by a user, for example, a breakpoint cleaning start button or a recharge start button and a low power button or a fixed point cleaning start button and a continue button or a fixed area cleaning start button and a continue button or a global cleaning start button and a continue button, the received task instruction needs to be sent to the repositioning module 202, the repositioning module 202 repositions the current position of the cleaning robot, and sends the current position of the positioned cleaning robot to the cleaning module 204 to complete a cleaning task.
The cleaning module 204 includes: a state recovery unit 2041, an area setting unit 2042, a re-calibration unit 2043, a block cleaning unit 2044, a recharging unit 2045 and a trapped air removal unit 2046.
The state recovery unit 2041 is configured to determine whether a first cleaning position corresponding to the current position of the sweeping robot, which is recorded in advance, exists, if yes, the first cleaning position, which is recorded in advance, is used as a second cleaning position, and if not, the current position of the sweeping robot is used as the second cleaning position;
the block cleaning unit 2044 is configured to select a cleaning block according to a preset cleaning block selection rule, move the sweeping robot to a position where the cleaning block is located, and clean the cleaning block until cleaning of all blocks is completed.
The area setting unit 2042 is configured to receive information of a cleaning area input by a user, and record the information of the cleaning area in a cleaning area list;
the recharging unit 2045 is configured to determine a recharging route according to the current position of the sweeping robot, and drive the sweeping robot to complete recharging;
the escaping unit 2046 is used for activating the sweeping robot to perform a sweeping task;
the recalibration unit 2043 is configured to recalibrate the second cleaning position.
When the task mode setting module 201 receives a task instruction input by a user, for example, a breakpoint cleaning suspension button, a recharge low power button, a fixed point cleaning suspension button, a fixed area cleaning suspension button, or a global cleaning suspension button, the received task instruction needs to be sent to the state recording module 203, and the state recording module 203 records a first cleaning position of the cleaning robot.
In addition, another device for scheduling tasks of a sweeping robot is provided in an embodiment of the present application, and as shown in fig. 3, the device includes:
an obtaining module 301, configured to obtain a task instruction input by a user;
a repositioning module 302, configured to reposition a current position of the sweeping robot;
the state recovery module 303 is configured to, if the task instruction is a cleaning instruction, determine whether a first cleaning position corresponding to the current position of the sweeping robot, which is pre-recorded by the state recording module, exists, if so, take the pre-recorded first cleaning position as a second cleaning position, and if not, take the current position of the sweeping robot as the second cleaning position;
and a cleaning module 304, configured to drive the sweeping robot to complete cleaning according to the second cleaning position.
The cleaning instruction comprises: the system comprises a global cleaning instruction, a fixed-area cleaning instruction, a fixed-point cleaning instruction or a breakpoint continuous cleaning instruction.
Further comprising:
and the recharging module 305 is configured to determine a recharging route according to the current position of the sweeping robot and drive the sweeping robot to complete recharging if the task instruction is a recharging instruction.
Further comprising:
and the state recording module 306 is configured to acquire a cleaning suspension instruction input by the user and record a first cleaning position of the cleaning robot.
The cleaning module 304 is specifically configured to move the sweeping robot to the second cleaning position, select a cleaning block according to a preset cleaning block selection rule, move the sweeping robot to a position where the cleaning block is located, and clean the cleaning block until the cleaning of all blocks is completed.
Further comprising:
the area recording module 307 is configured to receive information of the cleaning area input by the user before the acquiring module 301 acquires the task instruction input by the user, record the information of the cleaning area in a cleaning area list, and if the cleaning instruction is a localized cleaning instruction or a localized cleaning instruction, the cleaning module 404 is specifically configured to query the cleaning area list, acquire information of the cleaning area, and drive the cleaning robot to complete cleaning in the corresponding cleaning area according to the second cleaning position.
The embodiment of the application also provides a nonvolatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the task scheduling method for the sweeping robot in any method embodiment.
Fig. 4 is a schematic structural diagram of a sweeping robot according to an embodiment of the present invention, and the specific implementation of the sweeping robot is not limited in the embodiment of the present invention.
As shown in fig. 4, the sweeping robot may include: a processor (processor)402, a Communications Interface 404, a memory 406, and a Communications bus 408.
Wherein:
the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.
A communication interface 404 for communicating with network elements of other devices, such as clients or other servers.
The processor 402 is configured to execute the program 410, and may specifically execute relevant steps in the embodiment of the task scheduling method for the sweeping robot.
In particular, program 410 may include program code comprising computer operating instructions.
The processor 402 may be a central processing unit CPU, or an application specific Integrated circuit asic, or one or more Integrated circuits configured to implement an embodiment of the present invention. The sweeping robot comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 406 for storing a program 410. Memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may specifically be configured to cause the processor 402 to perform the following operations:
acquiring a task instruction input by a user;
repositioning the current position of the sweeping robot;
if the task instruction is a cleaning instruction, judging whether a first cleaning position corresponding to the current position of the sweeping robot recorded in advance exists or not;
if so, taking the pre-recorded first cleaning position as a second cleaning position;
if not, taking the current position of the sweeping robot as a second sweeping position;
and driving the sweeping robot to complete sweeping according to the second sweeping position.
Optionally, the program 410 may also be for causing the processor 402 to:
the cleaning instruction comprises: the system comprises a global cleaning instruction, a fixed-area cleaning instruction, a fixed-point cleaning instruction or a breakpoint continuous cleaning instruction.
Optionally, the program 410 may also be for causing the processor 402 to:
and if the task instruction is a recharging instruction, determining a recharging route according to the current position of the sweeping robot, and driving the sweeping robot to complete recharging.
Optionally, the program 410 may also be for causing the processor 402 to:
acquiring a cleaning suspension instruction input by a user;
and recording a first cleaning position of the sweeping robot.
Optionally, the program 410 may also be for causing the processor 402 to:
moving the sweeping robot to the second sweeping position;
selecting a cleaning block according to a preset cleaning block selection rule;
moving the sweeping robot to the position of the cleaning block;
and cleaning the cleaning blocks until the cleaning of all the blocks is completed.
Optionally, the program 410 may also be for causing the processor 402 to:
receiving information of a cleaning area input by a user before acquiring a task instruction input by the user;
recording the information of the cleaning area into a cleaning area list;
if the cleaning instruction is a fixed-area cleaning instruction or a fixed-point cleaning instruction, inquiring a cleaning area list and acquiring information of a cleaning area;
and driving the sweeping robot to complete sweeping in the corresponding sweeping area according to the second sweeping position.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the task scheduling apparatus for a sweeping robot in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (14)
1. A task scheduling method for a sweeping robot comprises the following steps:
acquiring a task instruction input by a user;
repositioning the current position of the sweeping robot;
if the task instruction is a cleaning instruction, judging whether a first cleaning position corresponding to the current position of the sweeping robot recorded in advance exists or not;
if so, taking the pre-recorded first cleaning position as a second cleaning position;
if not, taking the current position of the sweeping robot as a second sweeping position;
and driving the sweeping robot to complete sweeping according to the second sweeping position.
2. The method of claim 1, the cleaning instructions comprising: the system comprises a global cleaning instruction, a fixed-area cleaning instruction, a fixed-point cleaning instruction or a breakpoint continuous cleaning instruction.
3. The method of claim 1, further comprising: and if the task instruction is a recharging instruction, determining a recharging route according to the current position of the sweeping robot, and driving the sweeping robot to complete recharging.
4. The method according to claim 1, wherein the step of recording the first sweeping position corresponding to the current position of the sweeping robot comprises:
acquiring a cleaning suspension instruction input by a user;
and recording a first cleaning position of the sweeping robot.
5. The method according to claim 1, wherein driving the sweeping robot to complete sweeping according to the second sweeping position comprises:
moving the sweeping robot to the second sweeping position;
selecting a cleaning block according to a preset cleaning block selection rule;
moving the sweeping robot to the position of the cleaning block;
and cleaning the cleaning blocks until the cleaning of all the blocks is completed.
6. The method of claim 2, prior to obtaining user-entered task instructions, the method further comprising:
receiving information of a cleaning area input by a user;
recording the information of the cleaning area into a cleaning area list;
if the cleaning instruction is a fixed-area cleaning instruction or a fixed-point cleaning instruction, driving the sweeping robot to complete cleaning according to the second cleaning position specifically comprises:
inquiring a cleaning area list to obtain information of a cleaning area;
and driving the sweeping robot to complete sweeping in the corresponding sweeping area according to the second sweeping position.
7. A task scheduling device for a sweeping robot, the device further comprising:
the acquisition module is used for acquiring a task instruction input by a user;
the repositioning module is used for repositioning the current position of the sweeping robot;
the state recovery module is used for judging whether a first cleaning position which is recorded in advance by the state recording module and corresponds to the current position of the sweeping robot exists or not if the task instruction is a cleaning instruction, taking the first cleaning position which is recorded in advance as a second cleaning position if the task instruction is the cleaning instruction, and taking the current position of the sweeping robot as the second cleaning position if the task instruction is not the cleaning instruction;
and the cleaning module is used for driving the sweeping robot to complete cleaning according to the second cleaning position.
8. The apparatus of claim 7, the purge instruction comprising: the system comprises a global cleaning instruction, a fixed-area cleaning instruction, a fixed-point cleaning instruction or a breakpoint continuous cleaning instruction.
9. The apparatus of claim 7, further comprising:
and the recharging module is used for determining a recharging route according to the current position of the sweeping robot and driving the sweeping robot to finish recharging if the task instruction is a recharging instruction.
10. The apparatus of claim 7, further comprising:
and the state recording module is used for acquiring a cleaning suspension instruction input by a user and recording a first cleaning position of the sweeping robot.
11. The apparatus of claim 7, wherein the cleaning module is specifically configured to move the sweeping robot to the second cleaning position, select a cleaning zone according to a preset cleaning zone selection rule, and move the sweeping robot to a position of the cleaning zone to clean the cleaning zone until the cleaning of all the zones is completed.
12. The apparatus of claim 8, further comprising:
the cleaning system comprises an acquisition module, a regional recording module and a cleaning module, wherein the acquisition module is used for acquiring a task instruction input by a user, receiving information of a cleaning region input by the user, recording the information of the cleaning region into a cleaning region list, and if the cleaning instruction is a fixed-region cleaning instruction or a fixed-point cleaning instruction, the cleaning module is specifically used for inquiring the cleaning region list, acquiring the information of the cleaning region, and driving the cleaning robot to complete cleaning in the corresponding cleaning region according to the second cleaning position.
13. A sweeping robot comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the task scheduling method for the sweeping robot in any one of claims 1-6.
14. A computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the task scheduling method for a sweeping robot of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197426.3A CN111685655B (en) | 2019-03-15 | 2019-03-15 | Task scheduling method and device for sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197426.3A CN111685655B (en) | 2019-03-15 | 2019-03-15 | Task scheduling method and device for sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111685655A true CN111685655A (en) | 2020-09-22 |
| CN111685655B CN111685655B (en) | 2023-07-04 |
Family
ID=72475895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910197426.3A Active CN111685655B (en) | 2019-03-15 | 2019-03-15 | Task scheduling method and device for sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111685655B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114545939A (en) * | 2022-02-18 | 2022-05-27 | 智橙动力(北京)科技有限公司 | Driving control method and device for swimming pool cleaning robot and electronic equipment |
| WO2023169147A1 (en) * | 2022-03-09 | 2023-09-14 | 追觅创新科技(苏州)有限公司 | Sweeping area determination method and apparatus, storage medium, and electronic apparatus |
| WO2023197730A1 (en) * | 2022-04-14 | 2023-10-19 | 追觅创新科技(苏州)有限公司 | Floor scrubber, self-cleaning method of cleaning device, cleaning device, and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3159125A1 (en) * | 2014-06-17 | 2017-04-26 | Yujin Robot Co., Ltd. | Device for recognizing position of mobile robot by using direct tracking, and method therefor |
| JP2017093626A (en) * | 2015-11-19 | 2017-06-01 | シャープ株式会社 | Self-travelling electronic apparatus |
| CN106913289A (en) * | 2015-12-25 | 2017-07-04 | 北京奇虎科技有限公司 | The cleaning treating method and apparatus of sweeping robot |
| CN107703930A (en) * | 2017-10-11 | 2018-02-16 | 珠海市微半导体有限公司 | The continuous of robot sweeps control method |
| CN108021884A (en) * | 2017-12-04 | 2018-05-11 | 深圳市沃特沃德股份有限公司 | The sweeper power-off continuous of view-based access control model reorientation sweeps method, apparatus and sweeper |
| US20180292827A1 (en) * | 2015-12-11 | 2018-10-11 | RobArt GmbH | Remote control of an autonomous mobile robot |
| CN108634886A (en) * | 2018-05-29 | 2018-10-12 | 珠海市微半导体有限公司 | Robot cleans control method and chip after interrupting |
| CN108803590A (en) * | 2017-04-28 | 2018-11-13 | 深圳乐动机器人有限公司 | Robot cleaner schema control system |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
| KR20190003119A (en) * | 2017-06-30 | 2019-01-09 | 엘지전자 주식회사 | Mobile terminal and Moving robot including the same therein |
-
2019
- 2019-03-15 CN CN201910197426.3A patent/CN111685655B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3159125A1 (en) * | 2014-06-17 | 2017-04-26 | Yujin Robot Co., Ltd. | Device for recognizing position of mobile robot by using direct tracking, and method therefor |
| JP2017093626A (en) * | 2015-11-19 | 2017-06-01 | シャープ株式会社 | Self-travelling electronic apparatus |
| US20180292827A1 (en) * | 2015-12-11 | 2018-10-11 | RobArt GmbH | Remote control of an autonomous mobile robot |
| CN106913289A (en) * | 2015-12-25 | 2017-07-04 | 北京奇虎科技有限公司 | The cleaning treating method and apparatus of sweeping robot |
| CN108803590A (en) * | 2017-04-28 | 2018-11-13 | 深圳乐动机器人有限公司 | Robot cleaner schema control system |
| KR20190003119A (en) * | 2017-06-30 | 2019-01-09 | 엘지전자 주식회사 | Mobile terminal and Moving robot including the same therein |
| CN107703930A (en) * | 2017-10-11 | 2018-02-16 | 珠海市微半导体有限公司 | The continuous of robot sweeps control method |
| CN108021884A (en) * | 2017-12-04 | 2018-05-11 | 深圳市沃特沃德股份有限公司 | The sweeper power-off continuous of view-based access control model reorientation sweeps method, apparatus and sweeper |
| CN108634886A (en) * | 2018-05-29 | 2018-10-12 | 珠海市微半导体有限公司 | Robot cleans control method and chip after interrupting |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114545939A (en) * | 2022-02-18 | 2022-05-27 | 智橙动力(北京)科技有限公司 | Driving control method and device for swimming pool cleaning robot and electronic equipment |
| WO2023169147A1 (en) * | 2022-03-09 | 2023-09-14 | 追觅创新科技(苏州)有限公司 | Sweeping area determination method and apparatus, storage medium, and electronic apparatus |
| WO2023197730A1 (en) * | 2022-04-14 | 2023-10-19 | 追觅创新科技(苏州)有限公司 | Floor scrubber, self-cleaning method of cleaning device, cleaning device, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111685655B (en) | 2023-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111685655A (en) | Task scheduling method and device for sweeping robot | |
| CN110575099B (en) | Fixed-point cleaning method, floor sweeping robot and storage medium | |
| CN108209743B (en) | Fixed-point cleaning method and device, computer equipment and storage medium | |
| CN112641380B (en) | Cleaning robot operation method and device, cleaning robot and chip | |
| CN113616119B (en) | Cleaning method and device for mobile robot, storage medium, and electronic device | |
| US20210369068A1 (en) | Robotic cleaner and controlling method therefor | |
| CN107665147A (en) | The cleaned system method and mobile device of a kind of mobile device | |
| CN110162563B (en) | Data warehousing method and system, electronic equipment and storage medium | |
| CN111685654A (en) | Sweeper state switching method and device | |
| CN111481107B (en) | Positioning method and device of charging seat of sweeper, computing equipment and storage medium | |
| CN109557259B (en) | Air concentration display method, remote control terminal, household appliance, system and storage medium | |
| CN109605374B (en) | Method and device for displaying movement path of robot and robot | |
| CN109702736B (en) | Robot posture processing method, device and system | |
| CN108968818B (en) | Storage method, system, device and storable medium for cleaning electric appliance | |
| JP5801517B2 (en) | Task processing method and apparatus | |
| CN111714029B (en) | Method and device for discriminating cleaning similar area, electronic equipment and readable storage medium | |
| CN111685656B (en) | Task scheduling method and device for sweeping robot | |
| CN114365983A (en) | Cleaning method, cleaning device, electronic apparatus, storage medium, and robot apparatus | |
| CN111481106A (en) | Detection method and device for charging seat of sweeper, computing equipment and storage medium | |
| CN111857109A (en) | Method for predicting garbage cleaning amount of sweeping robot and sweeping robot | |
| CN112205927A (en) | Intelligent sweeping method and device of sweeping robot | |
| CN118203265A (en) | Work control method of workstation | |
| US20240147560A1 (en) | Method for network configuration, non-transitory computer readable storage medium, base station, cleaning device and cleaning system | |
| CN112386188B (en) | Sweeping control method and device and storage medium | |
| CN117426712A (en) | Self-propelled cleaning system with intelligent control water tank function and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |