CN111714028A - Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium - Google Patents
Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium Download PDFInfo
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- CN111714028A CN111714028A CN201910204627.1A CN201910204627A CN111714028A CN 111714028 A CN111714028 A CN 111714028A CN 201910204627 A CN201910204627 A CN 201910204627A CN 111714028 A CN111714028 A CN 111714028A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the application provides a method, a device and equipment for escaping from a restricted area of cleaning equipment. The method comprises the following steps: positioning a current position; judging whether the current position is located in a preset forbidden zone range; if the current position is located in a preset forbidden zone range, determining a escaping path based on the current position; and controlling the cleaning equipment to be separated from the forbidden zone range according to the escaping path. According to the method for getting rid of the trouble in the forbidden zone of the cleaning equipment, the current position of the cleaning equipment is judged, the relative position relation between the current position and the set forbidden zone is judged, the getting-out path is found based on the characteristics of the current position and the range of the forbidden zone, the getting out of the set virtual forbidden zone is achieved, the intelligent degree of the cleaning equipment is improved, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of electronic information and intelligent control, in particular to a method, a device, equipment and a readable storage medium for escaping from a restricted area of cleaning equipment.
Background
With the development of the internet of things technology, the representative floor sweeping robot in the family robot is also developed towards a more intelligent direction. The floor sweeping robot is an intelligent household appliance and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. The sweeping robot is generally a machine controlled in a wireless communication mode, is mainly disc-shaped in appearance, can be used for reserving sweeping, automatically charging, detecting obstacles and automatically turning, and can walk different routes according to the setting of different manufacturers at each time to plan a sweeping area.
In a practical working scene, some areas which do not need to be cleaned exist in a room, or some areas do not allow the sweeping robot to enter temporarily, so that the situation that the sweeping robot is possibly damaged or unnecessary trouble is caused by touching some objects is avoided, and therefore an entrance forbidding area is defined in advance to place the sweeping robot to enter. However, inevitably, in actual work, the sweeping robot may mistakenly enter the forbidden zones, for example, the sweeping robot is already located in the forbidden zone when restarting sweeping, or is mistakenly put in by a person or is collided into the forbidden zone by a pet, or the area where the sweeping robot enters is redefined as the forbidden zone, and in these cases, the sweeping robot needs to be pulled out of the forbidden zone. In the prior art, a lot of automatic separation methods for solving the problem that the sweeping robot is trapped are available, but no technical scheme for solving the problem that the sweeping robot is separated from a forbidden zone exists, so that the intelligent degree of the current sweeping robot is not high enough, and the experience brought to a user is not good enough.
Disclosure of Invention
In view of the above, it is desirable to provide a method, an apparatus, a device and a readable storage medium for clearing an exclusion zone of a device.
In a first aspect, a method for escaping from a restricted area of a cleaning device is provided, which comprises the following steps:
positioning a current position;
judging whether the current position is located in a preset forbidden zone range;
if the current position is located in a preset forbidden zone range, determining a escaping path based on the current position;
and controlling the cleaning equipment to be separated from the forbidden zone range according to the escaping path.
In one embodiment, the step of locating the current position information comprises:
acquiring relative distance data with a pre-stored reference facility;
and determining a coordinate position in the reference facility according to the relative distance data, and taking the coordinate position as the current position.
In one embodiment, the determining a stranded exit path based on the current location includes:
determining a trap-free point according to the current position and the preset forbidden zone range;
and determining a escaping path according to the escaping point and the current position.
Further, the step of determining a trap point according to the current position and the predetermined forbidden zone range specifically includes:
acquiring the distance data between the current position and a plurality of position points on the edge of the forbidden zone in the preset forbidden zone range;
and taking the position point of the edge of the forbidden zone corresponding to the minimum value in the distance data as a trap point.
Further, the step of obtaining the distance data between the current position and a plurality of position points on the edge of the forbidden zone in the predetermined forbidden zone range specifically includes:
determining obstacle information in the predetermined forbidden zone range;
judging that an obstacle exists between the current position and any position point, and abandoning the position point; or
And if no obstacle exists between the current position and any position point, calculating and recording the distance data between the position point and the current position.
Further, the step of determining the escape route according to the escape point and the current position specifically includes:
determining obstacle information in the predetermined forbidden zone range;
judging whether an obstacle exists on a straight line track between the current position and the escaping point or not according to the obstacle information;
and if the straight line track is judged to have no obstacles, determining the straight line track as a escaping path.
In one embodiment, the step of determining the escape route based on the current location specifically includes:
acquiring barrier information in the preset forbidden zone range;
acquiring pre-stored historical track information, and determining a pre-trapped path according to the historical track information;
and if no obstacle is determined on the pre-trapped path according to the obstacle information, determining the pre-trapped path as a trapped path.
Further, determining that an obstacle exists on the pre-trapped road according to the obstacle information, further comprising:
determining a trap-free point according to the current position and the preset forbidden zone range;
and taking the connecting line of the current position, the trimming position of the barrier and the escaping point as an escaping path.
In a second aspect, there is provided an exclusion zone escaping device of a cleaning device, comprising:
a positioning module for positioning the current position,
the judging module is used for judging whether the current position is positioned in a preset forbidden zone range;
the determining module is used for determining a escaping path based on the current position if the current position is located in a preset forbidden zone range;
and the processing module is used for controlling the cleaning equipment to get out of the restricted area range according to the escaping path.
In one embodiment, the positioning module comprises:
the measuring unit is used for acquiring relative distance data with a pre-stored reference facility;
and the coordinate determination unit is used for determining the coordinate position in the reference facility according to the relative distance data and taking the coordinate position as the current position.
In one embodiment, the determining module comprises:
the positioning unit is used for determining a trap-free point according to the current position and the preset forbidden zone range;
and the path determining unit is used for determining a trapped-free path according to the trapped-free point and the current position.
In one embodiment, the determining module comprises:
the searching unit is used for acquiring the barrier information in the preset forbidden zone range;
the calling unit is used for acquiring pre-stored historical track information and determining a pre-trapped path according to the historical track information;
and the judging unit is used for determining the pre-trapping-escaping track as the trapping-escaping path if no obstacle exists on the pre-trapping-escaping path according to the obstacle information.
In a third aspect, there is provided a sweeping apparatus comprising: a memory storing a computer program for execution by the processor to implement the method of clearing an exclusion zone of a cleaning apparatus as provided in the first aspect of the present application, and a processor.
In a fourth aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the method for escaping from the restricted zone of the cleaning device provided in the first aspect.
According to the method for getting rid of the trouble in the forbidden zone of the cleaning equipment, the current position of the cleaning equipment is judged, the relative position relation between the current position and the set forbidden zone is judged, the getting-out path is found based on the characteristics of the current position and the range of the forbidden zone, the getting out of the set virtual forbidden zone is achieved, the intelligent degree of the cleaning equipment is improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flow chart illustrating a method for removing a restricted area of a cleaning device according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating a specific method step of step S300 according to an embodiment of the present disclosure;
fig. 3 is a schematic structural view of an exclusion zone escaping device of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of an exclusion zone escaping device of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic structural view of an exclusion zone escaping device of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 6 is a schematic structural view of an exclusion zone escaping device of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The terms referred to in this application will first be introduced and explained:
cleaning equipment, which is broadly defined as the name implies, is equipment for cleaning, such as a dust collector, a floor cleaning machine, a floor cleaning vehicle, a heavy crystal face machine, a sofa cleaning equipment, an eccentric dry-foam carpet machine, a polishing machine, a sweeper, a high-pressure cleaning machine, an industrial dust collector and the like, and in the application, mainly refers to equipment such as a household automatic dust collector, a sweeping robot and the like, as long as the automatic cleaning equipment capable of using the method and the device provided by the application all conforms to the definition range of the cleaning equipment in the application.
The current position refers to a position where the device body is located at a certain time.
The forbidden zone range is an area range artificially set and divided in a certain physical space, is reflected as electronic data, and is loaded in the cleaning equipment in advance.
The reference facility refers to a physical space corresponding to a specific object, such as a surrounding wall of a room in a certain house or a passable space in a kitchen, and the concept is also pre-loaded in the cleaning device in an electronic data manner, and is a fixed part in a cleaning map of the cleaning device.
The cleaning equipment for the household, typically like a sweeping robot, has an increasingly high intelligence degree, however, as people have an increasingly high living quality, the cleaning requirements for the sweeping robot are more and more detailed, the existing sweeping robot can clean in a certain track route according to a set range, but is inevitable, the set range needs to be changed frequently, or needs to be changed and refined in the set range according to the instant situation, and in the face of these problems, the existing robot enters a set forbidden area, and once the existing robot enters the forbidden area or is already in the forbidden area, because of being different from the previous physical actual space, no related technology can solve the problem that the sweeping robot is separated from the set virtual forbidden area.
The application provides a method and a device for getting rid of the difficulties in the forbidden zone of cleaning equipment, the cleaning equipment and a computer readable storage medium, which aim to solve the technical problems in the prior art.
The embodiment of the application provides a method for escaping from a restricted area of cleaning equipment, as shown in fig. 1, the method comprises steps S100 to S400:
step S100: the current position is located.
Step S200: and judging whether the current position is located in a preset forbidden zone range.
Step S300: and if the current position is within the range of the preset forbidden zone, determining the escaping route based on the current position.
Step S400: and controlling the cleaning equipment to get out of the forbidden zone range according to the escaping path.
In step S100, the current position of the cleaning device is determined by determining the current position of the cleaning device from the data map loaded into the cleaning device, i.e. substantially determining the position of the cleaning device on the pre-loaded data map, before the cleaning device is moved to a new position. As a specific possible solution, step S100 specifically includes the following steps:
step S110: relative spacing data from a pre-stored reference facility is acquired.
Step S120: and determining the coordinate position in the reference facility according to the relative distance data, and taking the coordinate position as the current position.
As described above, the cleaning device is necessarily located in a certain physical space, and the reference facility is the physical space where the cleaning device is located, and since the cleaning device is often in a dynamic state or a static state after movement, the location of the cleaning device in the physical space, that is, in the reference facility, is changed, and the pre-stored reference facility can be represented as a two-dimensional or three-dimensional data map on a data level, and by acquiring the relative distance data from the pre-stored reference facility, the coordinate location of the pre-stored reference facility in the current reference facility can be determined, and the coordinate location is taken as the current location of the cleaning device, so as to accurately locate the location of the cleaning device in the reference facility.
When the current position of the cleaning device is determined, it is determined whether the cleaning device is in the forbidden zone, that is, step S200 is performed. Because the cleaning device may be located in the temporarily defined forbidden zone range before the cleaning task is executed again, or may be pushed to mistakenly enter a certain temporarily defined forbidden zone range, it is determined whether the cleaning device is located in the forbidden zone range according to the current position and the data corresponding to the forbidden zone range. The forbidden zone range is also divided into a certain physical space, specifically in the middle of life, the forbidden zone range is located in a certain reference facility range, a data map corresponding to the reference facility is prestored in the cleaning equipment, the position of the forbidden zone range in the prestored reference facility can be judged according to the prestored data map corresponding to the reference facility and the data map of the preset forbidden zone range, and then whether the cleaning equipment is located in the forbidden zone range can be judged by combining the current position represented by the coordinate position obtained in step S100.
As for step S300, once the cleaning device determines that it is located in the forbidden zone, those skilled in the art will know that the first task to be performed is to leave the forbidden zone quickly, and the cleaning action should not be performed at this time, so as to avoid unnecessary trouble. Because the cleaning equipment has acquired the current position of the cleaning equipment through the step S100, and the geographic information of the forbidden zone range, the size, the relative position and the like of the forbidden zone range are acquired through the step S200, the cleaning equipment can reasonably determine the escaping route according to the two items of information. For step S300, determining the escape route based on the current location specifically includes step S310 and step S320:
step S310: and determining a trap-free point according to the current position and the preset forbidden zone range. The cleaning equipment can determine a feasible point of separation existing on the edge of the forbidden zone range according to the relative position relationship between the current position and the forbidden zone range, generally, a point with the closest position on the edge of the forbidden zone range and the current position is selected as a point of separation, and certainly, when other conditions exist, another point of separation is required to be selected, for example, when an obstacle happens to exist on the closest point. Specifically, the step of determining the escaping point according to the current position and the predetermined forbidden zone range specifically includes:
step S311: and acquiring the distance data of a plurality of position points on the edge of the forbidden zone in the range of the current position and the preset forbidden zone. The shape of the forbidden zone range is indefinite, and may be a regular polygon, and there may also be an edge of a circular arc shape, so that it is necessary to find a plurality of position points on the edge of the forbidden zone, and the more the number of the selected position points is, the more the optimal route can be found, but at the same time, the higher the calculation capability of the device is required. When a plurality of position points are selected, the data of the distance between the current position and the position points can be obtained. Of course, it is also necessary to consider a possible situation that several obstacles exist in the forbidden zone, so step S311 may further include the following steps:
step S311 a: obstacle information in a predetermined forbidden zone range is determined. The cleaning equipment can acquire the information of the obstacles in the current reference facility through the scanning sensor of the cleaning equipment, judge whether the obstacles exist in the forbidden zone range, and determine the position information of the obstacles.
Step S311 b: judging that an obstacle exists between the current position and any position point, and abandoning the position point; or if no obstacle exists between the current position and any position point, calculating and recording the distance data between the position point and the current position.
Certainly, there are some more detailed problems, such as the size and the type of the obstacle, because the object is in a three-dimensional state in the real world, and there is a certain size no matter the cleaning device itself or the obstacle, when the obstacle is small and light, the cleaning device can push the obstacle away without bypassing, so that the separation efficiency can be improved, which requires the cleaning device to know the attribute information of the obstacle in advance, compare the acquired attribute information with the object information table prestored in the cleaning device, and judge whether the obstacle can be pushed by itself or further, whether the obstacle has the right to push. When the judgment results are positive, namely the obstacle can be pushed and is authorized to be pushed, the distance data between the position point and the current position is still calculated and recorded, and the distance data is used as one of the selection conditions of the escaping path.
Step S312: and taking the edge position point of the forbidden zone corresponding to the minimum value in the interval data as a trap-free point. The position point of the edge of the forbidden zone corresponding to the minimum value in the distance data is naturally the point with the minimum path distance, so that the cleaning equipment can be ensured to leave the forbidden zone range quickly.
Step S320: and determining a escaping path according to the escaping point and the current position. In general, when the cleaning device moves to a certain position quickly, a straight line or an approximate straight line is often selected, and when the point of getting out of the trouble and the current position are determined, the cleaning device can determine the path of getting out of the trouble. Of course, there is a case where there are moving objects such as people or pets in the reference facility, which may enter the determined escaping route, and in order to avoid the problem of escaping process, the following process is also required as shown in fig. 2:
step S321: obstacle information in a predetermined forbidden zone range is determined.
Step S322: and judging whether an obstacle exists on a straight line track between the current position and the escaping point or not according to the obstacle information.
Step S323: and if no obstacle exists on the linear track, determining the linear track as a escaping path. And if the obstacle is temporarily entered, the obstacle does not appear on the linear track after rescanning, and the linear track is determined as the escape route. If an obstacle is still detected over several intermittent scans, the other straight-line trajectory is reselected.
Further, in step S300, there is a case where the amount of calculation is reduced, that is, the cleaning apparatus is pushed into the set exclusion zone by another object. As known to those skilled in the art, all motion trajectories of a cleaning device, such as a sweeping robot, leave backup data in its own system, and there is data backup, i.e. historical trajectory information of motion, regardless of whether the cleaning device itself is actively moving or passively moving, so the step of determining the escaping route based on the current position may further specifically include:
step S310': and acquiring the obstacle information in the preset forbidden zone range.
Step S320': and acquiring pre-stored historical track information, and determining a pre-trapped path according to the historical track information.
Step S330': and if no obstacle is determined on the pre-trapped path according to the obstacle information, determining the pre-trapped path as a trapped path.
Since the cleaning equipment can enter the range of the forbidden zone by moving, the cleaning equipment can also return along the moving path of the cleaning equipment, a pre-trapped path is determined by reading historical track information, and if no obstacle exists on the pre-trapped path, the pre-trapped path can be directly used as the trapped path. On the contrary, if an obstacle exists on the pre-trapped path, the scanning operation is also carried out at intervals of preset time to judge whether the obstacle is a dynamic obstacle or not so as to decide whether to insist on the obstacle as the trapped path or not. If there is a static obstacle on the pre-trapped path, the method for finding the trapped path described above needs to be adopted to realize the trapped in the forbidden zone.
Certainly, there is another way to solve the problem of getting rid of poverty that there is static barrier on the route of getting rid of poverty, specifically: firstly, according to the current position and the preset forbidden zone range, a trap-free point is determined. And then, taking the connecting line of the current position, the trimming position of the obstacle and the escaping point as an escaping path. The obstacle also has edges, so a series of trimming positions exist, and the obstacle trimming position among the current position, the obstacle and the escaping point is the shortest bypassing escaping path.
After the escaping path is determined, the cleaning device moves along the path to escape from the forbidden zone as quickly as possible, i.e., step S400 is completed.
The restricted area escaping method for the cleaning equipment can enable the cleaning equipment to rapidly go out from the preset or temporarily set virtual range, achieves the specific cleaning requirement of a user, reasonably carries out personalized cleaning according to the characteristics of the user, is higher in intelligent degree, and is beneficial to improving user experience.
Based on the same inventive concept, the embodiment of the present application provides an off-limits device 10 for cleaning equipment, as shown in fig. 3, including a positioning module 11, a determining module 12, a determining module 13, and a processing module 14. The positioning module 11 is configured to position a current location, and the determining module 12 is configured to determine whether the current location is within a predetermined forbidden zone range. The determining module 13 is configured to determine the escaping route based on the current location if the current location is within a predetermined forbidden zone range. And the processing module 14 is used for controlling the cleaning equipment to get out of the restricted area range according to the escaping path.
Accordingly, as shown in fig. 4, the positioning module 11 includes: a measuring unit 11a for acquiring relative distance data from a pre-stored reference facility, and a coordinate determination unit 11b for determining a coordinate position within the reference facility from the relative distance data and taking the coordinate position as a current position.
As shown in fig. 5, the determining module 13 includes a positioning unit 13a and a path determining unit 13b, and the positioning unit 13a is configured to determine a trap-free point according to a current position and a predetermined forbidden zone range. The path determining unit 13b is configured to determine a trapped-free path according to the trapped-free point and the current position. And acquiring the distance data of a plurality of position points on the edge of the forbidden zone in the range of the current position and the preset forbidden zone, and taking the position point of the edge of the forbidden zone corresponding to the minimum value in the distance data as a trap-free point. The step of obtaining the distance data between the current position and a plurality of position points on the edge of the forbidden zone in the preset forbidden zone range specifically comprises the following steps: determining obstacle information in a predetermined forbidden zone range; judging that an obstacle exists between the current position and any position point, and abandoning the position point; or if no obstacle exists between the current position and any position point, calculating and recording the distance data between the position point and the current position. When the escape route determining module works, the determining module firstly determines obstacle information in a preset forbidden area range, then judges whether an obstacle exists on a straight line track between the current position and the escape point or not according to the obstacle information, and determines the straight line track as the escape route if the straight line track is judged to have no obstacle, so that the escape route is determined according to the escape point and the current position.
Alternatively, as shown in fig. 6, the determining module 30 may include: the device comprises a searching unit 13A, a calling unit 13B and a judging unit 13C, wherein the searching unit 13A is used for acquiring the obstacle information in a preset forbidden zone range. The calling unit 13B is configured to obtain pre-stored historical track information, and determine a pre-trapped path according to the historical track information. The judging unit 13C is configured to determine the pre-trapping track as the trapping path if it is determined that there is no obstacle on the pre-trapping path according to the obstacle information.
An embodiment of the present application provides an electronic device, including: a memory and a processor; at least one program stored in the memory for execution by the processor, which when executed by the processor, implements: the electronic equipment provided by the application can enable the equipment to rapidly move out of the preset or temporary virtual range, specific personalized requirements of users are met, personalized work is reasonably carried out according to the characteristics of the users, the intelligent degree is higher, and the improvement of user experience is facilitated.
In an alternative embodiment, an electronic device is provided, as shown in fig. 7, the electronic device 1000 shown in fig. 7 comprising: a processor 1001 and a memory 1003. Where the processor 1001 is coupled to the memory 1003, such as via a bus 1002. Optionally, the electronic device 1000 may also include a transceiver 1004. It should be noted that the transceiver 1004 is not limited to one in practical application, and the structure of the electronic device 1000 is not limited to the embodiment of the present application.
The Processor 1001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application specific integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 1001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs and microprocessors, and the like.
The Memory 1003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically erasable programmable Read Only Memory), a CD-ROM (Compact disk Read Only Memory) or other optical disk storage, optical disk storage (including Compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 1003 is used for storing application program codes for executing the present application, and the processor 1001 controls the execution. The processor 1001 is configured to execute application program codes stored in the memory 1003 to implement the contents shown in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: floor sweeping robots, domestic mobile robots.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when run on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, the computer equipment using the computer-readable storage medium provided by the application can enable the equipment to rapidly move out of the preset or temporarily set virtual range, achieves specific personalized requirements of users, reasonably performs personalized work according to the characteristics of the users, is higher in intelligent degree, and is beneficial to improving user experience.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for escaping from a restricted zone of cleaning equipment is characterized by comprising the following steps:
positioning a current position;
judging whether the current position is located in a preset forbidden zone range;
if the current position is located in a preset forbidden zone range, determining a escaping path based on the current position;
and controlling the cleaning equipment to be separated from the forbidden zone range according to the escaping path.
2. The method for escaping from the restricted area of the cleaning equipment as claimed in claim 1, wherein the step of locating the current position information comprises:
acquiring relative distance data with a pre-stored reference facility;
and determining a coordinate position in the reference facility according to the relative distance data, and taking the coordinate position as the current position.
3. The method for escaping from a restricted area of a cleaning device according to claim 1, wherein the determining an escaping path based on the current position comprises:
determining a trap-free point according to the current position and the preset forbidden zone range;
and determining a escaping path according to the escaping point and the current position.
4. The method for escaping from a stranded area of a cleaning device as claimed in claim 3, wherein the step of determining an escaping point according to the current position and the predetermined forbidden area range specifically comprises:
acquiring the distance data between the current position and a plurality of position points on the edge of the forbidden zone in the preset forbidden zone range;
and taking the position point of the edge of the forbidden zone corresponding to the minimum value in the distance data as a trap point.
5. The method for escaping from the stranded area of the cleaning device as claimed in claim 4, wherein the step of obtaining the distance data between the current position and a plurality of position points on the edge of the stranded area in the predetermined stranded area range specifically comprises:
determining obstacle information in the predetermined forbidden zone range;
judging that an obstacle exists between the current position and any position point, and abandoning the position point; or
And if no obstacle exists between the current position and any position point, calculating and recording the distance data between the position point and the current position.
6. The method for escaping from a restricted area of a cleaning device according to claim 3, wherein the step of determining an escaping path according to the escaping point and the current position specifically comprises:
determining obstacle information in the predetermined forbidden zone range;
judging whether an obstacle exists on a straight line track between the current position and the escaping point or not according to the obstacle information;
and if the straight line track is judged to have no obstacles, determining the straight line track as a escaping path.
7. The method for escaping from a restricted area of a cleaning device according to claim 1, wherein the step of determining an escaping path based on the current position specifically comprises:
acquiring barrier information in the preset forbidden zone range;
acquiring pre-stored historical track information, and determining a pre-trapped path according to the historical track information;
and if no obstacle is determined on the pre-trapped path according to the obstacle information, determining the pre-trapped path as a trapped path.
8. An exclusion zone escaping device of a cleaning device, comprising:
a positioning module for positioning the current position,
the judging module is used for judging whether the current position is positioned in a preset forbidden zone range;
the determining module is used for determining a escaping path based on the current position if the current position is located in a preset forbidden zone range;
and the processing module is used for controlling the cleaning equipment to get out of the restricted area range according to the escaping path.
9. A sweeping apparatus, comprising: a memory and a processor, the memory storing a computer program for execution by the processor to implement the method of out-of-limits trapping of any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the method of escaping from an exclusion zone of any one of claims 1 to 7.
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| CN201910204627.1A CN111714028A (en) | 2019-03-18 | 2019-03-18 | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium |
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| CN201910204627.1A CN111714028A (en) | 2019-03-18 | 2019-03-18 | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium |
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| WO2024037036A1 (en) * | 2022-08-17 | 2024-02-22 | 珠海格力电器股份有限公司 | Trap escape method and apparatus for robot, and processor and robot |
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