CN111789537B

CN111789537B - Method, device and computer device for sweeping a floor area of a furniture bottom

Info

Publication number: CN111789537B
Application number: CN202010583880.5A
Authority: CN
Inventors: 许仕哲; 潘濛濛; 周升烽; 杨滨豪
Original assignee: Shenzhen Water World Co Ltd
Current assignee: Shenzhen Water World Co Ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-09-21
Anticipated expiration: 2040-06-23
Also published as: CN111789537A

Abstract

The application discloses a method of sweeping a floor area of a furniture bottom, comprising: judging whether the bottom of the furniture to be cleaned is detected; if so, acquiring the size information of the ground area at the bottom of the furniture to be cleaned; planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information; and controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path. Through obtaining size information to clean the route according to size information planning, the work of cleaning of the ground region of control flexible brush completion furniture bottom, solved current machine of sweeping the floor and in the cleaning process, met the condition that the ground region of furniture bottom can't clean, promoted and cleaned the area.

Description

Method, device and computer device for sweeping a floor area of a furniture bottom

Technical Field

The present application relates to the field of floor sweeping machines, and more particularly to a method, apparatus and computer device for sweeping a floor area at the bottom of a piece of furniture.

Background

Along with the improvement of standard of living, more and more smart machine walks into daily life, the machine of sweeping the floor is as a common smart machine commonly used, more the universal appearance is in thousands of households, and the model and the new function of machine of sweeping the floor are also different day by day, but current machine of sweeping the floor still can not clean the ground region of bottom of furniture portion, the mode through indoor map is many, furniture place region is regarded as not clear to sweep the region in advance and is got rid of outside, but the bottom of furniture portion is because not cleaning for a long time, can accumulate more dust, be unfavorable for furniture environment clean and tidy, especially the large-scale furniture of difficult removal, it has become a demand to clean its bottom ground region, but current machine of sweeping the floor does not have this kind of function.

Disclosure of Invention

The main purpose of this application is to provide a method for cleaning the floor area of furniture bottom, aiming at solving the technical problem that the floor area of furniture bottom cannot be cleaned.

The application provides a method of cleaning a floor area of a furniture bottom, comprising:

judging whether the bottom of the furniture to be cleaned is detected;

if so, acquiring the size information of the ground area at the bottom of the furniture to be cleaned;

planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information;

and controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path.

Preferably, the size information includes a width and a depth of a ground area corresponding to the bottom of the furniture to be cleaned, and the step of planning a cleaning path for the ground area of the bottom of the furniture to be cleaned according to the size information includes:

controlling the telescopic brush to form a surrounding area in the ground area at the bottom of the furniture to be cleaned in a wall-following mode under the driving of a mechanical arm by the aid of the telescopic brush, wherein the maximum telescopic length is the sum of the maximum length of the mechanical arm and the length of a body of the telescopic brush;

judging whether the area of the surrounding area is smaller than the area of the ground area corresponding to the bottom of the furniture to be cleaned or not, wherein the area of the ground area corresponding to the bottom of the furniture to be cleaned is obtained by calculation according to the width and the depth of the ground area corresponding to the bottom of the furniture to be cleaned;

if so, taking the surrounding area as a designated cleaning area, and dividing the ground area corresponding to the bottom of the furniture to be cleaned into a plurality of designated cleaning areas which are continuously distributed or a plurality of designated cleaning areas and residual areas which are continuously distributed according to the area of the ground area corresponding to the bottom of the furniture to be cleaned;

and respectively planning a cleaning path for each designated cleaning area and/or the remaining area according to the length of the body of the telescopic brush.

Preferably, the step of respectively planning a cleaning path for each of the designated cleaning areas and/or the remaining area according to the length of the body of the retractable brush includes:

acquiring a preset cleaning included angle or a stepping retraction length when the telescopic brush performs cleaning, wherein the cleaning included angle refers to an included angle at the joint of the mechanical arm and the telescopic brush, and is greater than or equal to 90 degrees and smaller than 180 degrees;

calculating the designated interval of the cleaning path according to the length of the body of the telescopic brush and the cleaning included angle or according to the length of the body of the telescopic brush and the stepping retraction length;

and cleaning paths corresponding to the designated cleaning areas and/or the residual areas are formed according to the designated intervals.

Preferably, the surrounding area is a rectangular area, and the step of controlling the retractable brush to complete the cleaning of the floor area at the bottom of the furniture to be cleaned according to the cleaning path includes:

judging whether edgewise cleaning is performed in a forming process or a retracting process of forming the surrounding area;

if so, acquiring a corresponding first cleaning included angle during the edgewise cleaning, wherein the first cleaning included angle is included in the cleaning included angle range, and the first cleaning included angle is any angle within a range of being more than or equal to 90 degrees and less than 180 degrees;

according to the first cleaning included angle, calculating the transverse span during the edgewise cleaning to determine a first cleaning fence for cleaning the cleaning path, wherein the first cleaning fence is a first rectangular cleaning area in the cleaning path which is continuous with the edgewise cleaning, the transverse span of the edgewise cleaning forms a rectangular frame surrounding the cleaning path, and the cleaning path is formed by sequentially arranging a plurality of same rectangular cleaning areas;

controlling the mechanical arm to extend out to push the telescopic brush to reach the depth position of the first cleaning fence, controlling the telescopic brush to rotate and incline towards the direction of an uncleaned rectangular cleaning area in the cleaning path, and enabling the joint of the mechanical arm and the telescopic brush to present a second cleaning included angle, wherein the second cleaning included angle is included in the range of the cleaning included angle, and the second cleaning included angle is any angle in the range of more than or equal to 90 degrees and less than 180 degrees;

controlling the mechanical arm to retract to drive the telescopic brush to clean the first cleaning fence under the second cleaning included angle, and scraping the cleaning garbage of the first cleaning fence to the starting position of a second cleaning fence from the starting position of the first cleaning fence, wherein the second cleaning fence is a second rectangular cleaning area in the cleaning path which is continuous with the first cleaning fence, the depth position of the first cleaning fence is the position of the ground area corresponding to the bottom of the furniture to be cleaned minus the transverse span during edgewise cleaning, the depth positions of the rectangular cleaning areas in the cleaning path are located on the same straight line, and the starting positions of the rectangular cleaning areas are located on the same straight line;

and according to the cleaning process of the first cleaning fence, cleaning of the second cleaning fence is completed, cleaning of all rectangular cleaning areas in the cleaning path is completed in sequence, and the cleaning garbage in the specified cleaning area is scraped and gathered to a side brush or a middle cleaning position of the sweeper to be cleaned.

Preferably, the step of controlling the mechanical arm to retract to drive the retractable brush to complete cleaning the first cleaning fence under the second cleaning included angle, and scraping the cleaning garbage of the first cleaning fence from the starting position of the first cleaning fence to the starting position of the second cleaning fence includes:

judging whether rotary cleaning needs to be started or not;

if yes, the mechanical arm is controlled to retract at a designated step frequency until the cleaning of the first cleaning fence is completed, and the cleaning garbage in the first cleaning fence is scraped to the starting position of a second cleaning fence from the starting position of the first cleaning fence, wherein the designated step frequency range comprises 1/2-2/3 of the length of the telescopic brush body.

Preferably, after the step of judging whether the area of the surrounding area is smaller than the area of the ground area corresponding to the bottom of the furniture to be cleaned, the method includes:

if the area of the surrounding area is equal to the area of the ground area corresponding to the bottom of the furniture to be cleaned, planning the cleaning path according to the surrounding area, wherein the surrounding area is a square area;

if the area of the surrounding area is larger than the area of the ground area corresponding to the bottom of the furniture to be cleaned, controlling the mechanical arm to retract, enabling the sum of the length of the mechanical arm and the length of the body of the telescopic brush to be equal to the perimeter of the ground area corresponding to the bottom of the furniture to be cleaned, and planning the cleaning path according to the ground area corresponding to the bottom of the furniture to be cleaned, wherein the ground area corresponding to the bottom of the furniture to be cleaned is a square area.

Preferably, the size information includes a caliber width formed by the bottom of the furniture to be cleaned and the ground, and the step of planning the cleaning path for the ground area of the bottom of the furniture to be cleaned according to the size information includes:

judging whether the caliber width formed by the bottom of the furniture to be cleaned and the ground is larger than the length of the body of the telescopic brush or not;

if so, planning a cleaning path which takes the length of the body of the telescopic brush as the width of a single cleaning surface and takes the distance less than or equal to the length of the body as a cleaning interval so as to drive the telescopic brush to sequentially clean the ground area at the bottom of the furniture to be cleaned by the displacement of the floor cleaning machine.

The present application further provides a device for cleaning a floor area of a furniture bottom, comprising:

the judging module is used for judging whether the bottom of the furniture to be cleaned is detected;

the acquisition module is used for acquiring the size information of the ground area of the bottom of the furniture to be cleaned if the bottom of the furniture to be cleaned is detected;

the planning module is used for planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information;

and the control module is used for controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path.

The present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method as described above.

This application is through obtaining size information to clean the route according to size information planning, the work of cleaning of the ground area of control flexible brush completion furniture bottom, solved current sweeper and cleaned the in-process, met the condition that the ground area of furniture bottom can't clean, promoted the whole cleanliness of cleaning area and family's environment.

Drawings

FIG. 1 is a schematic flow chart of a method of sweeping a floor area of a bottom of a piece of furniture according to an embodiment of the present application;

fig. 2 is a schematic structural view of a sweeper and a partially enlarged telescopic brush according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a cleaning path planning for area 1 according to an embodiment of the present application;

FIG. 4 is a schematic diagram of calculating a sweep cross-span a according to an embodiment of the present application;

FIG. 5 is a schematic view of an apparatus for sweeping a floor area of a bottom of furniture according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a planning module according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a structure of a planning unit according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a control module according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a third control unit in an embodiment of the present application;

FIG. 10 is a schematic diagram of a planning module according to another embodiment of the present application;

fig. 11 is a schematic diagram of an internal structure of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Referring to fig. 1, a method of sweeping a floor area of a bottom of furniture according to an embodiment of the present application includes:

s1: judging whether the bottom of the furniture to be cleaned is detected;

s2: if so, acquiring the size information of the ground area at the bottom of the furniture to be cleaned;

s3: planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information;

s4: and controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path.

The function of this application to the regional cleaning of the ground of furniture bottom can be integrated on any smart machine that realizes cleaning work such as machine of sweeping the floor, mopping machine, cleaning robot, and the explanation is carried out in detail with the machine of sweeping the floor as the example to this embodiment. According to the furniture bottom cleaning method and device, the current picture information entering the camera is identified, or the spatial layout characteristics are acquired through the detector, whether the furniture bottom is detected or not is judged, and whether the current floor area of the furniture bottom is the floor area of the furniture bottom to be cleaned or not is judged preferably according to historical cleaning data. For example, a picture of the bottom of the furniture in the working area of the sweeper is collected in advance to serve as a standard picture, then the currently acquired picture is compared with the standard picture in the using process, whether the currently acquired picture is a part of the standard picture or the standard picture is determined according to the characteristic consistency, and whether the currently acquired picture is the bottom of the furniture is further determined. Or the detector detects that deep holes with specific characteristic distribution appear in a preset distance range of the obstacle close to the ground, and the deep holes are indicated as furniture bottoms. Such as the specific features described above including the size of the deep space entrance. This application is through the parallel state of control machine of sweeping the floor along furniture bottom outside limit, will assemble in the flexible brush of machine of sweeping the floor and go deep into the furniture bottom with the direction of perpendicular to furniture bottom outside limit, stops to continue to extend when the sensor that is located flexible brush top detects obstacles such as wall of deepest to obtain the regional degree of depth in ground of furniture bottom. In some embodiments, the furniture bottom is linearly displaced along the outer side of the bottom while keeping parallel to the outer side of the furniture bottom, so as to obtain dimensional information such as the width of the floor area of the furniture bottom, and sense environmental information such as the presence or absence of obstacles on the furniture bottom. In another embodiment, the retractable brush of the sweeper is equipped with a detector, for example, the top end and two sides of the retractable brush are respectively provided with a distance measuring sensor and/or a collision sensor, so that when the sweeper is statically placed on the ground on one side of furniture, the approximate depth, width and the like of the bottom of the furniture can be directly obtained after the detector is extended out, and the size information and/or the environmental information can be more quickly obtained. Through according to above-mentioned size information and/or environmental information, the map data that forms the ground zone of bottom of furniture is deposited in machine memory of sweeping the floor to better according to map data planning clean the route, the work of cleaning of the ground zone of bottom of furniture is accomplished to the flexible brush of control, has solved current machine of sweeping the floor and in the cleaning process, meets the ground zone of bottom of furniture and can't clean the condition, has promoted and has cleaned the area.

Further, the size information includes a width and a depth of a ground area corresponding to the bottom of the furniture to be cleaned, and the step S3 of planning a cleaning path for the ground area of the bottom of the furniture to be cleaned according to the size information includes:

s31: controlling the telescopic brush to form a surrounding area in the ground area at the bottom of the furniture to be cleaned in a wall-following mode under the driving of a mechanical arm by the aid of the telescopic brush, wherein the maximum telescopic length is the sum of the maximum length of the mechanical arm and the length of a body of the telescopic brush;

s32: judging whether the area of the surrounding area is smaller than the area of the ground area corresponding to the bottom of the furniture to be cleaned or not, wherein the area of the ground area corresponding to the bottom of the furniture to be cleaned is obtained by calculation according to the width and the depth of the ground area corresponding to the bottom of the furniture to be cleaned;

s33: if so, taking the surrounding area as a designated cleaning area, and dividing the ground area corresponding to the bottom of the furniture to be cleaned into a plurality of designated cleaning areas which are continuously distributed or a plurality of designated cleaning areas and residual areas which are continuously distributed according to the area of the ground area corresponding to the bottom of the furniture to be cleaned;

s34: and respectively planning a cleaning path for each designated cleaning area and/or the remaining area according to the length of the body of the telescopic brush.

The utility model provides a sweeper's schematic structure is shown in figure 2, has the limit brush, well sweep and flexible brush, and above-mentioned flexible brush is driven by the arm, and is scalable rotatable. The mechanical arm can be of a structure with a plurality of bendable and telescopic nodes, and can also be a bendable hose with certain rigidity so as to support the rotation, the stretching and the like of the telescopic brush. The arm has a node with flexible brush junction, can realize that flexible brush is rotatory to the left and right sides and wave to control flexible brush and clean with the different inclination of cleaning.

The total length that this embodiment used arm and flexible brush is each the district that cleans for the girth demarcation to treat the ground area realization accurate segmentation of cleaning the furniture bottom, improve the complete coverage that cleans, reduce the region of missing to clean. The surrounding area refers to an area surrounded by the total length of the mechanical arm and the telescopic brush as a circumference.

The starting point of the mechanical arm entering the bottom of the furniture is taken as a starting point, and the starting point is contacted by the top end of the telescopic brush in a surrounding way. Specifically, the mechanical arm and the telescopic brush can be used for walking along the edge of the furniture bottom, or the shape of the surrounding area is similar to the overall contour of the furniture bottom, for example, the surrounding area is circular if the furniture bottom is circular; the surrounding area is square when the bottom of the furniture is square, and the surrounding area is oval when the bottom of the furniture is oval, and the like. The present embodiment will be described in detail with reference to a square bottom of furniture, which corresponds to a square floor area. The area of the ground area corresponding to the bottom of the furniture to be cleaned in this embodiment may be calculated according to the width and the depth of the ground area corresponding to the bottom of the furniture to be cleaned, for example, the area of the square ground area is obtained by multiplying the width by the depth, and may also be obtained by sensing with a detector. Then, the ground area with a large area is divided into a plurality of cleaning working areas according to each surrounding area which is continuously arranged, and the continuous arrangement can avoid missing cleaning. Reasonably dividing a cleaning working area according to the inclusion relation between the area of the ground area corresponding to the bottom of the furniture to be cleaned and the area of the surrounding area, for example, if the area is just in a multiple relation, fully dividing the cleaning working area into designated cleaning areas; if the remainder exists after the multiple, the area corresponding to the remainder is the remaining area, the remaining area can be defined as the cleaning working area again in a mode of reducing the perimeter by retracting the mechanical arm and the telescopic brush, the cleaning path can be independently planned in each cleaning working area, and then each cleaning working area is cleaned step by step to finish the cleaning of the ground area at the bottom of the whole furniture.

Further, the step S34 of planning a cleaning path for each of the designated cleaning areas and/or the remaining areas according to the length of the body of the retractable brush includes:

s341: acquiring a preset cleaning included angle or a stepping retraction length when the telescopic brush performs cleaning, wherein the cleaning included angle refers to an included angle at the joint of the mechanical arm and the telescopic brush, and is greater than or equal to 90 degrees and smaller than 180 degrees;

s342: calculating the designated interval of the cleaning path according to the length of the body of the telescopic brush and the cleaning included angle or according to the length of the body of the telescopic brush and the stepping retraction length;

s343: and cleaning paths corresponding to the designated cleaning areas and/or the residual areas are formed according to the designated intervals.

When the cleaning path is planned, the cleaning span of the telescopic brush is closely related, and when the cleaning span of the telescopic brush is used for cleaning, the projection length of the telescopic brush body in the direction perpendicular to the telescopic advancing direction is a designated interval and can be calculated according to the cleaning included angle and the length of the telescopic brush body, or calculated according to the length of the telescopic brush body and the stepping retraction length. When the telescopic brush does not have the stepping condition, the cleaning included angle is the included angle between the connecting part of the mechanical arm and the telescopic brush, for example, 120 degrees, and the length of the telescopic brush body is the projection length in the direction perpendicular to the telescopic advancing direction: the length of the telescopic brush body is multiplied by the sine value of (180-120 degrees), namely the sine value of 60 degrees is multiplied by the length of the telescopic brush body. Different cleaning included angles correspond to different designated intervals and then correspond to different cleaning paths. When the telescopic brush is stepped, the cleaning included angle is in a changing state, and the appointed interval can be calculated by utilizing the pythagorean theorem according to the length of the body of the telescopic brush and the triangle enclosed by the stepping retraction length. The planning process of the cleaning path of the remaining area is the same as that described above, and is not described again.

Further, the surrounding area is a rectangular area, and the step S4 of controlling the retractable brush to complete the cleaning of the floor area at the bottom of the furniture to be cleaned according to the cleaning path includes:

s41: judging whether edgewise cleaning is performed in a forming process or a retracting process of forming the surrounding area;

s42: if so, acquiring a corresponding first cleaning included angle during the edgewise cleaning, wherein the first cleaning included angle is included in the cleaning included angle range, and the first cleaning included angle is any angle within a range of being more than or equal to 90 degrees and less than 180 degrees;

s43: according to the first cleaning included angle, calculating the transverse span during the edgewise cleaning to determine a first cleaning fence for cleaning the cleaning path, wherein the first cleaning fence is a first rectangular cleaning area in the cleaning path which is continuous with the edgewise cleaning, the transverse span of the edgewise cleaning forms a rectangular frame surrounding the cleaning path, and the cleaning path is formed by sequentially arranging a plurality of same rectangular cleaning areas;

s44: controlling the mechanical arm to extend out to push the telescopic brush to reach the depth position of the first cleaning fence, controlling the telescopic brush to rotate and incline towards the direction of an uncleaned rectangular cleaning area in the cleaning path, and enabling the joint of the mechanical arm and the telescopic brush to present a second cleaning included angle, wherein the second cleaning included angle is included in the range of the cleaning included angle, and the second cleaning included angle is any angle in the range of more than or equal to 90 degrees and less than 180 degrees;

s45: controlling the mechanical arm to retract to drive the telescopic brush to clean the first cleaning fence under the second cleaning included angle, and scraping the cleaning garbage of the first cleaning fence to the starting position of a second cleaning fence from the starting position of the first cleaning fence, wherein the second cleaning fence is a second rectangular cleaning area in the cleaning path which is continuous with the first cleaning fence, the depth position of the first cleaning fence is the position of the ground area corresponding to the bottom of the furniture to be cleaned minus the transverse span during edgewise cleaning, the depth positions of the rectangular cleaning areas in the cleaning path are located on the same straight line, and the starting positions of the rectangular cleaning areas are located on the same straight line;

s46: and according to the cleaning process of the first cleaning fence, cleaning of the second cleaning fence is completed, cleaning of all rectangular cleaning areas in the cleaning path is completed in sequence, and the cleaning garbage in the specified cleaning area is scraped and gathered to a side brush or a middle cleaning position of the sweeper to be cleaned.

In the embodiment, when the ground area at the bottom of the furniture is divided by the surrounding area, in order to improve the cleaning efficiency, the cleaning mode is started when the surrounding area is formed to retract and return according to the original path. The surrounding area is a cleaning area performed in the edge cleaning mode. The sweeping modes of the edgewise sweeping include two modes, namely a sweeping mode with a fixed rotation angle and no stepping, and a sweeping mode with a fan-shaped rotary sweep with stepping and a variable rotation angle. The wrap-around region formed by the above-described edgewise sweeping can be formed by performing a sweeping action in a process of forming the wrap-around or a retracting process after forming the wrap-around.

The cleaning path of this embodiment is the remaining area in the surrounding area except for the square area formed by the transverse span during the edge cleaning, as shown in fig. 3, the cleaning path starts to move from point a to point B and then retracts to point a, AB is the first cleaning fence of the cleaning path, then point C starts to move to point D and then retracts to point C from point D, CD is the second cleaning fence of the cleaning path, and so on. The method for calculating the transverse span during edgewise cleaning is similar to the method for calculating the projection length of the telescopic brush body in the direction perpendicular to the telescopic advancing direction, and is not repeated. This embodiment cleans through not cleaning when the depths to furniture bottom extend, cleans the contained angle at the second when retracting and scrapes to improve and clean efficiency, push away rubbish to dark punishment department when preventing to push away to sweep, be difficult to the clearance.

Referring to fig. 3, the floor area of the furniture bottom is divided into two areas, area 1 and area 2. If the total length of the mechanical arm is 11 units, and the total length of the mechanical arm and the telescopic brush is 12 units, the perimeter of each divided area does not exceed 12 units, otherwise, the whole edge circle cannot be completed, namely, the total length of the boundary of the area 1 does not exceed 12 units. Regional 1's peripheral dotted line is located the region for encircleing the region, when cleaning according to cleaning the route, flexible brush stretches out towards regional 1 with following the wall mode from L point department, moves to position A department, turns to the motion to position B again, and the arm drives flexible brush and withdraws from position B department towards position A department, and the limit is contracted and the limit drives flexible brush and back cleans to scrape out rubbish. And after the telescopic brush retracts to the position A, the telescopic brush retracts to the position C, the process from the position A to the position C retracts and scrapes the garbage simultaneously so as to gather the garbage swept from the position B to the position A to the position C, the telescopic brush extends to the position D from the position C, the garbage is cleaned according to a scraping and sweeping mode retracting from the position B to the position A, the garbage is continuously cleaned and collected to the position D, and the garbage is circulated in sequence until the whole area 1 is traversed. The depth positions, i.e., position B and position D shown in fig. 3; the above-mentioned starting positions are position a and position C shown in fig. 3.

The first cleaning included angle and the second cleaning included angle can be the same or different. For example, the first sweeping included angle is 90 degrees, and the second sweeping included angle is 135 degrees. The above-mentioned in-process that forms first cleaning contained angle and form the second and clean the contained angle, all can control flexible brush, to the direction rotation slope that the rectangle that cleans the place in cleaning the route to beat rubbish to the region that cleans when avoiding rotation slope, influence and clean the effect. The designated cleaning areas are independent cleaning working areas, and when the designated cleaning areas clean the formed garbage, the garbage can be scraped and gathered to the side brush or the middle sweeping part of the sweeper in time to be removed, so that the garbage is prevented from being dispersed again by the external environment and the garbage is prevented from being treated in time. The cleaning modes of the designated cleaning area include two modes, namely a cleaning mode with a fixed rotation angle and no step, and a cleaning mode with a fan-shaped rotary sweep with a step and a variable rotation angle.

The process of cleaning of region 2 and the process of cleaning of region 1 in fig. 3 can be mirror symmetry, for example when region 1 adopts "right side along the wall mode", from the extreme point of initial position, the arm is every time the extension of a brush body length half/two-thirds (or between half to two-thirds), and flexible brush all turns to the certain angle of left side rotation, scrapes boundary rubbish to region 1 middle part with fan-shaped mode, then when scraping boundary rubbish again, the region of repeated scraping can form the hanging of reinforcing version and sweep the effect. When the area 2 adopts a left wall-following mode, starting from the end point of the initial position, when the mechanical arm extends for one half/two thirds of the length of the brush body (or one half to two thirds), the telescopic brushes rotate for a certain angle towards the right side, and the boundary garbage is scraped towards the middle part of the area 2 in a fan-shaped mode.

Of course, in other real-time modes, the cleaning process of the area 2 may be consistent with the direction of the area 1, rather than being mirror-symmetrical, for example, if the edge cleaning is performed, the "right edge wall mode" is also opened as with the area 1, if the bow-shaped cleaning of the internal area is performed, after the rectangular cleaning area is planned and distributed, the cleaning is performed sequentially from right to left according to the page shown in fig. 3, and only until the end, all the collected garbage is scraped out uniformly from the leftmost side.

Further, the step S45 of controlling the mechanical arm to retract to drive the retractable brush to complete cleaning the first cleaning fence at the second cleaning included angle and to scrape the cleaning garbage of the first cleaning fence from the initial position of the first cleaning fence to the initial position of the second cleaning fence includes:

s451: judging whether rotary cleaning needs to be started or not;

s452: if yes, the mechanical arm is controlled to retract at a designated step frequency until the cleaning of the first cleaning fence is completed, and the cleaning garbage in the first cleaning fence is scraped to the starting position of a second cleaning fence from the starting position of the first cleaning fence, wherein the designated step frequency range comprises 1/2-2/3 of the length of the telescopic brush body.

In this embodiment, if the rotation angle is equal to the fixed angle, the designated interval is the length of the body of the retractable brush, and each retractable step is a uniform square area, and the retractable step has little influence on the cleaning effect. However, if there is a cleaning method of a fan-shaped rotary cleaning in which the rotation angle changes in a stepwise manner, the designated interval is a mapping length of the body length of the retractable brush in a vertical cleaning movement direction, for example, a direction perpendicular to AB in fig. 3, and the cleaning area corresponding to each retractable step is a fan-shaped area, the retractable step affects the cleaning effect, and an appropriate designated step frequency must be selected to achieve the optimum cleaning effect while considering the cleaning efficiency, and the range of the designated step frequency includes 1/2 to 2/3 of the body length of the retractable brush, and in this case, the effect is optimum.

The range of the above-described specified step frequency can be calculated with reference to fig. 4. The fan-shaped boundary is arc-shaped, so that the outer area of the arc is not easy to be cleaned by subsequent planning, a missing cleaning area is easy to form, but if the outer area is too much close to the edge boundary in order to prevent missing cleaning, a large-area repeated area can be formed, and the cleaning efficiency is greatly reduced. But at the moment, the telescopic brushes have an intersection point between the boundaries of every two adjacent fan-shaped areas formed under the adjacent steps. When the rotation angle is fixed and no step cleaning manner is provided as an example, F, G in the figure is an example, an auxiliary line can be made through F, G, the auxiliary line extends to an intersection point formed by the rectangular frame boundary of the surrounding area, namely point a, point L and point B, so that the distance a between LL ' and AA ' and the distance a between BB ' can be specifically calculated by the step data of the sector radius, the right triangle, the third of the length of the body of the telescopic brush and the like, and each extending position or turning position of the telescopic brush can be determined. The distance a can be obtained by the length of the body of the telescopic brush. For example, the length of the body is r, the telescopic brush rotates 135 degrees to form a sector, a round point of the sector is a node between the telescopic brush and the mechanical arm, and the radius of the sector is r. Assuming that the designated step frequency of the telescopic brush driven by the mechanical arm in the scheme is 2/3r, a can be calculated according to the Pythagorean theorem and the isosceles triangle FHI and the right triangle FHJ formed in the figure, wherein the known side HJ is 1/3r, and a better designated step frequency range can be obtained through the calculation process.

In other embodiments of the present application, whether the rotation angle is fixed during cleaning is determined; if not, judging that the rotary cleaning is started, controlling the telescopic brush to rotate, extend and move along the direction far away from the mechanical arm to perform space-time cleaning, and controlling the telescopic brush to retract along the original path of the original rotary extending route to perform belt cleaning, so as to finish cleaning of all the cleaning fences in the cleaning path; and cleaning the areas corresponding to the cleaning paths in sequence so as to clean the ground areas at the bottoms of the furniture to be cleaned. Form when keeping away from ground through controlling flexible brush in advance and clean the contained angle to the flexible brush of robot stretches out and takes rubbish to the district that has cleaned when rotatory becomes to clean the contained angle in the furniture bottom, influences and cleans the effect.

Further, after the step S32 of determining whether the area of the surrounding area is smaller than the area of the ground area corresponding to the bottom of the furniture to be cleaned, the method includes:

s321: if the area of the surrounding area is equal to the area of the ground area corresponding to the bottom of the furniture to be cleaned, planning the cleaning path according to the surrounding area, wherein the surrounding area is a square area;

s322: if the area of the surrounding area is larger than the area of the ground area corresponding to the bottom of the furniture to be cleaned, controlling the mechanical arm to retract, enabling the sum of the length of the mechanical arm and the length of the body of the telescopic brush to be equal to the perimeter of the ground area corresponding to the bottom of the furniture to be cleaned, and planning the cleaning path according to the ground area corresponding to the bottom of the furniture to be cleaned, wherein the ground area corresponding to the bottom of the furniture to be cleaned is a square area.

In this embodiment, the area of the surrounding area is equal to the area of the ground area corresponding to the bottom of the furniture to be cleaned, and a cleaning path is planned according to the surrounding area, so that a designated cleaning area can be completed. When the area of the surrounding area is larger than the area of the ground area corresponding to the bottom of the furniture to be cleaned, the perimeter of the surrounding area is reduced, and the ground area of the bottom of the furniture to be cleaned can be cleaned through a designated cleaning area. In other embodiments of the present application, when the ground area at the bottom of the furniture is circular or elliptical, the cleaning path can be planned by gradually tightening the cleaning path toward the center of the area, so as to collect the garbage to the center of the area and scrape the garbage.

Further, the size information includes a caliber width formed by the bottom of the furniture to be cleaned and the ground, and the step S3 of planning the cleaning path for the ground area of the bottom of the furniture to be cleaned according to the size information includes:

s301: judging whether the caliber width formed by the bottom of the furniture to be cleaned and the ground is larger than the length of the body of the telescopic brush or not;

s302: if so, planning a cleaning path which takes the length of the body of the telescopic brush as the width of a single cleaning surface and takes the distance less than or equal to the length of the body as a cleaning interval so as to drive the telescopic brush to sequentially clean the ground area at the bottom of the furniture to be cleaned by the displacement of the floor cleaning machine.

In this embodiment, if the regional area in ground of furniture bottom is when great, and wait to clean furniture bottom with the bore width that ground formed is greater than the body length of flexible brush satisfies and utilizes the quick-witted removal of sweeping the floor to drive the direct mode of cleaning of flexible brush, then can control flexible brush and arm and become to fall "L" and stretch into and wait to clean the furniture bottom and clean, with the body length of flexible brush cleans the face width for the single, with being less than or equal to the distance of body length cleans for cleaning the interval, then need not earlier to carry out regional division through encircleing the region and plans again and clean the route, and through vertically directly stretching out arm and flexible brush forward, the quick-witted limit of sweeping the floor cleans in the mode of moving the limit brush directly, improves and cleans efficiency and cleans the effect.

Referring to fig. 5, an apparatus for sweeping a floor area of a bottom of furniture according to an embodiment of the present application includes:

the judging module 1 is used for judging whether the bottom of the furniture to be cleaned is detected;

the acquisition module 2 is used for acquiring the size information of the ground area of the bottom of the furniture to be cleaned if the bottom of the furniture to be cleaned is detected;

the planning module 3 is used for planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information;

and the control module 4 is used for controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path.

The function of this application to the regional cleaning of the ground of furniture bottom can be integrated on any smart machine that realizes cleaning work such as machine of sweeping the floor, mopping machine, cleaning robot, and the explanation is carried out in detail with the machine of sweeping the floor as the example to this embodiment. According to the furniture bottom cleaning method and device, the current picture information entering the camera is identified, or the spatial layout characteristics are acquired through the detector, whether the furniture bottom is detected or not is judged, and whether the current floor area of the furniture bottom is the floor area of the furniture bottom to be cleaned or not is judged preferably according to historical cleaning data. For example, a picture of the bottom of the furniture in the working area of the sweeper is collected in advance to serve as a standard picture, then the currently acquired picture is compared with the standard picture in the using process, whether the currently acquired picture is a part of the standard picture or the standard picture is determined according to the characteristic consistency, and whether the currently acquired picture is the bottom of the furniture is further determined. Or the detector detects that deep holes with specific characteristic distribution appear in a preset distance range of the obstacle close to the ground, and the deep holes are indicated as furniture bottoms. Such as the specific features described above including the size of the deep space entrance. This application is through the parallel state of control machine of sweeping the floor along furniture bottom outside limit, will assemble in the flexible brush of machine of sweeping the floor and go deep into the furniture bottom with the direction of perpendicular to furniture bottom outside limit, stops to continue to extend when the sensor that is located flexible brush top detects obstacles such as wall of deepest to obtain the regional degree of depth in ground of furniture bottom. In some embodiments, in another embodiment, the retractable brush of the sweeper is equipped with a detector in a state of keeping parallel to the outer side edge of the furniture bottom, for example, the retractable brush is linearly displaced along the outer side edge of the furniture bottom, so as to obtain dimension information such as the width of a ground area of the furniture bottom, and simultaneously sense environment information such as the existence of obstacles and the like of the furniture bottom. The distance measuring sensor and/or the collision sensor are respectively arranged at the top end and two sides of the telescopic brush, so that when the sweeper is statically arranged on the ground at one side of furniture, the approximate depth, width and the like of the bottom of the furniture can be directly obtained after the detector is extended out, and the size information and/or the environmental information can be obtained more quickly. Through according to above-mentioned size information and/or environmental information, the map data that forms the ground zone of bottom of furniture is deposited in machine memory of sweeping the floor to better according to map data, the work of cleaning in the ground zone of bottom of furniture is accomplished to the flexible brush of control, has solved current machine of sweeping the floor and has swept the in-process, runs into the ground zone of bottom of furniture and can't clean the condition, has promoted and has cleaned the area.

Referring to fig. 6, the size information includes the width and depth of the ground area corresponding to the bottom of the furniture to be cleaned, and the planning module 3 includes:

the first control unit 31 is used for controlling the telescopic brush to form a surrounding area in the ground area of the bottom of the furniture to be cleaned in a wall-following mode by the maximum telescopic length under the driving of the mechanical arm, wherein the maximum telescopic length is the sum of the maximum length of the mechanical arm and the length of a body of the telescopic brush;

the first judging unit 32 is configured to judge whether the area of the surrounding area is smaller than the area of the ground area corresponding to the bottom of the furniture to be cleaned, where the area of the ground area corresponding to the bottom of the furniture to be cleaned is obtained by calculation according to the width and the depth of the ground area corresponding to the bottom of the furniture to be cleaned;

the dividing unit 33 is configured to, if yes, use the surrounding area as a designated cleaning area, and divide the ground area corresponding to the bottom of the furniture to be cleaned into a plurality of designated cleaning areas arranged in succession according to the area of the ground area corresponding to the bottom of the furniture to be cleaned, or divide the ground area into a plurality of designated cleaning areas arranged in succession and remaining areas;

and the first planning unit 34 is configured to plan a cleaning path for each designated cleaning area and/or the remaining area according to the length of the body of the telescopic brush.

The total length that this embodiment used arm and flexible brush is each the district that cleans for the girth demarcation to treat the ground area realization accurate segmentation of cleaning the furniture bottom, improve the complete coverage that cleans, reduce the region of missing to clean. The surrounding area refers to an area surrounded by the total length of the mechanical arm and the telescopic brush as a circumference. The starting point of the mechanical arm entering the bottom of the furniture is taken as a starting point, and the starting point is contacted by the top end of the telescopic brush in a surrounding way. The shape of the surrounding area is similar to the overall contour of the furniture bottom, for example, the surrounding area is circular if the furniture bottom is circular; the surrounding area is square when the bottom of the furniture is square, and the surrounding area is oval when the bottom of the furniture is oval, and the like. The present embodiment will be described in detail with reference to a square bottom of furniture, which corresponds to a square floor area. The area of the ground area corresponding to the bottom of the furniture to be cleaned in this embodiment may be calculated according to the width and the depth of the ground area corresponding to the bottom of the furniture to be cleaned, for example, the area of the square ground area is obtained by multiplying the width by the depth, and may also be obtained by sensing with a detector. Then, the ground area with a large area is divided into a plurality of cleaning working areas according to each surrounding area which is continuously arranged, and the continuous arrangement can avoid missing cleaning. Reasonably dividing a cleaning working area according to the inclusion relation between the area of the ground area corresponding to the bottom of the furniture to be cleaned and the area of the surrounding area, for example, if the area is just in a multiple relation, fully dividing the cleaning working area into designated cleaning areas; if the remainder exists after the multiple, the area corresponding to the remainder is the remaining area, the remaining area can be defined as the cleaning working area again in a mode of reducing the perimeter by retracting the mechanical arm and the telescopic brush, the cleaning path can be independently planned in each cleaning working area, and then each cleaning working area is cleaned step by step to finish the cleaning of the ground area at the bottom of the whole furniture.

Referring to fig. 7, the planning unit 34 includes:

an obtaining subunit 341, configured to obtain a preset cleaning included angle or a stepping retraction length when the retractable brush performs cleaning, where the cleaning included angle is an included angle at a connection between the mechanical arm and the retractable brush, and the cleaning included angle is greater than or equal to 90 degrees and smaller than 180 degrees;

a calculating subunit 342, configured to calculate a specified interval of the cleaning path according to the length of the body of the retractable brush and the cleaning included angle, or according to the length of the body of the retractable brush and the stepping retraction length;

and a planning subunit 343, configured to form cleaning paths corresponding to the designated cleaning zones and/or the remaining areas, respectively, according to the designated intervals.

Referring to fig. 8, the surrounding area is a rectangular area, and the control module 4 includes:

a second judgment unit 41 for judging whether edgewise cleaning is performed in a forming process or a retracting process of forming the surrounding area;

an obtaining unit 42, configured to obtain a first cleaning included angle corresponding to the edge cleaning if the edge cleaning is performed, where the first cleaning included angle is included in the cleaning included angle range, and the first cleaning included angle is any angle within a range of greater than or equal to 90 degrees and less than 180 degrees;

a calculating unit 43, configured to calculate a transverse span during the edgewise cleaning according to the first cleaning included angle, so as to determine a first cleaning fence for cleaning the cleaning path, where the first cleaning fence is a first rectangular cleaning area in the cleaning path that is continuous to the edgewise cleaning, the transverse span of the edgewise cleaning forms a rectangular frame around the cleaning path, and the cleaning path is formed by sequentially arranging a plurality of same rectangular cleaning areas;

a second control unit 44, configured to control the mechanical arm to extend out to push the telescopic brush to reach a depth position of the first cleaning fence, and control the telescopic brush to rotate and incline in a direction where a rectangular cleaning area that is not cleaned in the cleaning path is located, so that a second cleaning included angle is present at a connection position of the mechanical arm and the telescopic brush, where the second cleaning included angle is included in the cleaning included angle range, and the second cleaning included angle is any angle in a range that is greater than or equal to 90 degrees and less than 180 degrees;

a third control unit 45, configured to control the mechanical arm to retract to drive the retractable brush to complete cleaning of the first cleaning fence under the second cleaning included angle, and to scrape the cleaning garbage of the first cleaning fence from the initial position of the first cleaning fence to the initial position of a second cleaning fence, where the second cleaning fence is a second rectangular cleaning area in the cleaning path that is continuous to the first cleaning fence, the depth position of the first cleaning fence is a position where the depth of the ground area corresponding to the bottom of the furniture to be cleaned is subtracted by the transverse span during edge cleaning, the depth positions of the rectangular cleaning areas in the cleaning path are located on the same straight line, and the initial positions of the rectangular cleaning areas are located on the same straight line;

and the cleaning unit 46 is used for completing the cleaning of the second cleaning fence according to the cleaning process of the first cleaning fence, sequentially completing the cleaning of all rectangular cleaning areas in the cleaning path, and scraping and gathering the cleaning garbage in the specified cleaning area to a side brush or a middle cleaning position of the sweeper for cleaning.

The cleaning path of this embodiment is the remaining area in the surrounding area except for the square area formed by the transverse span during the edge cleaning, as shown in fig. 3, the cleaning path starts to move from point a to point B and then retracts to point a, AB is the first cleaning fence of the cleaning path, then point C starts to move to point D and then retracts to point C from point D, CD is the second cleaning fence of the cleaning path, and so on. The method for calculating the transverse span during edgewise cleaning is similar to the method for calculating the projection length of the telescopic brush body in the direction perpendicular to the telescopic advancing direction, and is not repeated. This embodiment cleans through not cleaning when the depths to furniture bottom extend, cleans the contained angle at the second when retracting and scrapes to improve and clean efficiency, push away rubbish to dark punishment department when preventing to push away to sweep, be difficult to the clearance. Referring to fig. 3, the floor area of the furniture bottom is divided into two areas, area 1 and area 2. If the total length of the mechanical arm is 11 units, and the total length of the mechanical arm and the telescopic brush is 12 units, the perimeter of each divided area does not exceed 12 units, otherwise, the whole edge circle cannot be completed, namely, the total length of the boundary of the area 1 does not exceed 12 units. Regional 1's peripheral dotted line is located the region for encircleing the region, when cleaning according to cleaning the route, flexible brush stretches out towards regional 1 with following the wall mode from L point department, moves to position A department, turns to the motion to position B again, and the arm drives flexible brush and withdraws from position B department towards position A department, and the limit is contracted and the limit drives flexible brush and back cleans to scrape out rubbish. And after the telescopic brush retracts to the position A, the telescopic brush retracts to the position C, the process from the position A to the position C retracts and scrapes the garbage simultaneously so as to gather the garbage swept from the position B to the position A to the position C, the telescopic brush extends to the position D from the position C, the garbage is cleaned according to a scraping and sweeping mode retracting from the position B to the position A, the garbage is continuously cleaned and collected to the position D, and the garbage is circulated in sequence until the whole area 1 is traversed. The depth positions, i.e., position B and position D shown in fig. 3; the above-mentioned starting positions are position a and position C shown in fig. 3.

Referring to fig. 9, the third control unit 45 includes:

a judgment subunit 451 for judging whether the rotary cleaning needs to be started;

and the control subunit 452 is configured to, if yes, control the mechanical arm to retract at a specified step frequency until the cleaning of the first cleaning fence is completed, and scrape the cleaning garbage of the first cleaning fence from the starting position of the first cleaning fence to the starting position of the second cleaning fence, where the specified step frequency range includes 1/2 to 2/3 of the length of the telescopic brush body.

In other embodiments of the present application, whether the rotation angle is fixed is determined; if not, judging that the rotary cleaning is started, controlling the telescopic brush to rotate, extend and move along the direction far away from the mechanical arm to perform space-time cleaning, and controlling the telescopic brush to retract along the original path of the original rotary extending route to perform belt cleaning, so as to finish cleaning of all the cleaning fences in the cleaning path; and cleaning the areas corresponding to the cleaning paths in sequence so as to clean the ground areas at the bottoms of the furniture to be cleaned. Form when keeping away from ground through controlling flexible brush in advance and clean the contained angle to the flexible brush of robot stretches out and takes rubbish to the district that has cleaned when rotatory becomes to clean the contained angle in the furniture bottom, influences and cleans the effect.

Further, the planning module 3 includes:

a second planning unit 321, configured to plan the cleaning path according to the surrounding area if the area of the surrounding area is equal to the area of the ground area corresponding to the bottom of the furniture to be cleaned, where the surrounding area is a square area;

a fourth control unit 322, configured to control the mechanical arm to retract if the area of the surrounding area is larger than the area of the ground area corresponding to the bottom of the furniture to be cleaned, so that the sum of the current length of the mechanical arm and the length of the body of the telescopic brush is equal to the perimeter of the ground area corresponding to the bottom of the furniture to be cleaned, and plan the cleaning path according to the ground area corresponding to the bottom of the furniture to be cleaned, where the ground area corresponding to the bottom of the furniture to be cleaned is a square area.

Referring to fig. 10, the size information includes a caliber width formed by the bottom of the furniture to be cleaned and the ground, and the planning module 3 of another embodiment includes:

a third judging unit 301, configured to judge whether a caliber width formed by the bottom of the furniture to be cleaned and the ground is greater than a length of the body of the retractable brush;

a fifth control unit 302, configured to plan a cleaning path in which the length of the body of the retractable brush is taken as the width of a single cleaning surface, and a distance less than or equal to the length of the body is taken as a cleaning interval, so that the displacement of the floor sweeper drives the retractable brush to sequentially clean the ground area at the bottom of the furniture to be cleaned.

In this embodiment, if the regional area in ground of furniture bottom is when great, and wait to clean furniture bottom with the bore width that ground formed is greater than the body length of flexible brush satisfies and utilizes the quick-witted removal of sweeping the floor to drive the direct mode of cleaning of flexible brush, then controls flexible brush and arm and becomes to fall "L" and stretch into and wait to clean the furniture bottom and clean, with the body length of flexible brush cleans the face width for the single, with being less than or equal to the distance of body length cleans for cleaning the interval, then need not earlier to carry out regional division through encircleing the region and plans again and clean the route, and through vertically directly stretching out arm and flexible brush forward, the quick-witted limit of sweeping the floor cleans in the mode of moving the limit directly stretching the brush, improves and cleans efficiency and cleans the effect.

Referring to fig. 11, a computer device, which may be a server and whose internal structure may be as shown in fig. 11, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all the data required for the process of sweeping the floor area of the bottom of the furniture. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of sweeping a floor area of a bottom of a piece of furniture.

The processor performs the method of sweeping the floor area of the bottom of the furniture, comprising: judging whether the bottom of the furniture to be cleaned is detected; if so, acquiring the size information of the ground area at the bottom of the furniture to be cleaned; planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information; and controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path.

Above-mentioned computer equipment cleans the route through acquireing size information to planning according to size information, the regional work of cleaning in ground of controlling flexible brush completion furniture bottom, has solved current sweeper and is cleaning the in-process, meets the regional condition that can't clean in ground of furniture bottom, has promoted and has cleaned the area.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is only a block diagram of some of the structures associated with the present solution and is not intended to limit the scope of the present solution as applied to computer devices.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of sweeping a floor area of a bottom of a piece of furniture, comprising: judging whether the bottom of the furniture to be cleaned is detected; if so, acquiring the size information of the ground area at the bottom of the furniture to be cleaned; planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information; and controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path.

According to the computer-readable storage medium, the size information is acquired, the cleaning path is planned according to the size information, the telescopic brush is controlled to complete the cleaning work of the ground area at the bottom of the furniture, the problem that the ground area at the bottom of the furniture cannot be cleaned when the existing sweeper is used for cleaning is solved, and the cleaning area is increased.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A method of sweeping a floor area of a bottom of a piece of furniture, comprising:

judging whether the bottom of the furniture to be cleaned is detected;

controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path;

the size information comprises the width and the depth of a ground area corresponding to the bottom of the furniture to be cleaned, and the step of planning a cleaning path for the ground area at the bottom of the furniture to be cleaned according to the size information comprises the following steps:

if so, taking the surrounding area as a designated cleaning area, and dividing the ground area corresponding to the bottom of the furniture to be cleaned into a plurality of designated cleaning areas and residual areas which are continuously distributed according to the area of the ground area corresponding to the bottom of the furniture to be cleaned;

and respectively planning a cleaning path for each designated cleaning area and the remaining area according to the length of the body of the telescopic brush.

2. The method of sweeping a floor area of a furniture bottom according to claim 1, wherein said step of separately planning a sweeping path for each of said designated sweeping area and said remaining area according to a body length of said retractable brush comprises:

and cleaning paths corresponding to the designated cleaning areas and the residual areas respectively are formed according to the designated intervals.

3. The method of sweeping a floor area of a furniture bottom according to claim 2, wherein the surrounding area is a rectangular area, and the step of controlling the retractable brush to complete sweeping of the floor area of the furniture bottom to be swept according to the sweeping path comprises:

4. The method of sweeping a floor area of a furniture bottom according to claim 3, wherein said step of controlling said robotic arm to retract to bring said retractable brush to complete sweeping of said first sweeping bar at said second sweeping included angle and to sweep debris from said first sweeping bar from a starting position of said first sweeping bar to a starting position of a second sweeping bar comprises:

judging whether rotary cleaning needs to be started or not;

5. The method for sweeping the floor area of a furniture bottom according to claim 1, wherein the step of determining whether the area of the surrounding area is smaller than the area of the floor area corresponding to the furniture bottom to be swept comprises:

6. The method of sweeping the floor area of a furniture bottom according to claim 1, wherein the dimensional information includes a caliber width formed by the furniture bottom to be swept and the floor, and the step of planning a sweeping path for the floor area of the furniture bottom to be swept according to the dimensional information includes:

7. A device for sweeping a floor area of a bottom of a piece of furniture, comprising:

the control module is used for controlling the telescopic brush to complete the cleaning of the ground area at the bottom of the furniture to be cleaned according to the cleaning path;

the size information comprises the width and the depth of a ground area corresponding to the bottom of the furniture to be cleaned, and the planning module comprises:

the first control unit is used for controlling the telescopic brush to form a surrounding area in a ground area at the bottom of the furniture to be cleaned in a wall-following mode by the maximum telescopic length under the driving of the mechanical arm, wherein the maximum telescopic length is the sum of the maximum length of the mechanical arm and the length of a body of the telescopic brush;

the first judging unit is used for judging whether the area of the surrounding area is smaller than the area of the ground area corresponding to the bottom of the furniture to be cleaned or not, wherein the area of the ground area corresponding to the bottom of the furniture to be cleaned is obtained by calculation according to the width and the depth of the ground area corresponding to the bottom of the furniture to be cleaned;

the dividing unit is used for taking the surrounding area as a specified cleaning area if the surrounding area is in the shape of a circle, and dividing the ground area corresponding to the bottom of the furniture to be cleaned into a plurality of specified cleaning areas and residual areas which are continuously distributed according to the area of the ground area corresponding to the bottom of the furniture to be cleaned;

and the first planning unit is used for respectively planning cleaning paths for the designated cleaning areas and the residual areas according to the length of the body of the telescopic brush.

8. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.