CN112180930A - Sweeping robot and method and device for determining sweeping path planning area thereof - Google Patents

Sweeping robot and method and device for determining sweeping path planning area thereof Download PDF

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Publication number
CN112180930A
CN112180930A CN202011062890.0A CN202011062890A CN112180930A CN 112180930 A CN112180930 A CN 112180930A CN 202011062890 A CN202011062890 A CN 202011062890A CN 112180930 A CN112180930 A CN 112180930A
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path
pixel point
determining
pixel
coordinates
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檀冲
王颖
张书新
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Xiaogou Electric Internet Technology Beijing Co Ltd
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Xiaogou Electric Internet Technology Beijing Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention is suitable for the technical field of intelligent electric appliances, and provides a sweeping robot and a method and a device for determining a sweeping path planning area thereof, wherein the method comprises the following steps: acquiring a path of the sweeping robot after walking along a wall; determining the pixel point coordinates of the path on the map according to the map where the wall is located; whether vacant gaps exist in the distance from the pixel point coordinates on the scanning path to the wall boundary in the surrounding area in the map; if yes, updating the pixel point coordinates on the path into pixel point coordinates of a position which is away from the wall boundary and is the radius of the sweeping robot; and outputting the path after the pixel coordinate point is updated, and taking the path as a cleaning target path. According to the method for determining the planned area of the cleaning path, the actual traveling path of the robot can be updated and corrected, so that the cleaning range can be as large as possible in the next traveling path.

Description

Sweeping robot and method and device for determining sweeping path planning area thereof
Technical Field
The invention belongs to the technical field of intelligent electric appliances, and particularly relates to a sweeping robot and a method and a device for determining a sweeping path planning area of the sweeping robot.
Background
When the robot plans the cleaning path, the robot needs to walk along the wall once to determine the path planning area, and map building and positioning by SLAM (which is called Simultaneous localization and mapping in English, and the Chinese explanation is that the outer edge track of the robot walking is different from the actual wall due to instant positioning and map building or map building and positioning in parallel), so that the determined path planning area is relatively small, and the cleaning coverage is relatively low.
Disclosure of Invention
In view of this, the embodiment of the invention provides a sweeping robot and a method and a device for determining a sweeping path planning area thereof, so as to solve the problem that the coverage area of a sweeping area where the sweeping robot actually travels is low in the prior art.
In a first aspect of the embodiments of the present invention, a method for determining a planned area of a cleaning path is provided, which includes: acquiring a path of the sweeping robot after walking along a wall; determining the pixel point coordinates of the path on the map according to the map where the wall is located; whether vacant gaps exist in the distance from the pixel point coordinates on the scanning path to the wall boundary in the surrounding area in the map; if yes, updating the pixel point coordinates on the path into pixel point coordinates of a position which is away from the wall boundary and is the radius of the sweeping robot; and outputting the path after the pixel coordinate point is updated, and taking the path as a cleaning target path.
In some embodiments, scanning the map for a distance from coordinates of a pixel point on the path to a wall boundary in the surrounding area if there is a free space comprises: sequentially and progressively expanding and scanning pixel points with radius of 1 on a map by taking the coordinate of the pixel point on the path as the center of a circle; detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not; if so, determining a vacant gap according to the distance between the scanned pixel point and the circle center; if not, returning pixels with the radius of 1 to sequentially increase the expansion scanning.
In some embodiments, scanning the map for a distance from coordinates of a pixel point on the path to a wall boundary in the surrounding area if there is a free space comprises: on the map, sequentially increasing expansion scanning according to 1 pixel point by taking the coordinate of the pixel point on the path as the circle center and the pixel length occupied by the radius of the sweeping robot as the starting point; detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not; if so, determining a vacant gap according to the distance between the scanned pixel point and the circle center; and if not, returning to the step-up expansion scanning according to 1 pixel point.
In some embodiments, determining the free gap according to the distance between the scanned pixel point and the center of the circle comprises: calculating whether the distance between the scanned pixel point and the circle center is larger than the radius of the sweeping robot: and if so, determining that a vacant gap exists between the pixel point coordinates on the path and the wall where the scanned pixel point is located.
In some embodiments, updating the pixel coordinates on the path to pixel coordinates at a location that is a radius of the sweeping robot from the wall boundary comprises: calculating the position, the distance between which and the scanned pixel point is the radius of the sweeping robot, in the linear direction between the scanned pixel point and the pixel point where the circle center is located, and taking the pixel point coordinate of the position as a planning coordinate; and correspondingly updating the coordinates of the pixel points corresponding to the circle center on the path into the planning coordinates.
In some embodiments, scanning the map for a distance from coordinates of a pixel point on the path to a wall boundary in the surrounding area if there is a free space comprises: determining the direction of pixel point coordinates on a passing path on a map, selecting a scanning starting point in the determined direction, and sequentially and incrementally and directionally scanning according to 1 pixel point; detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not; if so, determining a vacant gap according to the distance between the scanned pixel point and the pixel point coordinate on the path; if not, returning to the step of sequentially and incrementally and directionally scanning according to 1 pixel point.
In some embodiments, determining the free space according to the distance between the scanned pixel point and the pixel point coordinate on the path includes: calculating whether the distance between the scanned pixel point coordinate and the pixel point coordinate on the path is larger than the radius of the sweeping robot or not: if yes, determining that a vacant gap exists.
In some embodiments, scanning the map for a distance from coordinates of a pixel point on the path to a wall boundary in the surrounding area if there is a free space comprises: determining the direction of pixel point coordinates on a passing path on a map, selecting a scanning starting point in the determined direction, and sequentially and incrementally and directionally scanning according to 1 pixel point; detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not; if so, determining a vacant gap according to the distance between the scanned pixel point and the pixel point coordinate on the path; if not, returning to the step of sequentially and incrementally and directionally scanning according to 1 pixel point.
In a second aspect of the embodiments of the present invention, there is provided a cleaning path planning region determining apparatus, including: the walking path acquisition module is configured to acquire a path of the sweeping robot after walking along the wall; the path position identification module is configured to determine pixel point coordinates of the path on a map according to the map where the wall is located; the spare gap scanning module is configured to scan whether a spare gap exists in the distance from the pixel point coordinates on the path to the wall boundary in the surrounding area in the map; the path coordinate updating module is configured to update the pixel point coordinates on the path to pixel point coordinates at a position which is away from the wall boundary and is the radius of the sweeping robot if the path coordinate updating module is configured to update the pixel point coordinates on the path to the pixel point coordinates at the position which is away from the wall boundary and is the radius of the sweeping robot; and the target path output module is configured to output the path after the pixel coordinate points are updated and take the path as a cleaning target path.
In a third aspect of the embodiments of the present invention, there is provided a sweeping robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of the aspects of the first aspect when executing the computer program.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: by the method for determining the planned area of the cleaning path, the actual traveling path of the robot can be updated and corrected, so that the cleaning range as large as possible can be obtained in the next traveling path.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a cleaning path planning region determining method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating the principle of scanning for free gaps on a map.
Fig. 3 is a schematic diagram of a cleaning path planning region determining apparatus according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, a flowchart of a method for determining a planned area of a cleaning path according to an embodiment of the present invention is shown.
The execution main body of the method provided by the above can be an intelligent cleaning device, such as a sweeping robot.
Specifically, referring to fig. 1, the method for determining a planned area of a cleaning path may include steps S1 to S5:
s1: and acquiring the path of the sweeping robot after walking along the wall.
When the sweeping robot performs the cleaning task, the sweeping robot generally follows the principle of walking along a wall, and then determines a cleaning area according to the walking path, and performs the cleaning task in the cleaning area.
S2: and determining the coordinates of the pixel points of the path on the map according to the map where the wall is located.
Since the image acquired by the sweeping robot is a non-visual image, a wall or other obstacles may exist in an actual map, so that the walking path of the sweeping robot has a deviation, and thus the path can be modified through the map acquired by the sweeping robot. Therefore, it is unclear to the sweeping robot whether the object encountered by the sweeping robot during walking in the environment is a wall, an obstacle, or another object, and therefore the actual walking path needs to be corrected to obtain the largest possible cleaning area.
The map, namely a non-visual image acquired by the sweeping robot, can display the path traveled by the robot in the map according to the record of the traveling path.
S3: and whether a vacant gap exists in the distance from the pixel point coordinate on the scanning path to the wall boundary in the surrounding area in the map.
If a free gap exists between the actual walking path of the robot and the nearest wall body, correspondingly, the situation can be detected according to the pixel point coordinates of the walking path on the map, and the situation is corrected in the subsequent steps.
The present step S3 may include the following specific implementation schemes.
For example, the step S3 may specifically include the following steps:
s311: sequentially and progressively expanding and scanning pixel points with radius of 1 on a map by taking the coordinate of the pixel point on the path as the center of a circle;
s312: detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall:
s313: if so, determining a vacant gap according to the distance between the scanned pixel point and the circle center;
s314: if not, returning pixels with the radius of 1 to sequentially increase the expansion scanning.
See fig. 2 for a schematic illustration of the principle of scanning for free gaps on a map.
Referring to fig. 2, in the map 01, the area occupied by the sweeping robot 12 is a circular area, and a partial path is determined between a first position a and a second position B corresponding to a position on the map 01 by a walking path L. In combination with the first example, the circle center is the coordinate of a pixel point on the path L between the first position a and the second position B, the radius R starts from 1 pixel point, for example, scanning is performed along the direction of the arrow K in the figure, and if the pixel value of the scanned pixel point is consistent with the pixel value of the wall 11, the pixel point of the wall 11 is scanned. Therefore, when the wall body is not scanned after the wall body is scanned for one circle, the radius is increased by one pixel point, namely the radius R is 2 pixel points to be scanned repeatedly, and the position of the wall body is known to be scanned. And then, according to the position of the scanning stop and the position of the circle, namely the position of the pixel point on the path, and the radius of the sweeping robot, determining whether the vacant gap exists.
It should be noted that the wall 11 shown in fig. 2 does not only show the wall in the map, but may also be an image area of any other obstacle, and the wall 11 is only used as an example for the convenience of understanding by those skilled in the art.
It should be noted that, as known in the prior art, the pixel value of the active area of the sweeping robot in the map is different from the pixel value of the obstacle or the wall.
Example two, the step S3 may specifically include the following steps:
s321: on the map, sequentially increasing expansion scanning according to 1 pixel point by taking the coordinate of the pixel point on the path as the circle center and the pixel length occupied by the radius of the sweeping robot as the starting point;
s322: detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall:
s323: if so, determining a vacant gap according to the distance between the scanned pixel point and the circle center;
s324: if not, returning to the step-up expansion scanning according to 1 pixel point.
In connection with fig. 2, the difference from the first example is that: the example directly starts scanning with the pixel length occupied by the radius of the sweeping robot, so that the scanning time can be shortened.
Example three, the step S3 may specifically include the following steps:
s331: determining the direction of pixel point coordinates on a passing path on a map, selecting a scanning starting point in the determined direction, and sequentially and incrementally and directionally scanning according to 1 pixel point;
s332: detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall:
s333: if so, determining a vacant gap according to the distance between the scanned pixel point and the pixel point coordinate on the path;
s334: if not, returning to the step of sequentially and incrementally and directionally scanning according to 1 pixel point.
With reference to fig. 2, the difference from the first example and the second example is that: the example is equivalent to directly determining the direction from the coordinates of the pixel point on the path L to the wall 11, and performing linear scanning according to the length of the preset radius R only in this direction. For example, the vertical direction of a pixel point on the path to the boundary of wall 11 may be determined, in which direction the scan validation starts along the direction with radius r of the sweeping robot. The scanning mode is simpler and more direct, the scanning time can be further shortened, and the algorithm is simple.
In practical applications, the scheme in any of the above examples may be adopted to determine the free space, and then, the combination of two or more of the above examples may be combined to perform confirmation, so that the present application is not limited thereto.
S4: and if so, updating the pixel point coordinates on the path into pixel point coordinates of a position which is away from the wall boundary and is the radius of the sweeping robot.
Under the condition that the vacant gaps exist, the pixel points on the path need to be readjusted, as shown in fig. 2, the pixel points on the path L obviously have partial vacant gaps.
With reference to the first example and the second example, in steps S313 and S323, the determining the free gap according to the distance between the scanned pixel point and the center of the circle may specifically include:
s341: calculating whether the distance between the scanned pixel point and the circle center is larger than the radius of the sweeping robot:
s342: and if so, determining that a vacant gap exists between the pixel point coordinates on the path and the wall where the scanned pixel point is located.
As shown in fig. 2, that is, as long as the distance from the pixel point on the path L to the corresponding scanned pixel point is greater than the radius r of the sweeping robot, it is determined that there is a free gap between the path L and the wall 11.
On the basis of the above example one or example two, then, the step S4 may specifically include the following steps:
s411: calculating the position, the distance between which and the scanned pixel point is the radius of the sweeping robot, in the linear direction between the scanned pixel point and the pixel point where the circle center is located, and taking the pixel point coordinate of the position as a planning coordinate;
s412: and correspondingly updating the coordinates of the pixel points corresponding to the circle center on the path into the planning coordinates.
Referring to fig. 2, the pixel points on the path L are updated, that is, the pixel points are drawn toward the wall, so that the cleaning area of the cleaning robot is enlarged.
In addition, with reference to the third example, in step S333, determining the free space according to the distance between the scanned pixel point and the pixel point coordinate on the path may specifically include:
s351: calculating whether the distance between the scanned pixel point coordinate and the pixel point coordinate on the path is larger than the radius of the sweeping robot or not:
s352: if yes, determining that a vacant gap exists.
Similarly, as long as the distance from the pixel point on the path L to the corresponding scanned pixel point is greater than the radius r of the sweeping robot, it is determined that a vacant gap exists between the path L and the wall 11, as shown in fig. 2.
For this reason, on the basis of the third example, the step S4 may specifically include the following steps:
s421: determining the direction of pixel point coordinates on a passing path on a map, selecting a scanning starting point in the determined direction, and sequentially and incrementally and directionally scanning according to 1 pixel point;
s422: detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not;
s423: if so, determining a vacant gap according to the distance between the scanned pixel point and the pixel point coordinate on the path;
s424: if not, returning to the step of sequentially and incrementally and directionally scanning according to 1 pixel point.
Similarly, with reference to fig. 2, the pixel points on the path L are updated, that is, the pixel points are drawn toward the wall, so as to enlarge the cleaning area of the cleaning robot.
S5: and outputting the path after the pixel coordinate point is updated, and taking the path as a cleaning target path.
By the method for determining the planned area of the cleaning path, the actual traveling path of the robot can be updated and corrected, so that the cleaning range as large as possible can be obtained in the next traveling path.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
On the basis of the same invention concept as the cleaning path planning region determination, the invention further provides a cleaning path planning region determination device.
Fig. 3 is a schematic diagram of a cleaning path planning region determining apparatus provided in the present invention in an embodiment.
Referring to fig. 3, a sweeping path planning region determining apparatus 300 is shown, which includes: a walking path acquiring module 310 configured to acquire a path of the sweeping robot after walking along the wall; a path position identification module 320 configured to determine pixel coordinates of the path on a map according to the map where the wall is located; a free gap scanning module 330 configured to scan whether a free gap exists in a distance from a pixel coordinate on a path to a wall boundary in a surrounding area in the map; a path coordinate updating module 340 configured to update the pixel coordinates on the path to pixel coordinates at a position away from the wall boundary by a radius of the sweeping robot if the path coordinate updating module is configured to update the pixel coordinates on the path to the pixel coordinates at the position away from the wall boundary by the radius of the sweeping robot; and a target path output module 350 configured to output the path after the pixel coordinate point is updated, and take the path as a cleaning target path.
Because the technical problem to be solved by the embodiment, the technical scheme for solving the technical problem and the obtained technical effect are the same as those of the method. Therefore, in the case that the technical solution in the above method has been clearly and completely described, reference may be made to the above method embodiment for technical details of the apparatus in this embodiment, and details are not described here.
In addition, in some embodiments, the invention further provides an intelligent cleaning device to which the cleaning path planning region determining method or the cleaning path planning region determining apparatus of the invention can be applied, and the intelligent cleaning device can be a cleaning robot.
Illustratively, the invention further provides a sweeping robot, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method for planning the obstacle avoidance path of the intelligent sweeping device shown in fig. 1 are implemented.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. A method for determining a cleaning path planning region is characterized by comprising the following steps:
acquiring a path of the sweeping robot after walking along a wall;
determining the pixel point coordinates of the path on the map according to the map where the wall is located;
whether vacant gaps exist in the distance from the pixel point coordinates on the scanning path to the wall boundary in the surrounding area in the map;
if yes, updating the pixel point coordinates on the path into pixel point coordinates of a position which is away from the wall boundary and is the radius of the sweeping robot;
and outputting the path after the pixel coordinate point is updated, and taking the path as a cleaning target path.
2. The method for determining the planned area of the cleaning path according to claim 1, wherein whether there is a free space in the map between the coordinates of the pixel points on the scanning path and the wall boundary in the surrounding area comprises:
sequentially and progressively expanding and scanning pixel points with radius of 1 on a map by taking the coordinate of the pixel point on the path as the center of a circle;
detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not;
if so, determining a vacant gap according to the distance between the scanned pixel point and the circle center;
if not, returning pixels with the radius of 1 to sequentially increase the expansion scanning.
3. The method for determining the planned area of the cleaning path according to claim 1, wherein whether there is a free space in the map between the coordinates of the pixel points on the scanning path and the wall boundary in the surrounding area comprises:
on the map, sequentially increasing expansion scanning according to 1 pixel point by taking the coordinate of the pixel point on the path as the circle center and the pixel length occupied by the radius of the sweeping robot as the starting point;
detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not;
if so, determining a vacant gap according to the distance between the scanned pixel point and the circle center;
if not, returning to the step-up expansion scanning according to 1 pixel point.
4. The method for determining the planned cleaning path area according to claim 2 or 3, wherein determining the free gap according to the distance between the scanned pixel point and the center of the circle comprises:
calculating whether the distance between the scanned pixel point and the circle center is larger than the radius of the sweeping robot: and if so, determining that a vacant gap exists between the pixel point coordinates on the path and the wall where the scanned pixel point is located.
5. The method for determining the planned cleaning path area according to claim 4, wherein the step of updating the coordinates of the pixel points on the path to the coordinates of the pixel points at the position away from the wall boundary by the radius of the sweeping robot includes:
calculating the position, the distance between which and the scanned pixel point is the radius of the sweeping robot, in the linear direction between the scanned pixel point and the pixel point where the circle center is located, and taking the pixel point coordinate of the position as a planning coordinate;
and correspondingly updating the coordinates of the pixel points corresponding to the circle center on the path into the planning coordinates.
6. The method for determining the planned area of the cleaning path according to claim 1, wherein whether there is a free space in the map between the coordinates of the pixel points on the scanning path and the wall boundary in the surrounding area comprises:
determining the direction of pixel point coordinates on a passing path on a map, selecting a scanning starting point in the determined direction, and sequentially and incrementally and directionally scanning according to 1 pixel point;
detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not;
if so, determining a vacant gap according to the distance between the scanned pixel point and the pixel point coordinate on the path;
if not, returning to the step of sequentially and incrementally and directionally scanning according to 1 pixel point.
7. The method for determining the planned area of the cleaning path according to claim 6, wherein determining the free space according to the distance between the scanned pixel point and the coordinate of the pixel point on the path includes:
calculating whether the distance between the scanned pixel point coordinate and the pixel point coordinate on the path is larger than the radius of the sweeping robot or not:
if yes, determining that a vacant gap exists.
8. The method for determining the planned area of the cleaning path according to claim 7, wherein the step of scanning whether there is a free space between the coordinates of the pixel point on the path and the wall boundary in the surrounding area in the map includes:
determining the direction of pixel point coordinates on a passing path on a map, selecting a scanning starting point in the determined direction, and sequentially and incrementally and directionally scanning according to 1 pixel point;
detecting whether the pixel value of the scanned pixel point is the pixel value corresponding to the wall or not;
if so, determining a vacant gap according to the distance between the scanned pixel point and the pixel point coordinate on the path;
if not, returning to the step of sequentially and incrementally and directionally scanning according to 1 pixel point.
9. A cleaning path planning region determination device, comprising:
the walking path acquisition module is configured to acquire a path of the sweeping robot after walking along the wall;
the path position identification module is configured to determine pixel point coordinates of the path on a map according to the map where the wall is located;
the spare gap scanning module is configured to scan whether a spare gap exists in the distance from the pixel point coordinates on the path to the wall boundary in the surrounding area in the map;
the path coordinate updating module is configured to update the pixel point coordinates on the path to pixel point coordinates at a position which is away from the wall boundary and is the radius of the sweeping robot if the path coordinate updating module is configured to update the pixel point coordinates on the path to the pixel point coordinates at the position which is away from the wall boundary and is the radius of the sweeping robot;
and the target path output module is configured to output the path after the pixel coordinate points are updated and take the path as a cleaning target path.
10. A sweeping robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method according to any one of claims 1 to 8 are implemented when the computer program is executed by the processor.
CN202011062890.0A 2020-09-30 2020-09-30 Sweeping robot and method and device for determining sweeping path planning area thereof Pending CN112180930A (en)

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