CN112540611A

CN112540611A - Path planning method of robot, robot and master control chip

Info

Publication number: CN112540611A
Application number: CN202011006551.0A
Authority: CN
Inventors: 雷力; 黄进光; 林李泽; 张国栋
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2021-03-23

Abstract

The application provides a method for planning a path of a robot, the robot and a main control chip. The method comprises the following steps: acquiring an environment map, and identifying a cleanable first cleaning area in the environment map; cleaning a first cleaning area by adopting a first cleaning mode, wherein the first cleaning mode comprises traversing in a straight-line roundabout mode, and if the current position data conforms to the boundary data of the first cleaning area or the outline data of an obstacle, rotating 180 degrees and moving a first preset distance at the same time; and determining a second cleaning area from the first cleaning area, and cleaning the second cleaning area by adopting a second cleaning mode, wherein the second cleaning mode comprises traversing in a straight-line roundabout mode, if the current position data conforms to the boundary of the second cleaning area, rotating by 180 degrees and simultaneously moving by a second preset distance, and the second preset distance is smaller than the first preset distance. This can increase the cleaning density of the second cleaning area, and can improve the cleanliness of the second cleaning area.

Description

Path planning method of robot, robot and master control chip

Technical Field

The invention relates to the field of robots, in particular to a path planning method of a robot, a main control chip and the robot.

Background

In the first cleaning robot, the cleaning is often performed by a random covering method. When the cleaning robot can not move straight, the cleaning robot rotates randomly by an angle to continue moving straight. This method is simpler to implement, but less efficient. The correlation data shows that stochastic programming can typically cover 65% of the clean area in the first pass, 85% in the second pass, and 98% in the third pass. If left alone, coverage can go to 100% with constant sweeping. In practice, however, the cleaning efficiency is low due to the limited battery capacity of the cleaning robot.

In order to improve the cleaning efficiency, most cleaning robots need to plan a cleaning path when performing cleaning work. Instant positioning and mapping (SLAM) is a method for implementing real-time map construction. When a robot is placed in an unknown environment, the robot can draw a complete map of the environment step by step through a SLAM algorithm, and then carry out an arc-shaped route on an area to be worked in the map for working.

The area to be worked can be uniformly cleaned by working according to the arched route, the cleaning efficiency is improved, and the coverage rate of 90-100% can be achieved by one cleaning. However, there may be some special areas in the area to be cleaned, which require intensive cleaning. If all of the areas are uniformly swept, it may not be possible to sweep the particular area cleanly. For example, the special area has more garbage or some stubborn stains.

Disclosure of Invention

The application provides a path planning method of a robot, the robot and a main control chip. The robot can realize the key cleaning of special areas so as to improve the cleaning effect.

In view of the above, a first aspect of the present application provides a method for planning a path of a robot, where the method includes: acquiring an environment map, and identifying a cleanable first cleaning area in the environment map; cleaning the first cleaning area by adopting a first cleaning mode, wherein the first cleaning mode comprises traversing in a straight-line roundabout mode, and if the current position data conforms to the boundary data of the first cleaning area or the outline data of an obstacle, rotating by 180 degrees and moving by a first preset distance; determining a second cleaning area, and cleaning the second cleaning area by adopting a second cleaning mode, wherein the second cleaning mode comprises traversing in a straight-line and roundabout manner, if the current position data conforms to the boundary of the second cleaning area, rotating by 180 degrees and moving by a second preset distance, the second preset distance is smaller than the first preset distance, and the second cleaning area and the first cleaning area have intersection or do not have intersection.

Optionally, in combination with the first aspect, the first cleaning mode includes the robot mopping the floor with a first pressure, and the second mode includes the robot mopping the floor with a second pressure, the second pressure being greater than the first pressure.

Optionally, with reference to the first aspect, the first cleaning mode includes that the robot discharges water with a first water yield when mopping the floor, and the second cleaning mode includes that the robot discharges water with a second water yield when mopping the floor, where the second water yield is greater than the first water yield.

Optionally, in combination with the first aspect, the determining the second cleaning region includes: receiving a target instruction from a terminal device, the target instruction indicating the second cleaning region in the first cleaning region or outside the first cleaning region; determining a boundary of the second cleaning zone according to the target instruction.

Optionally, in combination with the first aspect, the determining the second cleaning region includes: and when the cleanliness of the cleaning area in or outside the first cleaning area is determined to be lower than the preset value, determining the cleaning area with the cleanliness of the first preset value as a second cleaning area.

Optionally, in combination with the first aspect, the determining the second cleaning region includes: acquiring voice information indicating a second cleaning area in the first cleaning area or outside the first cleaning area; determining a boundary of the second cleaning zone according to the voice instruction.

A second aspect of the present application provides a robot comprising: the system comprises a map construction module, a control module and a walking module, wherein the map construction module is used for acquiring an environment map and identifying a cleanable first cleaning area in the environment map; the control module is used for controlling the walking module to clean the first cleaning area in a first cleaning mode, the first cleaning mode comprises a straight line roundabout mode for traversing, and if the current position data conforms to the boundary data of the first cleaning area or the outline data of an obstacle, the walking module rotates by 180 degrees and moves by a first preset distance; the control module is further configured to determine a second cleaning area, and control the walking module to clean the second cleaning area in a second cleaning mode, where the second cleaning mode includes traversing in a straight-line roundabout manner, and if the current position data conforms to a boundary of the second cleaning area, the walking module rotates 180 degrees and moves a second preset distance at the same time, where the second preset distance is smaller than the first preset distance, and the second cleaning area has an intersection or no intersection with the first cleaning area.

Optionally, in combination with the second aspect, the robot further includes: the mop cleaning machine comprises a machine main body, a first magnet, a second magnet, a mop plate assembly and a mop cloth, wherein the mop plate assembly is semi-fixed on the machine main body, the mop cloth is fixed on the mop plate assembly, the first magnet is fixed on the machine main body, the second magnet is fixed on the mop plate assembly, and the first cleaning mode comprises the following steps: the control module controls the first magnet to generate a first magnetic strength so that the first magnet and the second magnet generate a repulsive force, and the mop cloth is mopped with a first pressure; the second cleaning mode includes: the control module controls the first magnet to generate a second magnetic strength so that the first magnet and the second magnet generate a repulsive force, and the mop is mopped with a second pressure which is greater than the first pressure.

Optionally, in combination with the second aspect, the robot further includes: a liquid supply module, the first cleaning mode comprising: the control module controls the liquid supply module to discharge water at a first water yield; the second cleaning mode includes: the control module controls the liquid supply module to discharge water with a second water yield, and the second water yield is greater than the first water yield.

Optionally, in combination with the second aspect, the robot further includes: a communication module to receive a target instruction from a terminal device, the target instruction indicating a second cleaning area in or outside of the first cleaning area; the control module is used for determining the boundary of the second cleaning area according to the target instruction.

Optionally, in combination with the second aspect, the robot further includes: a detection module for detecting cleanliness of a clean area in or outside the first clean area; the control module is used for determining that the cleaning area with the first preset value of the cleanliness is the second cleaning area when determining that the cleaning area with the cleanliness lower than the preset value exists in the first cleaning area or outside the first cleaning area.

Optionally, the robot further comprises a voice module for acquiring voice information indicating a second cleaning area in or outside the first cleaning area; the control module is used for determining the boundary of the second cleaning area according to the voice information.

A third aspect of the present application provides a main control chip, where the main control chip is configured to control a robot to execute a path planning method of the robot according to any one of the optional implementation manners of the first aspect to the first aspect of the present application.

The application provides a path planning method of a robot, the robot and a main control chip. The method comprises the following steps: acquiring an environment map, and identifying a cleanable first cleaning area in the environment map; cleaning the first cleaning area by adopting a first cleaning mode, wherein the first cleaning mode comprises traversing in a straight-line roundabout mode, and if the current position data conforms to the boundary data of the first cleaning area or the outline data of an obstacle, rotating by 180 degrees and moving by a first preset distance; and determining a second cleaning area, and cleaning the second cleaning area by adopting a second cleaning mode, wherein the second cleaning mode comprises traversing in a straight-line and roundabout manner, if the current position data conforms to the boundary of the second cleaning area, rotating by 180 degrees and moving by a second preset distance, the second preset distance is smaller than the first preset distance, and the second cleaning area and the first cleaning area have intersection or do not have intersection. In this way, the second cleaning area in the first cleaning area can be cleaned intensively, the cleaning density of the second cleaning area can be improved, and the cleanliness of the second cleaning area can be improved.

Drawings

Fig. 1 is a schematic block diagram of a robot according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a path planning method for a robot according to an embodiment of the present disclosure;

FIG. 3 is a block diagram of a robot according to an embodiment of the present disclosure;

fig. 4 is a schematic assembly structure diagram of a robot according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a disassembled structure of a robot provided in the embodiments of the present application;

fig. 6 is a block diagram of a robot according to the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in 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 invention and are not intended to limit the invention.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The shape of the robot disclosed in the present embodiment is not limited, and may be configured in any suitable shape. The robot in this application can be domestic cleaning robot, also can be commercial cleaning robot.

Referring to fig. 1, in one implementation, the robot 10 may include a control unit 11, a wireless communication unit 12, a sensing unit 13, an audio unit 14, a camera unit 15, and an obstacle detection device 16.

The control unit 11 is a control core of the robot 10, and coordinates operations of the respective units. The control unit 11 may be a general purpose processor (e.g., central processing unit CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single chip microcomputer, an arm (acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The wireless communication unit 12 is used for wireless communication with the user terminal, and the wireless communication unit 12 is electrically connected with the control unit 11. The user transmits a control instruction to the robot 10 through the user terminal, the wireless communication unit 12 receives the control instruction and transmits the control instruction to the control unit 11, and the control unit 11 controls the robot 10 according to the control instruction.

The wireless communication unit 12 includes one or more of a combination of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module. Wherein the broadcast receiving module receives a broadcast signal and/or broadcast associated information from an external broadcast management server via a broadcast channel. The broadcast receiving module may receive a digital broadcast signal using a digital broadcasting system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).

The mobile communication module transmits or may receive a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various forms of data according to the reception and transmission of the character/multimedia message.

The wireless internet module refers to a module for wireless internet connection, and may be built in or out of the terminal. Wireless internet technologies such as wireless lan (wlan) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), High Speed Downlink Packet Access (HSDPA) may be used.

The short-range communication module refers to a module for performing short-range communication. Short range communication technologies such as Bluetooth (Bluetooth), Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), or ZigBee may be used.

The positioning information module is a module for acquiring current position information of the robot 10, such as a Global Positioning System (GPS) module.

The sensing unit 13 may include a distance sensor, a pressure sensor, a collision sensor, and the like. The sensor may be used to test the distance of the robot 10 from an obstacle, whether it is under stress, whether it is colliding, etc.

The audio unit 14 is configured to control the robot 10 to stop working and send an off-ground alarm signal when the position status information is in a hold-up state. The audio unit 14 is electrically connected to the control unit 11.

In some embodiments, the audio unit 14 may be an electroacoustic transducer such as a speaker, a loudspeaker, a microphone, etc., wherein the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and multiple microphones may form a microphone array so as to effectively collect sound. The microphone may be of an electric type (moving coil type, ribbon type), a capacitive type (direct current polarization type), a piezoelectric type (crystal type, ceramic type), an electromagnetic type, a carbon particle type, a semiconductor type, or the like, or any combination thereof. In some embodiments, the microphone may be a microelectromechanical systems (MEMS) microphone.

The camera unit 15 is used for shooting the environment where the robot 10 is located, the camera unit 15 is electrically connected with the control unit 11, the camera unit 15 obtains an image of the environment where the robot 10 is located, and outputs the image to the control unit 11, so that the control unit 11 can perform the next logical operation according to the image.

The obstacle detecting device 16 is configured to detect walls and obstacles, and to emit detection signals to the walls and obstacles in real time, and may be, for example, a light sensor, including but not limited to an infrared sensor.

When the cleaning robot cleans an area to be cleaned, there may be some special areas, which require intensive cleaning. If all of the zones are swept evenly, it may not be possible to sweep clean for that particular zone. For example, the special area may have a lot of garbage or some stubborn stains.

Therefore, the present application provides a method for planning a path of a robot, specifically referring to fig. 2, the method includes:

step 110, an environment map is obtained, and a cleanable first cleaning area is identified in the environment map.

An environment map is obtained and a cleanable first cleaning area is identified in the environment map.

A general cleaning robot has a probe. The detecting instrument can comprise an infrared sensor, and a marginal learning mode is adopted in consideration of the detection range of infrared rays and the unknown nature of a cleaning environment, namely, the cleaning robot is enabled to walk around a room along the outer edge of a wall and an obstacle close to the wall along a designated position in a counterclockwise (or clockwise) mode, and the position coordinates of a center point of the cleaning robot are recorded in real time in the walking process, so that the outline of the cleaning environment and the partial condition of the obstacle close to the wall can be roughly described. When the obstacle is close to the wall and the cleaning robot cannot pass through the obstacle, the cleaning robot treats the obstacle as an obstacle close to the wall.

The robot cleans by using the charging seat as an original point, starts edge learning along the anticlockwise direction, and can establish a local environment model for cleaning an environment boundary after the edge learning. The adoption of the edgewise learning detection mode has the following advantages:

1) the requirements on the infrared sensor are reduced, and a large visual detection range is not required. And the infrared sensor has higher precision and speed, so that the performance of the infrared sensor can be fully utilized.

2) Before cleaning, all areas are unknown, and the problem of solving the blank area and the coordinate value of the obstacle is involved in cleaning in any direction. By learning along the edge, the cleaning robot can be prevented from blindly selecting a direction to clean, and the calculation amount of the system can be reduced. Meanwhile, the contour map established after the edge learning also provides a navigation function for the next step of traversal cleaning.

3) Although learning edgewise may consume some of the cleaning time of the cleaning robot, it is also a cleaning action in fact. And the places with more dust such as the wall sides are firstly pre-cleaned once.

In the process of the edge learning, the infrared sensor is combined with the collision sensor, so that the reliability and stability of the acquired information are enhanced. In addition, the cleaning environment can be characterized in a map mode according to the robot positioning information. In addition to the edge learning mode, if the performance of the detector is excellent, other detection modes such as ultrasonic echo can be adopted.

The method for constructing the map in the step can be represented by a topological graph, geometric information or a grid. The topological graph is a compact representation method, and when the environment is large and simple, the method can say that the environment is represented as a graph in a topological sense. However, the resolution of the topology depends on the complexity of the environment, and when two similar places exist in the environment, the topology has difficulty in determining whether the two similar places are the same node.

The geometric information representation is an abstraction of the sensor information extracted by the robot into a geometric representation, such as a straight line, a curve, etc. This representation is visual, compact and convenient for position estimation and object recognition, but it increases the requirements for the sensors to collect information, requires additional algorithmic processing, and requires a certain amount of perceptual data to be able to obtain the results.

The rasterization process is to divide the entire environment into several equally sized grids, for each of which it is indicated whether there are obstacles or not. The grid map is easy to create and maintain, the information of each grid known by the cleaning robot directly corresponds to a certain area in the environment, the information for creating the map can be obtained by using an inexpensive sensor such as ultrasonic waves or infrared rays and added into the map, and self-positioning and path planning can be conveniently carried out by means of the map. Therefore, the map is rasterized in the present embodiment.

After the map is built for the rasterization process, the cleanable areas in the map are determined. Wherein, the cleanable area does not include the area where the obstacle is located in the map. A first cleaning zone is determined based on the sweepable zone. The first cleaning area may be a complete cleanable area or a portion of the cleanable area, and is not limited herein.

120. Cleaning is performed in the first cleaning region using a first cleaning mode.

Cleaning in the first cleaning area with a first cleaning pattern comprising a straight winding-around traversal. And if the current position data conforms to the boundary data of the first cleaning area or the outline data of the obstacle, rotating by 180 degrees and moving by a first preset distance. For example, the first preset distance may be a distance of a half body of the robot.

In one implementation, the first cleaning mode may further include: mopping the floor at a first pressure. The first pressure may be a pressure of the robot's own weight on the robot swab.

In another implementation, the first cleaning mode may further include: the water is discharged with the first water yield.

130. A second cleaning area is determined.

The cleaning robot may determine the second cleaning region from within the first cleaning region or from outside the first cleaning region. The second cleaning region may intersect or not intersect the first cleaning region. The manner of determining the second cleaning region by the cleaning robot is not limited, and the following embodiments are only examples and should not be taken as a limitation of the protection scope of the present solution.

1) In one implementation, the cleaning robot may receive a target instruction from a terminal device, the target instruction being transmitted to the cleaning robot by a user operating the terminal device. The target instructions may indicate a second cleaning zone in the first cleaning zone or outside the first cleaning zone. The second cleaning area may be an area defined by a user in an environment map of a display interface of the terminal device.

2) In another implementation, the cleaning robot may determine a cleaning area having a cleanliness lower than a preset value as the second cleaning area by detecting a cleaning area having a cleanliness lower than a preset value in or outside the first cleaning area. Specifically, the second cleaning area with the cleanliness lower than the preset value can be identified from the first cleaning area or outside the first cleaning area by means of infrared geminate transistors, vision or laser. For example, a sub-area in which the surface color is darker than other portions in the first cleaning area is determined as an area having a cleanliness lower than a preset value, so that the area having a cleanliness lower than the preset value can be used as the second cleaning area. The comparison in the clean area can be based on RGB colors.

3) In another implementation, the cleaning robot may acquire voice information indicating a second cleaning region in or outside of the first cleaning region. And recognizing the second cleaning area according to the voice information in a semantic recognition mode.

a. Specifically, a semantic map is established in advance, and the semantic map includes a mapping relation between a specific area and a keyword. Wherein a particular region may correspond to one or more keywords. And recording all the keywords in a keyword library.

b. When receiving the voice information of the user, the semantic understanding object is the text converted by the user.

User instructions are understood using speech recognition and Natural Language Processing (NLP). The topic is predicted according to the semantic understanding object and the context object of the semantic understanding object.

Specifically, a plurality of topics may be preset, and the topics may be predicted by semantically understanding the object and the words and/or words therein using the classification model. If the semantic understanding object has no context object, the context object is considered to be empty, and the theme is predicted only according to the semantic understanding object.

For example, assuming that the semantic understanding object is "go to kitchen to clean up", the model predicts that the subject to which the semantic understanding object belongs is "kitchen" from "kitchen".

The context object of the semantic understanding object is an object that satisfies a preset time sequence relationship with the semantic understanding object, and the preset time sequence relationship includes but is not limited to: the interval between the acquisition time and the acquisition time of the object to be understood does not exceed the preset time length. In practice, the preset duration may be set according to experience, assuming that one speech of one user includes three sentences of speech of the user, assuming that any one of the three sentences of speech of the user is a semantic understanding object, and assuming that the other two sentences of speech are context objects of the semantic understanding object. However, the user speech acquired in other time periods (not within the preset duration range) is not taken as a context object of the semantic understanding object because the relevance with the current communication session is not great.

c. A second cleaning zone is determined based on the predicted theme.

And when the topic to which the understanding object belongs is predicted to be a kitchen, matching the kitchen with keywords in a pre-constructed keyword library. And if the matching is successful, determining the region as a second cleaning region according to the related region mapped by the acquired keyword on the matching.

140. Cleaning in the second cleaning area using a second cleaning mode.

Cleaning in the second cleaning area using a second cleaning mode. The second cleaning mode comprises traversing in a straight-line roundabout mode, and if the current position data conforms to the boundary of the second cleaning area, rotating by 180 degrees and moving by a second preset distance at the same time, wherein the second preset distance is smaller than the first preset distance. Illustratively, the second predetermined distance is equal to a distance of 1/4 fuselages.

Further, the second cleaning mode may further include: mopping is performed with a second pressure, which is greater than the first pressure. The second cleaning mode may further include: and (4) discharging water with a second water yield which is greater than the first water yield.

The path planning method of the robot can be used for cleaning in the second cleaning mode when the second cleaning area is cleaned. If the current position data accords with the boundary of the second cleaning area, the second cleaning area can be rotated by 180 degrees and moved by a second preset distance, and the second preset distance is smaller than the first preset distance, so that the cleaning density of the second cleaning area can be improved, and the cleanliness of the second cleaning area can be improved. Meanwhile, the second cleaning mode can also comprise mopping with second pressure, so that the mopping pressure is increased, and the cleaning force of sweeping can be improved. The second cleaning mode may also include dispensing water at a second output, such that increasing the output also increases the cleaning effort.

The application provides a robot, and the robot is used for realizing a path planning method of the robot. Referring to fig. 3, the robot may include:

a map building module 201, a control module 202 and a walking module 203.

The map building module 201 is configured to obtain an environment map, and identify a cleanable first clean area in the environment map;

the control module 202 is configured to control the walking module 203 to clean the first cleaning area in a first cleaning mode, where the first cleaning mode includes traversing in a straight-line and roundabout manner, and if the current position data conforms to boundary data of the first cleaning area or contour data of an obstacle, the walking module rotates 180 degrees and moves a first preset distance at the same time;

the control module 202 is further configured to determine a second cleaning area, and control the walking module 203 to clean the second cleaning area in a second cleaning mode, where the second cleaning mode includes traversing in a straight-line and roundabout manner, and if the current position data conforms to the boundary of the second cleaning area, the walking module rotates 180 degrees and moves a second preset distance at the same time, where the second preset distance is smaller than the first preset distance.

Continuing to refer to fig. 3, in one embodiment, the robot may further comprise: a communication module 204.

The communication module 204 is configured to receive a target instruction from a terminal device, where the target instruction indicates the second cleaning region;

the control module 202 is configured to determine a boundary of the second cleaning region according to the target instruction.

In one embodiment, the robot may further include: a detection module 205.

The detection module 205 is used for detecting the cleanliness of the cleaning area in the first cleaning area or outside the first cleaning area;

the control module 202 is configured to determine that the cleaning area with the cleanliness lower than the preset value is the second cleaning area when it is determined that the cleaning area with the cleanliness lower than the preset value exists in the first cleaning area or outside the first cleaning area.

In one embodiment, the robot may further include: a speech module 206.

The voice module 206 is configured to acquire voice information indicating the second cleaning region in the first cleaning region or outside the first cleaning region;

the control module 202 is configured to determine a boundary of the second cleaning region according to the voice information.

The application also provides a concrete structure of the robot. Please refer to fig. 4, fig. 4 is a schematic diagram of an assembled state of the robot. The robot is used for realizing the path planning method of the robot. Fig. 5 is a schematic view of the disassembled state of the robot.

Referring to fig. 5, the robot includes: the mop comprises a machine body 1, a first magnet 3, a second magnet 4, a mop plate assembly 5 and a mop cloth 6.

The carriage assembly 5 can be semi-fixed on the machine body 1 by clamping, buckling and the like. Semi-fixed, i.e. fixed relative position, but can be allowed to swing within a certain range, and can be disassembled. The mop cloth 6 is detachably fixed on the mop plate assembly 5, and for example, the mop cloth 6 can be detachably fixed by means of a magic tape or the like.

The first magnet 3 is fixed to the machine body 1 by screws or the like, and the second magnet is fixed to the carriage assembly 5.

The first magnet 3 may be an electromagnet and the second magnet 4 may be a permanent magnet. When the robot works, the control module can control the current intensity and other parameters of the first magnet 3, so that different magnetic strengths generated by the first magnet 3 can be controlled, and different repulsive forces can be generated with the second magnet 4, so that the mop can be mopped under different pressures.

In particular, the robot may clean in at least two cleaning modes. Wherein the first cleaning mode includes: the control module controls the first magnet 3 to generate a first magnetic strength, so that the first magnet 3 and the second magnet 4 generate a repulsive force, and the mop 6 is mopped with a first pressure; the second cleaning mode includes: the control module controls the first magnet 3 to generate a second magnetic strength, so that the first magnet 3 and the second magnet 4 generate a repulsive force, and the mop 6 is mopped with a second pressure; the second pressure is greater than the first pressure. Therefore, when the robot is cleaned in the second cleaning mode, the pressure is increased for cleaning, and the cleanliness can be improved.

With continued reference to fig. 5, fig. 5 may also include a liquid supply module 2, and the liquid supply module 2 may be coupled to a control module in the robot. The control module can control the liquid supply module 2 to discharge water with different water output.

Specifically, the control module may control the liquid supply module 2 such that the liquid supply module 2 outputs water in at least two amounts. When the robot performs cleaning in the first cleaning mode, the control module can control the liquid supply module 2 to discharge water with a first water output. When the robot performs cleaning in the second cleaning mode, the control module can control the liquid supply module 2 to discharge water with a second water output. The second water yield is greater than the first water yield. Therefore, when the robot is cleaned in the second cleaning mode, the water yield can be increased, and the cleanliness can be improved.

The robot provided by the application can clean in a second cleaning mode in a second cleaning area. If the current position data accords with the boundary of the second cleaning area, the second cleaning area can be rotated by 180 degrees and moved by a second preset distance, and the second preset distance is smaller than the first preset distance, so that the cleaning density of the second cleaning area can be improved, and the cleanliness of the second cleaning area can be improved. Meanwhile, the second cleaning mode can also comprise mopping with second pressure, so that the mopping pressure is increased, and the cleaning force of sweeping can be improved. The second cleaning mode may also include dispensing water at a second output, such that increasing the output also increases the cleaning effort. This allows for an intensive sweeping in the second cleaning zone.

Fig. 6 is a block diagram of a robot according to another embodiment of the present invention. As shown in fig. 6, the robot 30 may include: a robot body, an obstacle detecting device, a processor 310, a memory 320, and a communication module 330.

The obstacle detection device is arranged on the robot main body and used for receiving a reflected signal reflected by an obstacle in real time. In this embodiment, the obstacle detection device is a light sensor, including but not limited to an infrared sensor.

And a traveling mechanism is arranged on the mobile robot main body. The processor 310 is built in the robot main body.

The robot main part is the major structure of robot, can select corresponding shape structure and manufacturing material (such as metal such as rigid plastic or aluminium, iron) according to the actual need of robot for example set up to sweep the floor the common comparatively flat cylindric of robot.

The walking mechanism is a structural device which is arranged on the robot main body and provides the mobile robot with the mobile capability. The running gear can be realized in particular by means of any type of moving means, such as rollers, tracks, etc.

The processor 310, the memory 320 and the communication module 330 may establish a communication connection therebetween by way of a bus.

The processor 310 may be of any type, having one or more processing core control chips. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.

The memory 320 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area can store the walking route of the robot, the walking control strategy of the robot and the like. Further, the memory 320 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 320 may optionally include memory located remotely from the processor 310, which may be connected to the robot 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 320 stores instructions executable by at least one control chip in the processor 310; the at least one control chip is used for executing the instruction so as to realize the path planning method of the robot in any method embodiment.

The communication module 330 is a functional module for establishing a communication connection and providing a physical channel. The communication module 330 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.

The embodiment of the application also provides a main control chip, and the main control chip is assembled in the robot. The main control chip is used for controlling the robot to execute the path planning method of the robot provided by the application.

The application also provides a robot, the robot is provided with the main control chip provided by the embodiment of the application, and the robot can be controlled to execute the path planning method provided by the application through the main control chip.

Further, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control chips in the processor 310, so that the one or more control chips execute the path planning method for the robot in any of the above method embodiments.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. 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 may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The product can execute the path planning method of the robot provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the path planning method of the robot. For details of the robot path planning method provided in the embodiment of the present invention, reference may be made to the technical details not described in detail in the embodiment.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; 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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of path planning for a robot, the method comprising:

acquiring an environment map, and identifying a cleanable first cleaning area in the environment map;

cleaning the first cleaning area by adopting a first cleaning mode, wherein the first cleaning mode comprises traversing in a straight-line roundabout mode, and if the current position data conforms to the boundary data of the first cleaning area or the outline data of an obstacle, rotating by 180 degrees and moving by a first preset distance;

determining a second cleaning area, and cleaning the second cleaning area by adopting a second cleaning mode, wherein the second cleaning mode comprises traversing in a straight-line and roundabout manner, if the current position data conforms to the boundary of the second cleaning area, rotating by 180 degrees and moving by a second preset distance, the second preset distance is smaller than the first preset distance, and the second cleaning area and the first cleaning area have intersection or do not have intersection.

2. The method of claim 1, wherein the first cleaning mode includes the robot mopping at a first pressure, and the second cleaning mode includes the robot mopping at a second pressure, the second pressure being greater than the first pressure.

3. The method of claim 1, wherein the first cleaning mode includes the robot leaving water at a first water output while mopping the floor, and the second cleaning mode includes the robot leaving water at a second water output while mopping the floor, the second water output being greater than the first water output.

4. The method of any of claims 1 to 3, wherein the determining a second cleaning area comprises:

receiving a target instruction from a terminal device, the target instruction indicating the second cleaning region in the first cleaning region or outside the first cleaning region;

determining a boundary of the second cleaning zone according to the target instruction.

5. The method of any of claims 1 to 3, wherein the determining a second cleaning area comprises:

when it is determined that the cleanliness of the cleaning area in or outside the first cleaning area is lower than a preset value, determining the cleaning area with the cleanliness lower than the preset value as the second cleaning area.

6. The method of any of claims 1 to 3, wherein the determining a second cleaning area comprises:

acquiring voice information indicating the second cleaning region in the first cleaning region or outside the first cleaning region;

determining a boundary of the second cleaning region based on the voice information.

7. A robot, characterized in that the robot comprises: a map building module, a control module and a walking module,

the map building module is used for acquiring an environment map and identifying a cleanable first cleaning area in the environment map;

the control module is used for controlling the walking module to clean the first cleaning area in a first cleaning mode, the first cleaning mode comprises a straight line roundabout mode for traversing, and if the current position data conforms to the boundary data of the first cleaning area or the outline data of an obstacle, the walking module rotates by 180 degrees and moves by a first preset distance;

the control module is further configured to determine a second cleaning area, and control the walking module to clean the second cleaning area in a second cleaning mode, where the second cleaning mode includes traversing in a straight-line roundabout manner, and if the current position data matches a boundary of the second cleaning area, the walking module rotates 180 degrees and moves a second preset distance at the same time, where the second preset distance is smaller than the first preset distance, and the second cleaning area and the first cleaning area have an intersection or do not have an intersection.

8. The robot of claim 7, further comprising: a machine main body, a first magnet, a second magnet, a mop plate component and a mop cloth,

wherein the mop plate component is semi-fixed on the machine main body, the mop cloth is fixed on the mop plate component,

the first magnet is fixed on the machine main body, the second magnet is fixed on the carriage assembly,

the first cleaning mode includes: the control module controls the first magnet to generate a first magnetic strength so that the first magnet and the second magnet generate a repulsive force, and the mop cloth is mopped with a first pressure;

the second cleaning mode includes: the control module controls the first magnet to generate a second magnetic strength so that the first magnet and the second magnet generate a repulsive force, and the mop is mopped with a second pressure which is greater than the first pressure.

9. The robot of claim 7, further comprising: a liquid supply module,

the first cleaning mode includes: the control module controls the liquid supply module to discharge water at a first water yield;

the second cleaning mode includes: the control module controls the liquid supply module to discharge water with a second water yield, and the second water yield is greater than the first water yield.

10. A robot as claimed in any of claims 7 to 9, characterized in that the robot further comprises: a communication module for communicating with the communication module,

the communication module is used for receiving a target instruction from a terminal device, wherein the target instruction indicates the second cleaning area in the first cleaning area or outside the first cleaning area;

the control module is used for determining the boundary of the second cleaning area according to the target instruction.

11. A robot as claimed in any of claims 7 to 9, characterized in that the robot further comprises: a detection module for detecting the position of the optical fiber,

the detection module is used for detecting the cleanliness of a clean area in the first clean area or outside the first clean area;

the control module is used for determining that the cleaning area with the cleanliness lower than the preset value is the second cleaning area when determining that the cleaning area with the cleanliness lower than the preset value exists in the first cleaning area or outside the first cleaning area.

12. A robot as claimed in any of claims 7 to 9, characterized in that the robot further comprises a voice module,

the voice module is used for acquiring voice information, and the voice information indicates the second cleaning area in the first cleaning area or outside the first cleaning area;

the control module is used for determining the boundary of the second cleaning area according to the voice information.

13. A main control chip assembled in a robot, wherein the main control chip is used for controlling the robot to execute the path planning method of the robot according to any one of claims 1 to 6.