CN112674655A - Wall-following-based refilling method and device, computer equipment and storage - Google Patents
Wall-following-based refilling method and device, computer equipment and storage Download PDFInfo
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- CN112674655A CN112674655A CN202110051207.1A CN202110051207A CN112674655A CN 112674655 A CN112674655 A CN 112674655A CN 202110051207 A CN202110051207 A CN 202110051207A CN 112674655 A CN112674655 A CN 112674655A
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Abstract
The embodiment of the application belongs to the technical field of intelligent electrical appliance navigation, and relates to a wall-following-based refilling method, which comprises the following steps: transferring the sweeping robot to a wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers; determining a cleaning area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls; according to the condition that the current position of the sweeping robot is along the wall, the position of the door running to the room is shorter than the position of the seat charger running to the room, and the sweeping robot is transferred to the corresponding door until the sweeping robot and the seat charger are in the same room; and determining the direction along the wall according to the position of the sweeping robot relative to the seat charger on the navigation coordinate system, and recharging along the wall. The success rate of recharging is higher in the application.
Description
Technical Field
The application relates to the technical field of intelligent electrical appliance navigation, in particular to a wall-following-based recharging method and device, computer equipment and a memory.
Background
The sweeping robot can independently sweep an area, and manpower consumed by cleaning work is greatly reduced. In order to ensure the continuity of the cleaning work, the sweeping robot needs to be periodically and automatically charged, and the optimal sweeping robot needs to run to the area where the charger is located to be charged under the cooperation of the navigation system. The charger is usually arranged at a fixed position, but the position relationship between the sweeping robot and the charger is not fixed; due to the limitation of navigation precision and real-time change of the environment of obstacles in a field, the navigation of the sweeping robot may fail during recharging, so that the robot cannot be recharged in time until power failure occurs. Before the recharging process, the sweeping robot usually walks the clean area along the wall with the outline, and in the process, the map of the part along the wall on the navigation coordinate system is corrected. The accuracy of the partial navigation map along the wall is high. It is therefore desirable to provide a backfill navigation method based along a wall.
Disclosure of Invention
The embodiment of the application aims to provide a charging navigation method with high navigation success rate.
In order to solve the above technical problem, an embodiment of the present application provides a wall-following backfill method, which adopts the following technical solutions:
a method of wall-based backfill, the method comprising:
transferring the sweeping robot to a wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers;
determining a cleaning area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls;
according to the condition that the current position of the sweeping robot is along the wall, the position of the door running to the room is shorter than the position of the seat charger, and the sweeping robot is transferred to the corresponding door until the sweeping robot and the seat charger are in the same room;
and determining the direction along the wall according to the position of the sweeping robot relative to the seat charger on the navigation coordinate system, and recharging along the wall.
Further, the step of determining a cleaning area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; in the determining of the position of the door by the movable point between the two sets of walls, the determining method of the position of the door specifically includes:
determining the location of the wall by successive obstacle markings;
determining an area between two groups of walls as a door by using continuous movable points between the two groups of walls and the number of the continuous movable points in a preset interval;
the coordinates of the door are determined from the coordinates of the intermediate point of the movable point in the door.
Further, the step of transporting the sweeping robot to a corresponding door until the sweeping robot and the seat charger are in the same room when the position of the sweeping robot running to the door in the room is shorter than the position of the seat charger according to the current position of the sweeping robot along the wall specifically comprises:
establishing a rectangle according to a connecting line of the sweeping robot and the seat charger in the navigation coordinate system as a diagonal line, determining that the sweeping robot and the seat charger are not in the same room according to a door or a wall in the rectangle, and operating the door in the room at a position shorter than operating the door to the seat charger;
determining a door closest to the seat according to the coordinates of at least one door in the room in a navigation coordinate system;
and transferring the floor sweeping robot to a door closest to the seat charger in a room, and judging whether the floor sweeping robot and the seat charger are in the same room or not by establishing the rectangle until the floor sweeping robot and the seat charger are in the same room.
Further, the step of transferring the sweeping robot to the wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and obstacle points, and after the wall is marked by continuous and smooth obstacle marks, the method further comprises the following steps:
determining a cleaning area on the navigation coordinate system as a single room area according to the wall position in the navigation coordinate system;
judging that the seat is filled in a first direction of the position of the wall where the sweeping robot is located in the navigation coordinate system;
and controlling the sweeping robot to back fill along the wall in the first direction.
Further, after the step of determining the cleaning area on the navigation coordinate system as the multi-room area according to the wall position in the navigation coordinate system, and determining the position of the door in the multi-room area, the method further comprises:
establishing a rectangle according to a connecting line of the sweeping robot and the seat charger in the navigation coordinate system as a diagonal line, and determining that the sweeping robot and the seat charger are in the same room according to the condition that no door or wall is arranged in the rectangle;
judging that the seat is filled in a first direction of the position of the wall where the sweeping robot is located in the navigation coordinate system;
and controlling the sweeping robot to back fill along the wall in the first direction.
In order to solve the above technical problem, an embodiment of the present application further provides a backfill method and apparatus along a wall, which adopts the following technical solutions:
a wall-based backfill apparatus comprising:
the wall returning module is used for transferring the sweeping robot to the wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers;
a door determination module for determining a clean area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls;
the first transfer module is used for transferring the sweeping robot to a corresponding door until the sweeping robot and the seat charger are in the same room according to the fact that the position of the sweeping robot running to the door in the room is shorter than the position of the seat charger when the sweeping robot runs to the door in the room in the wall-following state;
and the second transfer module is used for determining the direction along the wall according to the direction of the floor sweeping robot relative to the seat charger on the navigation coordinate system and recharging along the wall.
Further, the door determination module includes:
a wall position determination submodule for determining the position of the wall by the continuous obstacle mark;
the door position determining submodule is used for determining that an area between two groups of walls is a door through continuous movable points between the two groups of walls, and the number of the continuous movable points is within a preset interval;
and the door coordinate marking submodule is used for determining the coordinates of the door according to the coordinates of the middle point of the movable point in the door.
Further, the first transfer module specifically includes:
the cross-room determining submodule is used for establishing a rectangle according to a connecting line of the sweeping robot and the seating charger in the navigation coordinate system as a diagonal line, determining that the sweeping robot and the seating charger are not in the same room according to a door or a wall in the rectangle, and enabling the position of the door in the room to be shorter than the position of the seating charger;
the transfer node determining submodule is used for determining a door closest to the seat according to the coordinate of at least one door in the room in the navigation coordinate system;
and the transferring submodule is used for transferring the floor sweeping robot to the door closest to the seat charger in the room, and judging whether the floor sweeping robot and the seat charger are in the same room or not by establishing the rectangle until the floor sweeping robot and the seat charger are in the same room.
In order to solve the above technical problem, an embodiment of the present application further provides a computer device, which adopts the following technical solutions:
a computer device comprising a memory having stored therein a computer program and a processor which, when executed, implements the steps of the wall-following based backfill method as described above.
In order to solve the above technical problem, an embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the wall-following based backfill method as described above.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the method comprises the steps of determining whether the current position and the seat charge position of a sweeping robot are in the same room or not through the position of a wall and the position of a door marked on a navigation coordinate system, driving the sweeping robot to move like the position of the door in the area of the sweeping robot if a cleaning area is in a multi-room structure and the current position and the seat charge of the sweeping robot are not in the same room, detecting whether the sweeping robot and the seat charge are arranged in the same room or not again, transferring the sweeping robot to the positions of other doors in the room along the wall again if the sweeping robot and the seat charge are not in the same room until the sweeping robot and the seat charge are in the same room, and then walking to the vicinity of the seat charge along the wall to realize the matching with the seat charge. According to the scheme, the sweeping robot is driven to recharge in a wall-following mode under the condition of large navigation error, and the recharging success rate is higher.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart of one embodiment of a method based on a wall-following backfill method according to the present application;
FIG. 2 is a flowchart of step S200 in FIG. 1;
FIG. 3 is a flowchart of step S300 in FIG. 1;
FIG. 4 is a flow chart of one embodiment of a method based on a wall-following backfill method according to the present application based on FIG. 1;
FIG. 5 is a flow chart of one embodiment of a method based on a wall-following backfill method according to the present application based on FIG. 1;
FIG. 6 is a schematic block diagram of one embodiment of an apparatus based on a wall-following backfill method according to the present application;
FIG. 7 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1-5, a flow chart of one embodiment of a method based on a wall-following backfill method according to the present application is shown. The refilling method based on the wall comprises the following steps:
a method of wall-based backfill, the method comprising:
step S100: transferring the sweeping robot to a wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers;
step S200: determining a cleaning area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls;
step S300: according to the condition that the current position of the sweeping robot is along the wall, the position of the door running to the room is shorter than the position of the seat charger, and the sweeping robot is transferred to the corresponding door until the sweeping robot and the seat charger are in the same room;
step S400: and determining the direction along the wall according to the position of the sweeping robot relative to the seat charger on the navigation coordinate system, and recharging along the wall.
The method comprises the steps of determining whether the current position and the seat charge position of a sweeping robot are in the same room or not through the position of a wall and the position of a door marked on a navigation coordinate system, driving the sweeping robot to move like the position of the door in the area of the sweeping robot if a cleaning area is in a multi-room structure and the current position and the seat charge of the sweeping robot are not in the same room, detecting whether the sweeping robot and the seat charge are arranged in the same room or not again, transferring the sweeping robot to the positions of other doors in the room along the wall again if the sweeping robot and the seat charge are not in the same room until the sweeping robot and the seat charge are in the same room, and then walking to the vicinity of the seat charge along the wall to realize the matching with the seat charge. According to the scheme, the sweeping robot is driven to recharge in a wall-following mode under the condition of large navigation error, and the recharging success rate is higher.
The method comprises the steps that a cleaning area is divided into a plurality of areas by the characteristics conforming to a wall in a navigation coordinate system, the cleaning area is determined to be a single area if all the walls are located on the periphery of the cleaning area, the cleaning area is a multi-area comprising a plurality of rooms if the wall appears in the middle of the cleaning area and the cleaning area is divided, in the judging process, two rooms in the cleaning area are connected into one piece through a group of movable points displayed as a door through the characteristics, the cleaning area is divided into a plurality of rooms through the cooperation of the door and the wall, and the cleaning area is divided into the plurality of rooms through points identified as the door and the wall in the navigation coordinate system.
Further, the step S200: determining a cleaning area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; in the determining of the position of the door by the movable point between the two sets of walls, the determining method of the position of the door specifically includes:
step S201: determining the location of the wall by successive obstacle markings;
step S202: determining an area between two groups of walls as a door by using continuous movable points between the two groups of walls and the number of the continuous movable points in a preset interval;
step S203: the coordinates of the door are determined from the coordinates of the intermediate point of the movable point in the door.
Specifically, the positions of the walls can be determined by the continuous barrier marking points in the navigation coordinate system, the doors can be determined between the two groups of walls if a group of continuous movable points exists between the two groups of walls, the number of the continuous movable points is preset, so that the cleaning area can be divided into a plurality of rooms through the walls and the doors, the doors can be in the same row by determining the positions of the doors, and the situation that the walls or other barriers are marked as the doors due to inaccurate marking, so that the sweeping robot cannot normally pass through the navigation error is prevented. The coordinate of the middle point of the movable point in the range of the door is marked as the coordinate of the door in the navigation coordinate system, so that the sweeping robot can smoothly pass through the door in the navigation process.
Further, the step S300: according to the current position of the floor sweeping robot, the position of the door in the room is shorter than the position of the seat charger in the room, and the floor sweeping robot is transferred to the corresponding door until the floor sweeping robot and the seat charger are in the same room, the method specifically comprises the following steps:
step S301: establishing a rectangle according to a connecting line of the sweeping robot and the seat charger in the navigation coordinate system as a diagonal line, determining that the sweeping robot and the seat charger are not in the same room according to a door or a wall in the rectangle, and operating the door in the room at a position shorter than operating the door to the seat charger;
step S302: determining a door closest to the seat according to the coordinates of at least one door in the room in a navigation coordinate system;
step S303: and transferring the floor sweeping robot to a door closest to the seat charger in a room, and judging whether the floor sweeping robot and the seat charger are in the same room or not by establishing the rectangle until the floor sweeping robot and the seat charger are in the same room.
Specifically, if the sweeping robot and the seat charger are in the same room, a door or a wall does not appear in the rectangle in which the connecting line between the sweeping robot and the seat charger serves as the connecting line, if the door or the wall appears in the rectangle in which the connecting line between the sweeping robot and the seat charger serves as the connecting line, the sweeping robot and the seat charger are not in the same room and need to move across the room, at least one door exists in the room in which the sweeping robot is located, the door closest to the seat charger is determined according to the coordinates of the door and the seat charger, and the sweeping robot is transferred to the position of the door through the movement along the wall. When the sweeping robot is located at the position of the door, the sweeping robot is located in two rooms connected with the door, at the moment, whether the sweeping robot and the seat charger are located in the same room is judged, and if the sweeping robot and the seat charger are still not located in the same room, the sweeping robot is continuously moved to the position, closest to the position of the seat charger, of the door in the room until the sweeping robot and the seat charger are located in the same room. This scheme can utilize and use the door to judge the transfer path of robot of sweeping the floor as the node in succession along the wall walking. The floor sweeping robot can be transported to the position of a door in the same room with the seat charger in the shortest path, and the navigation and recharging efficiency is high.
Further, the step S100 transports the sweeping robot to the wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and obstacle points, and after the wall is marked by continuous and smooth obstacle marks, the method further comprises the following steps:
step S501, determining a clean area on a navigation coordinate system as a single room area according to the wall position in the navigation coordinate system;
step S502, judging that the seat is filled in a first direction of the position of the wall where the sweeping robot is located in the navigation coordinate system;
step S503 is to control the sweeping robot to back fill along the wall in the first direction.
According to the scheme, the sweeping robot can be navigated to the seat charger position through the shortest route under the condition that the sweeping robot and the seat charger are in the same room, and the navigation efficiency of the scheme is high.
Further, the step S200: after determining the cleaning zone on the navigation coordinate system as a multi-room zone according to the wall positions in the navigation coordinate system, and determining the positions of the doors in the multi-room zone, the method further comprises:
step S601: establishing a rectangle according to a connecting line of the sweeping robot and the seat charger in the navigation coordinate system as a diagonal line, and determining that the sweeping robot and the seat charger are in the same room according to the condition that no door or wall is arranged in the rectangle;
step S602: judging that the seat is filled in a first direction of the position of the wall where the sweeping robot is located in the navigation coordinate system;
step S603: and controlling the sweeping robot to back fill along the wall in the first direction.
According to the scheme, the sweeping robot can be navigated to the seat charger position through the shortest route under the condition that the sweeping robot and the seat charger are in the same room, and the navigation efficiency of the scheme is high.
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 a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a device based on a backfill method along a wall, which corresponds to the embodiment of the method shown in fig. 2, and which can be applied to various electronic devices.
In order to solve the above technical problem, an embodiment of the present application further provides a backfill method and apparatus along a wall, which adopts the following technical solutions:
a wall-based backfill apparatus comprising:
a wall returning module 100 for transferring the sweeping robot to a wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers;
a door determination module 200 for determining a clean area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls;
the first transferring module 300 is configured to transfer the sweeping robot to a corresponding door until the sweeping robot and the seat charger are in the same room, wherein the position of the door in the room is shorter than the position of the seat charger when the sweeping robot runs to the wall in the state that the current position of the sweeping robot is along the wall;
and the second transfer module 400 is used for determining the wall-following direction according to the position of the floor-sweeping robot relative to the seat charger on the navigation coordinate system and recharging along the wall.
The method comprises the steps of determining whether the current position and the seat charge position of a sweeping robot are in the same room or not through the position of a wall and the position of a door marked on a navigation coordinate system, driving the sweeping robot to move like the position of the door in the area of the sweeping robot if a cleaning area is in a multi-room structure and the current position and the seat charge of the sweeping robot are not in the same room, detecting whether the sweeping robot and the seat charge are arranged in the same room or not again, transferring the sweeping robot to the positions of other doors in the room along the wall again if the sweeping robot and the seat charge are not in the same room until the sweeping robot and the seat charge are in the same room, and then walking to the vicinity of the seat charge along the wall to realize the matching with the seat charge. According to the scheme, the sweeping robot is driven to recharge in a wall-following mode under the condition of large navigation error, and the recharging success rate is higher.
Further, the door determination module 200 includes:
a wall position determination submodule 201 for determining the position of a wall by continuous obstacle markings;
the door position determining submodule 202 is used for determining that an area between two groups of walls is a door through continuous movable points between the two groups of walls, and the number of the continuous movable points is within a preset interval;
a door coordinate marking submodule 203 for determining coordinates of the door based on coordinates of a middle point of the movable points in the door.
Further, the first transfer module 300 specifically includes:
the cross-room determining submodule 301 is used for establishing a rectangle by taking a connecting line of the sweeping robot and the seating charger in the navigation coordinate system as a diagonal line, determining that the sweeping robot and the seating charger are not in the same room according to a door or a wall appearing in the rectangle, and determining that the position of the door running into the room is shorter than the position of the seating charger running into the room;
the transit node determining submodule 302 is used for determining a door closest to the seat according to the coordinates of at least one door in the room in the navigation coordinate system;
and the transferring submodule 303 is configured to transfer the floor sweeping robot to the door closest to the seat charger in the room, and judge whether the floor sweeping robot and the seat charger are in the same room by establishing the rectangle until the floor sweeping robot and the seat charger are in the same room.
In order to solve the technical problem, an embodiment of the present application further provides a computer device. Referring to fig. 6, fig. 6 is a block diagram of a basic structure of a computer device according to the present embodiment.
The computer device 3 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only a computer device 6 having components 61-63 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 61 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal storage unit of the computer device 6 and an external storage device thereof. In this embodiment, the memory 61 is generally used for storing an operating system and various types of application software installed on the computer device 6, such as a program code of a wall-following backfill method. Further, the memory 61 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to run the program code stored in the memory 61 or process data, for example, run the program code of the method based on the wall-following backfill method.
The network interface 63 may comprise a wireless network interface or a wired network interface, and the network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application further provides another embodiment, which provides a computer-readable storage medium storing a program of a wall-following based backfill method, the program being executable by at least one processor to cause the at least one processor to perform the steps of a wall-following based backfill method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. A method for refilling along a wall, the method comprising:
transferring the sweeping robot to a wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers;
determining a cleaning area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls;
according to the condition that the current position of the sweeping robot is along the wall, the position of the door running to the room is shorter than the position of the seat charger, and the sweeping robot is transferred to the corresponding door until the sweeping robot and the seat charger are in the same room;
and determining the direction along the wall according to the position of the sweeping robot relative to the seat charger on the navigation coordinate system, and recharging along the wall.
2. A wall-following based refilling method according to claim 1, wherein said step determines the clean area on the navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determines the position of the door in the multi-room area; in the determining of the position of the door by the movable point between the two sets of walls, the determining method of the position of the door specifically includes:
determining the location of the wall by successive obstacle markings;
determining an area between two groups of walls as a door by using continuous movable points between the two groups of walls and the number of the continuous movable points in a preset interval;
the coordinates of the door are determined from the coordinates of the intermediate point of the movable point in the door.
3. The wall-following-based refilling method according to claim 1, wherein the step of transporting the sweeping robot to the corresponding door until the sweeping robot and the seat charger are in the same room in a wall-following state according to the current position of the sweeping robot, wherein the position of the door in the room is shorter than the position of the seat charger in the room, comprises the following steps:
establishing a rectangle according to a connecting line of the sweeping robot and the seat charger in the navigation coordinate system as a diagonal line, determining that the sweeping robot and the seat charger are not in the same room according to a door or a wall in the rectangle, and operating the door in the room at a position shorter than operating the door to the seat charger;
determining a door closest to the seat according to the coordinates of at least one door in the room in a navigation coordinate system;
and transferring the floor sweeping robot to a door closest to the seat charger in a room, and judging whether the floor sweeping robot and the seat charger are in the same room or not by establishing the rectangle until the floor sweeping robot and the seat charger are in the same room.
4. The wall-following-based backfill method according to claim 1, characterized in that the step of transferring the sweeping robot to the wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and obstacle points, and after the wall is marked by continuous and smooth obstacle marks, the method further comprises the following steps:
determining a cleaning area on the navigation coordinate system as a single room area according to the wall position in the navigation coordinate system;
judging that the seat is filled in a first direction of the position of the wall where the sweeping robot is located in the navigation coordinate system;
and controlling the sweeping robot to back fill along the wall in the first direction.
5. A wall-following based refilling method according to claim 1, wherein after determining the clean area on the navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system, and determining the position of the door in the multi-room area, the method further comprises:
establishing a rectangle according to a connecting line of the sweeping robot and the seat charger in the navigation coordinate system as a diagonal line, and determining that the sweeping robot and the seat charger are in the same room according to the condition that no door or wall is arranged in the rectangle;
judging that the seat is filled in a first direction of the position of the wall where the sweeping robot is located in the navigation coordinate system;
and controlling the sweeping robot to back fill along the wall in the first direction.
6. A wall-based backfill apparatus, comprising:
the wall returning module is used for transferring the sweeping robot to the wall according to the position of the sweeping robot on the navigation coordinate system and the obstacle mark; the navigation coordinate system is marked with movable points and barrier points, and the wall is marked with marks through continuous and smooth barriers;
a door determination module for determining a clean area on a navigation coordinate system as a multi-room area according to the wall position in the navigation coordinate system and determining the position of a door in the multi-room area; the position of the door is determined by a movable point between two sets of walls;
the first transfer module is used for transferring the sweeping robot to a corresponding door until the sweeping robot and the seat charger are in the same room according to the fact that the position of the sweeping robot running to the door in the room is shorter than the position of the seat charger when the sweeping robot runs to the door in the room in the wall-following state;
and the second transfer module is used for determining the direction along the wall according to the direction of the floor sweeping robot relative to the seat charger on the navigation coordinate system and recharging along the wall.
7. The wall-based refill device of claim 6, wherein the door determination module comprises:
a wall position determination submodule for determining the position of the wall by the continuous obstacle mark;
the door position determining submodule is used for determining that an area between two groups of walls is a door through continuous movable points between the two groups of walls, and the number of the continuous movable points is within a preset interval;
and the door coordinate marking submodule is used for determining the coordinates of the door according to the coordinates of the middle point of the movable point in the door.
8. The wall-based backfill apparatus according to claim 6, wherein the first transfer module comprises:
the cross-room determining submodule is used for establishing a rectangle according to a connecting line of the sweeping robot and the seating charger in the navigation coordinate system as a diagonal line, determining that the sweeping robot and the seating charger are not in the same room according to a door or a wall in the rectangle, and enabling the position of the door in the room to be shorter than the position of the seating charger;
the transfer node determining submodule is used for determining a door closest to the seat according to the coordinate of at least one door in the room in the navigation coordinate system;
and the transferring submodule is used for transferring the floor sweeping robot to the door closest to the seat charger in the room, and judging whether the floor sweeping robot and the seat charger are in the same room or not by establishing the rectangle until the floor sweeping robot and the seat charger are in the same room.
9. A computer device comprising a memory and a processor, characterized in that: the memory has stored therein a computer program which, when executed by the processor, implements the steps of the wall-following based backfill method according to any one of claims 1 to 5.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the wall-following based backfill method according to any one of claims 1 to 5.
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