CN112890692A - Method and device for setting cleaning forbidden zone, cleaning equipment and storage medium - Google Patents
Method and device for setting cleaning forbidden zone, cleaning equipment and storage medium Download PDFInfo
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- CN112890692A CN112890692A CN202110177573.1A CN202110177573A CN112890692A CN 112890692 A CN112890692 A CN 112890692A CN 202110177573 A CN202110177573 A CN 202110177573A CN 112890692 A CN112890692 A CN 112890692A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The application provides a method and a device for setting a cleaning forbidden zone, cleaning equipment and a storage medium, wherein the method comprises the following steps: drawing a working place of the cleaning equipment to obtain a cleaning map corresponding to the working place; positioning the area where the base station is located in the cleaning map; and setting a clean forbidden zone covering the base station according to the area of the base station. In the application, the cleaning equipment locks the area where the base station is located in the cleaning map corresponding to the workplace, and a cleaning forbidden zone covering the base station is arranged in the area where the base station is located. When the cleaning equipment needs to return to the base station, the cleaning forbidden zone is set again from the cleaning map, and when the cleaning equipment leaves the base station, the cleaning equipment is ensured not to collide with the base station on the premise of not influencing the normal use of the base station, and meanwhile, the situation that the cleaning equipment is wound and trapped by cables of the base station is reduced.
Description
Technical Field
The application belongs to the technical field of electrical equipment, and particularly relates to a method and a device for setting a cleaning forbidden zone, cleaning equipment and a storage medium.
Background
At present, the intelligent cleaning equipment is more and more popular in use, and if a plurality of families use the floor sweeping robot to clean houses. The cleaning device travels according to a random path or a planned path during the working process, and the cleaning component arranged on the device is used for sweeping or mopping during the traveling process.
The cleaning device is usually provided with a base station, which at least has the function of charging the cleaning device. In the related art, when the cleaning device does not need to return to the base station, if the cleaning device passes through the position of the base station in the traveling process, the cleaning device collides with the base station, recognizes the base station as an obstacle, and then continues to travel by bypassing the base station.
However, the cleaning device in the related art collides with the base station, which may affect the operation of the base station, and cables are usually provided around the base station, which may easily trap the cleaning device.
Disclosure of Invention
The application provides a method and a device for setting a cleaning forbidden zone, cleaning equipment and a storage medium, wherein the cleaning equipment locks an area where a base station is located in a cleaning map corresponding to a workplace, the cleaning forbidden zone covering the base station is arranged in the area where the base station is located, collision between the cleaning equipment and the base station is avoided, and the cleaning equipment is prevented from being wound and trapped by cables around the base station.
The embodiment of the first aspect of the present application provides a method for setting a clean forbidden zone, including:
drawing a working place of cleaning equipment to obtain a cleaning map corresponding to the working place;
positioning the area where the base station is located in the clean map;
and setting a clean forbidden zone covering the base station according to the area where the base station is located.
In some embodiments of the present application, the locating the area in which the base station is located in the cleaning map includes:
establishing communication connection with a base station;
acquiring installation position information and size information of the base station from the base station;
determining the installation position of the base station in the clean map according to the installation position information;
drawing the outline of the base station at the installation position on the cleaning map according to the size information;
and determining the area covered by the outline of the base station as the area where the base station is located.
In some embodiments of the present application, the locating the area in which the base station is located in the cleaning map includes:
receiving a clean forbidden zone setting instruction sent by a user terminal, wherein the clean forbidden zone setting instruction comprises installation position information and size information of a base station;
drawing the outline of the base station at the installation position corresponding to the base station on the cleaning map according to the size information and the installation position information;
and determining the area covered by the outline of the base station as the area where the base station is located.
In some embodiments of the present application, the setting a cleaning forbidden zone covering the base station according to an area where the base station is located includes:
amplifying the area where the base station is located in the cleaning map by a preset proportion, and setting the amplified area as a cleaning forbidden area; alternatively, the first and second electrodes may be,
and moving straight lines of all boundaries of the area where the base station is located outwards for a preset distance in the cleaning map, and setting the area surrounded by the straight lines of all the boundaries after moving as a cleaning forbidden area.
In some embodiments of the present application, the method further comprises:
receiving a clean forbidden zone adjusting instruction sent by a user terminal, wherein the clean forbidden zone adjusting instruction comprises adjusting position information and adjusting size information;
and adjusting the size of the cleaning forbidden zone according to the adjustment position information and the adjustment size information.
In some embodiments of the present application, the method further comprises:
and determining that the cleaning equipment needs to return to the base station, and deleting the cleaning forbidden zone arranged on the cleaning map.
In some embodiments of the present application, the method further comprises:
and determining that the cleaning equipment leaves the base station, and resetting the cleaning forbidden zone on the cleaning map.
Embodiments of a second aspect of the present application provide an apparatus for setting a cleaning exclusion zone, comprising:
the map building module is used for building a map of a workplace of the cleaning equipment to obtain a cleaning map corresponding to the workplace;
the base station positioning module is used for positioning the area where the base station is located in the clean map;
and the forbidden zone setting module is used for setting a clean forbidden zone covering the base station according to the area where the base station is located.
Embodiments of a third aspect of the present application provide a cleaning device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the method of the first aspect.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, the program being executable by a processor to implement the method of the first aspect.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
in the embodiment of the application, the cleaning equipment builds a map of a workplace where the cleaning equipment is located, the area where the base station is located is locked in the built cleaning map, and a cleaning forbidden zone covering the base station is arranged in the area where the base station is located. Therefore, the cleaning equipment is enabled to avoid the cleaning forbidden zone in the working process, the cleaning equipment is prevented from colliding with the base station, and the cleaning equipment is prevented from being wound and trapped by cables around the base station. The cleaning device is characterized in that the cleaning forbidden zone is set in the cleaning map when the cleaning device needs to return to the base station, and the cleaning forbidden zone is set again when the cleaning device leaves the base station, so that the cleaning device is ensured not to collide with the base station in the working process on the premise of not influencing the normal use of the base station, and meanwhile, the situation that the cleaning device is wound and trapped by cables of the base station is reduced.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart illustrating a method for setting a cleaning exclusion zone according to an embodiment of the present disclosure;
fig. 2 is another flow chart illustrating a method for setting a clean exclusion zone according to an embodiment of the present disclosure;
fig. 3 is another flow chart illustrating a method for setting a clean exclusion zone according to an embodiment of the present application;
fig. 4 is a schematic structural diagram illustrating an apparatus for disposing a clean forbidden zone according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a cleaning apparatus according to an embodiment of the present application;
fig. 6 shows a schematic diagram of a storage medium provided in an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
A method, an apparatus, a cleaning device, and a storage medium for setting a cleaning exclusion zone according to embodiments of the present application are described below with reference to the accompanying drawings.
The embodiment of the application provides a method for setting a clean forbidden zone, the method comprises the steps of establishing a map of a workplace where a cleaning device is located in the cleaning device, locking an area where a base station is located in the established clean map, and setting the clean forbidden zone covering the base station in the area where the base station is located. Therefore, the cleaning equipment is enabled to avoid the cleaning forbidden zone in the working process, the cleaning equipment is prevented from colliding with the base station, and the cleaning equipment is prevented from being wound and trapped by cables around the base station.
Referring to fig. 1, the method specifically includes the following steps:
step 101: and (4) drawing the working place of the cleaning equipment to obtain a cleaning map corresponding to the working place.
The execution main body of the embodiment of the application is the cleaning device or a controller arranged in the cleaning device. The cleaning equipment can be a sweeping robot, a mopping robot, a sweeping and mopping integrated machine and the like. The working place of the cleaning equipment can be any place which can be cleaned by using the cleaning equipment, such as a home-living vacation place, a shopping mall, a railway station and the like.
The cleaning device is placed in a working place for the first time, after the cleaning device is started to work, the cleaning device can drive a walking assembly of the cleaning device to move in the working place, obstacles in the working place are identified through an obstacle avoidance system of the cleaning device in the moving process, and after the cleaning device moves all areas of the working place, a cleaning map corresponding to the working place can be drawn according to the moving route of the cleaning device.
Step 102: and positioning the area of the base station in the cleaning map.
The base station may be a charging cradle having only a charging function. Alternatively, the base station may be a device having a function of collecting dust, cleaning, or the like in addition to the charging function. A base station is a companion device that provides one or more functional services to a cleaning device.
In the embodiment of the present application, the area where the base station is located may be locked in the cleaning map by either of the first and second manners as follows.
First, the cleaning device locks the area where the base station is based on communication with the base station.
Specifically, the cleaning device establishes a communication connection with a base station, which may be a communication connection established by bluetooth, infrared or Wi-Fi (wireless communication technology) or the like. The cleaning device acquires installation position information of the base station and size information from the base station through the established communication connection, the installation position information is used for indicating the installation position of the base station in the workplace, the size information comprises the shape of the base station and the size of the base station, and if the base station is rectangular, the size information comprises the rectangle, and the length and the width of the rectangle. In another example, if the base station is circular, the size information includes the circle and the radius of the circle. The installation position information and the size information of the base station are set in the base station in advance. And the cleaning equipment determines the installation position of the base station in the cleaning map according to the obtained installation position information. And then drawing the outline of the base station at the installation position on the cleaning map according to the size information, and determining the area covered by the outline of the base station as the area where the base station is located.
Second, the cleaning device locks the area where the base station is located based on communication with the user terminal, such as the user's cell phone or computer.
The user terminal is provided with a client corresponding to the cleaning equipment, and a user can check a cleaning map of the cleaning equipment through the client and send a user instruction to the cleaning equipment through the client to realize the control of the user on the cleaning equipment.
In the embodiment of the application, a user can send a cleaning forbidden zone setting instruction to the cleaning equipment through the user terminal, and the installation position information and the size information of the base station are carried in the cleaning forbidden zone setting instruction. The cleaning equipment receives a cleaning forbidden zone setting instruction sent by a user terminal, draws the outline of the base station at the corresponding installation position of the base station on a cleaning map according to the size information and the installation position information included in the cleaning forbidden zone setting instruction, and determines the area covered by the outline of the base station as the area where the base station is located.
After the area where the base station is located in the cleaning map by any of the above manners, a cleaning forbidden zone including the base station is set by the following operation of step 103.
Step 103: and setting a clean forbidden zone covering the base station according to the area of the base station.
In the embodiment of the present application, a preset ratio for setting the size of the cleaning forbidden zone may be stored in the cleaning device in advance, and the preset ratio may be 1%, 2%, or 3%. And after the area where the base station is located is positioned in the cleaning map, amplifying the area where the base station is located by the preset proportion in the cleaning map, and setting the amplified area as a cleaning forbidden area.
Alternatively, a preset distance for setting the size of the cleaning exclusion zone may also be stored in advance in the cleaning apparatus. After the area where the base station is located, the straight lines where the boundaries of the area where the base station is located move outwards for a preset distance in a cleaning map, and the area defined by the straight lines where the boundaries are located after moving is set as a cleaning forbidden area.
In the embodiment of the present application, the cleaning forbidden zone can be identified by a preset form, for example, the boundary of the cleaning forbidden zone is shown by a colored line such as a red line or a yellow line, or the cleaning forbidden zone is shown by a color block filled with red or yellow color.
After the cleaning forbidden zone covering the base station is arranged in the cleaning map in the mode of any embodiment, when the cleaning equipment moves to the vicinity of the base station, the cleaning equipment detects the cleaning forbidden zone where the base station is located from the cleaning map in the process of sweeping or mopping a working place, the cleaning equipment turns to bypass the cleaning forbidden zone when moving to the boundary of the cleaning forbidden zone, and the cleaning forbidden zone covers the base station and is larger than the area occupied by the base station, so that the cleaning equipment avoids the cleaning forbidden zone, the cleaning equipment is ensured not to collide with the base station, the situation that the cleaning equipment is wound and trapped by electric wires around the base station is reduced, and the user experience is improved.
In other embodiments of the application, after the cleaning forbidden zone is set in the above manner, a user can view a cleaning map through a client corresponding to the cleaning device on the user terminal, and see the set cleaning forbidden zone from the cleaning map, if the user thinks that the setting of the cleaning forbidden zone is too large, a large area around the base station cannot be cleaned. Alternatively, if the user thinks the cleaning tension setting is too small, the power cord of the base station is not covered, resulting in the cleaning device being easily entangled by the power cord when traveling to the location where the power cord is located. In a word, when a user thinks that a cleaning forbidden zone automatically set by the cleaning equipment is not appropriate, the user can send a cleaning forbidden zone adjusting instruction to the cleaning equipment through the user terminal, and the cleaning forbidden zone adjusting instruction carries adjusting position information and adjusting size information.
The adjustment position information is used for indicating the coordinates of the area needing to be adjusted in the cleaning map, and the user can select the coordinates of the area needing to be adjusted in the cleaning map displayed by the client. The resize information is used to indicate a ratio or distance at which the region to be resized is to be enlarged or reduced, or the like. The user can submit the above-mentioned resizing information through the client corresponding to the cleaning device.
The cleaning equipment receives a cleaning forbidden zone adjusting instruction sent by the user terminal, and adjusts the size of the cleaning forbidden zone according to the adjusting position information and the adjusting size information included in the cleaning forbidden zone adjusting instruction. Specifically, the coordinates of the portion to be adjusted are located at the cleaning exclusion zone included in the cleaning map according to the adjustment position information. And scaling the part to be adjusted according to the adjustment proportion included in the adjustment size information. Or, according to the adjustment distance and the adjustment direction included in the adjustment size information, the position to be adjusted is moved by the adjustment distance in the direction away from the base station, or the position to be adjusted is moved by the adjustment distance in the direction close to the base station.
By adjusting the cleaning forbidden zone in any mode, the size of the set cleaning forbidden zone is proper, a large area around the base station cannot be cleaned, and the situation that cleaning equipment is wound and trapped by cables due to the fact that the cables around the base station are not in the cleaning forbidden zone cannot occur.
In the embodiment of the application, after the cleaning forbidden zone covering the base station is set in the cleaning map through the above operation, if it is detected that the electric quantity of the cleaning device is insufficient or it is detected that cleaning of a certain area is completed and a wiping member such as a wiping cloth or a brush needs to be cleaned, the cleaning device determines that the cleaning device needs to return to the base station under the conditions, and at this time, the cleaning forbidden zone set on the cleaning map is deleted, so that the cleaning device can return to the base station to perform operations such as charging or cleaning the wiping member.
In this embodiment of the present application, after the cleaning forbidden area is set on the cleaning map by any of the above embodiments, the coordinate range corresponding to the cleaning forbidden area is also stored. When the cleaning equipment is fully charged or the cleaning equipment such as the mopping piece is cleaned and the like needs to leave the base station to continue cleaning, the cleaning equipment resets the cleaning forbidden zone on the cleaning map according to the storage coordinate range so as to avoid the collision of the cleaning equipment with the base station in the subsequent cleaning process.
In order to facilitate understanding of the solutions provided by the embodiments of the present application, the following description is made with reference to the accompanying drawings. In fig. 2, the charging base is a base station with only the charging function, and the cleaning device is described as an example of a cleaning forbidden zone covering the charging base. A1: and the cleaning equipment builds a map of each room to obtain a clean map. A2: the charging dock position is locked on the cleaning map. A3: the peripheral area of the charging seat is automatically set as a cleaning forbidden area. A4: and after the floor sweeping work is finished, the charging is determined to be needed, and the set cleaning forbidden zone is cancelled. A5: and returning to the charging seat to finish charging.
In fig. 3, the cleaning forbidden zone covering the base station is set by the sweeping and mopping integrated machine, B1: and the cleaning equipment builds a map of each room to obtain a clean map. B2: the base station location is locked on the clean map. B3: the peripheral area of the base station is automatically set as a cleaning forbidden area. B4: and executing the floor mopping task of the current target area. B5: and judging whether the floor mopping task of the current target area is finished, if so, executing the step B6, and if not, executing the step B11. And B6, canceling the set cleaning forbidden zone and returning to the base station. B7: the wipes were cleaned by the base station. B8: it is determined whether cleaning of all areas on the cleaning map is completed, and if so, step B9 is performed, and if not, step B10 is performed. B9: leaving the base station to wait for the next cleaning task. B10: and determining that the cleaning of the rag is finished, setting the area around the base station as a cleaning forbidden area again, and returning to the step B4 to start cleaning the next target area. B11: and judging whether the duration of the floor mopping task of the current target area exceeds the preset duration, if so, executing the step B12, and if not, continuing to perform the floor mopping task of the current target area through the step B4. B12: and canceling the set cleaning forbidden zone and returning to the base station. B13: the wipes were cleaned by the base station. B14: after the completion of the cleaning of the wiper is determined, the base station peripheral area is set as the cleaning forbidden area again, and the mopping task of the current target area is continued through step B4.
In the embodiment of the application, the cleaning equipment builds a map of a workplace where the cleaning equipment is located, the area where the base station is located is locked in the built cleaning map, and a cleaning forbidden zone covering the base station is arranged in the area where the base station is located. Therefore, the cleaning equipment is enabled to avoid the cleaning forbidden zone in the working process, the cleaning equipment is prevented from colliding with the base station, and the cleaning equipment is prevented from being wound and trapped by cables around the base station. The cleaning device is characterized in that the cleaning forbidden zone is set in the cleaning map when the cleaning device needs to return to the base station, and the cleaning forbidden zone is set again when the cleaning device leaves the base station, so that the cleaning device is ensured not to collide with the base station in the working process on the premise of not influencing the normal use of the base station, and meanwhile, the situation that the cleaning device is wound and trapped by cables of the base station is reduced.
An embodiment of the present application provides an apparatus for setting a clean forbidden zone, where the apparatus is configured to perform the method for setting a clean forbidden zone provided in any of the above embodiments, as shown in fig. 4, the apparatus includes:
the map building module 401 is configured to build a map of a workplace of the cleaning device to obtain a cleaning map corresponding to the workplace;
a base station positioning module 402, configured to position an area where a base station is located in a cleaning map;
an forbidden zone setting module 403, configured to set a clean forbidden zone covering the base station according to the area where the base station is located.
A base station positioning module 402, configured to establish a communication connection with a base station; acquiring installation position information and size information of a base station from the base station; determining the installation position of the base station in the clean map according to the installation position information; drawing the outline of the base station at the installation position on the cleaning map according to the size information; and determining the area covered by the outline of the base station as the area where the base station is located.
A base station positioning module 402, configured to receive a clean forbidden zone setting instruction sent by a user terminal, where the clean forbidden zone setting instruction includes installation position information and size information of a base station; drawing the outline of the base station at the installation position corresponding to the base station on the cleaning map according to the size information and the installation position information; and determining the area covered by the outline of the base station as the area where the base station is located.
A forbidden zone setting module 403, configured to amplify, in the cleaning map, a preset proportion of a zone where the base station is located, and set the amplified zone as a cleaning forbidden zone; or moving straight lines of all boundaries of the area where the base station is located outwards for a preset distance in the cleaning map, and setting the area defined by the straight lines of all the boundaries after moving as a cleaning forbidden area.
The device also includes: the forbidden zone adjusting module is used for receiving a clean forbidden zone adjusting instruction sent by the user terminal, wherein the clean forbidden zone adjusting instruction comprises adjusting position information and adjusting size information; and adjusting the size of the cleaning forbidden zone according to the adjustment position information and the adjustment size information.
The device also includes: and the forbidden zone deleting module is used for determining that the cleaning equipment needs to return to the base station and deleting the clean forbidden zone arranged on the cleaning map.
The forbidden zone setting module 403 is further configured to determine that the cleaning device leaves the base station, and reset a cleaning forbidden zone on the cleaning map.
In the embodiment of the application, the cleaning equipment builds a map of a workplace where the cleaning equipment is located, the area where the base station is located is locked in the built cleaning map, and a cleaning forbidden zone covering the base station is arranged in the area where the base station is located. Therefore, the cleaning equipment is enabled to avoid the cleaning forbidden zone in the working process, the cleaning equipment is prevented from colliding with the base station, and the cleaning equipment is prevented from being wound and trapped by cables around the base station. The cleaning device is characterized in that the cleaning forbidden zone is set in the cleaning map when the cleaning device needs to return to the base station, and the cleaning forbidden zone is set again when the cleaning device leaves the base station, so that the cleaning device is ensured not to collide with the base station in the working process on the premise of not influencing the normal use of the base station, and meanwhile, the situation that the cleaning device is wound and trapped by cables of the base station is reduced.
The embodiment of the application also provides a cleaning device, so as to execute the method for setting the cleaning forbidden zone. Please refer to fig. 5, which illustrates a schematic diagram of a cleaning apparatus provided in some embodiments of the present application. As shown in fig. 5, the cleaning device 5 includes: the system comprises a processor 500, a memory 501, a bus 502 and a communication interface 503, wherein the processor 500, the communication interface 503 and the memory 501 are connected through the bus 502; the memory 501 stores a computer program that can be executed on the processor 500, and the processor 500 executes the computer program to perform the method for setting a clean forbidden zone provided in any of the previous embodiments of the present application.
The Memory 501 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 503 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 500 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 500. The Processor 500 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 501, and the processor 500 reads the information in the memory 501, and completes the steps of the method in combination with the hardware thereof.
The cleaning device provided by the embodiment of the application and the method for setting the cleaning forbidden zone provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the cleaning device.
Referring to fig. 6, the computer readable storage medium is an optical disc 30, and a computer program (i.e., a program product) is stored on the optical disc 30, and when the computer program is executed by a processor, the computer program performs the method for setting a clean forbidden zone according to any of the foregoing embodiments.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiment of the present application and the method for setting a clean forbidden zone provided by the embodiment of the present application have the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer-readable storage medium.
It should be noted that:
in the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted to reflect the following schematic: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of providing a clean exclusion zone, comprising:
drawing a working place of cleaning equipment to obtain a cleaning map corresponding to the working place;
positioning the area where the base station is located in the clean map;
and setting a clean forbidden zone covering the base station according to the area where the base station is located.
2. The method of claim 1, wherein locating the area of the base station in the cleaning map comprises:
establishing communication connection with a base station;
acquiring installation position information and size information of the base station from the base station;
determining the installation position of the base station in the clean map according to the installation position information;
drawing the outline of the base station at the installation position on the cleaning map according to the size information;
and determining the area covered by the outline of the base station as the area where the base station is located.
3. The method of claim 1, wherein locating the area of the base station in the cleaning map comprises:
receiving a clean forbidden zone setting instruction sent by a user terminal, wherein the clean forbidden zone setting instruction comprises installation position information and size information of a base station;
drawing the outline of the base station at the installation position corresponding to the base station on the cleaning map according to the size information and the installation position information;
and determining the area covered by the outline of the base station as the area where the base station is located.
4. The method of claim 1, wherein the setting a clean forbidden zone covering the base station according to the area where the base station is located comprises:
amplifying the area where the base station is located in the cleaning map by a preset proportion, and setting the amplified area as a cleaning forbidden area; alternatively, the first and second electrodes may be,
and moving straight lines of all boundaries of the area where the base station is located outwards for a preset distance in the cleaning map, and setting the area surrounded by the straight lines of all the boundaries after moving as a cleaning forbidden area.
5. The method of claim 4, further comprising:
receiving a clean forbidden zone adjusting instruction sent by a user terminal, wherein the clean forbidden zone adjusting instruction comprises adjusting position information and adjusting size information;
and adjusting the size of the cleaning forbidden zone according to the adjustment position information and the adjustment size information.
6. The method according to any one of claims 1-5, further comprising:
and determining that the cleaning equipment needs to return to the base station, and deleting the cleaning forbidden zone arranged on the cleaning map.
7. The method of claim 6, further comprising:
and determining that the cleaning equipment leaves the base station, and resetting the cleaning forbidden zone on the cleaning map.
8. An apparatus for providing a clean exclusion zone, comprising:
the map building module is used for building a map of a workplace of the cleaning equipment to obtain a cleaning map corresponding to the workplace;
the base station positioning module is used for positioning the area where the base station is located in the clean map;
and the forbidden zone setting module is used for setting a clean forbidden zone covering the base station according to the area where the base station is located.
9. A cleaning device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor to implement the method according to any of claims 1-7.
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