CN113116236B - Sweeping control method and device for sweeping robot - Google Patents
Sweeping control method and device for sweeping robot Download PDFInfo
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- CN113116236B CN113116236B CN202110446857.6A CN202110446857A CN113116236B CN 113116236 B CN113116236 B CN 113116236B CN 202110446857 A CN202110446857 A CN 202110446857A CN 113116236 B CN113116236 B CN 113116236B
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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
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The application relates to a sweeping robot sweeping control method, a sweeping robot sweeping control device, computer equipment and a storage medium, wherein the method comprises the following steps: determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area; when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction; identifying the type of the adjacent region according to the area of the adjacent region and the area of the cleaning virtual region; when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area; when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area. In the whole process, the adjacent areas of the preset types are combined into the target cleaning area, the number of the areas needing to be cleaned independently is reduced, and the cleaning efficiency of the sweeping robot is obviously improved.
Description
Technical Field
The application relates to the technical field of sweeping robots, in particular to a sweeping robot sweeping control method and device, computer equipment and a storage medium.
Background
With the development of artificial intelligence technology, a sweeping robot technology appears. The floor sweeping robot is one kind of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved.
The sweeping robot replaces manual sweeping work to a certain extent, and brings convenience to people, but in practical application, due to the diversity and variability of sweeping environments, the size of a room and obstacles (such as tables, chairs, shoes and stools) in the room can interfere with and influence the normal sweeping track of the sweeping robot, and therefore the sweeping robot cannot efficiently complete the sweeping work. In view of the situation, researchers put forward a concept of a cleaning virtual area, a cleaning area is divided into fixed cleaning virtual areas, and the sweeping robot cleans each fixed cleaning virtual area according to a zigzag path, so that the influence of a complex and variable cleaning environment on the cleaning efficiency is reduced.
However, although the sweeping robot sweeping control can be optimized to some extent based on the control of the virtual sweeping area, since the sweeping area is fixed, a lot of time is wasted when the sweeping robot performs a short-distance arcuate sweeping movement in some small sweeping areas, and the sweeping efficiency is still low.
Disclosure of Invention
In view of the above, it is necessary to provide a cleaning control method and apparatus for a cleaning robot, a computer device, and a storage medium, which can significantly improve the cleaning efficiency.
A sweeping control method of a sweeping robot comprises the following steps:
determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area;
when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction;
identifying the type of the adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region;
when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area;
when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
In one embodiment, determining the target cleaning zone according to the current position comprises:
acquiring the area of a preset cleaning virtual area and the whole area to be cleaned, and positioning the current position;
dividing the whole area to be cleaned into a plurality of cleaning virtual areas according to the area of the cleaning virtual areas;
and determining a target cleaning area in a plurality of cleaning virtual areas according to the current position.
In one embodiment, when moving to the boundary inflection point of the target sweeping zone, acquiring the area of the adjacent region in the current moving direction comprises:
when the robot moves to the boundary inflection point of the target cleaning area, judging whether the current inflection point is the corner point of the virtual cleaning area;
if the current inflection point is the corner point of the cleaning virtual area, taking the current inflection point as an origin point, and ranging adjacent areas along the current motion direction to obtain the areas of the adjacent areas;
and if the current inflection point is not the corner point of the cleaning virtual area, taking the side line of the cleaning virtual area where the current inflection point is located as a reference, and measuring the distance of the adjacent area in the current motion direction to obtain the area of the adjacent area.
In one embodiment, the types of the adjacent regions comprise a small region and a large region, and the preset type is the small region; identifying the type of the adjacent area according to the area of the adjacent area and the area of the cleaning virtual area comprises the following steps:
acquiring the ratio of the area of the adjacent area to the area of the virtual cleaning area;
when the ratio is smaller than a preset ratio threshold, judging the type of the adjacent area as a small area;
and when the ratio is not less than the preset ratio threshold, judging the type of the adjacent area as a large area.
In one embodiment, the predetermined ratio threshold is not greater than 1/2.
In one embodiment, after performing the zone sweep on the latest target sweep area when the edgewise sweep is completed, the method further includes:
and when the latest target cleaning area is used for cleaning the area, moving to the next virtual cleaning area, returning to the step of determining the target cleaning area according to the current position and starting the edge cleaning in the target cleaning area.
In one embodiment, the sweeping robot sweeping control method further includes:
when the adjacent region type is a large region, the adjacent region is not merged with the target sweeping region.
A sweeping robot sweeping control device comprises:
the initial module is used for determining a target cleaning area according to the current position and starting edge cleaning in the target cleaning area;
the area detection module is used for acquiring the area of an adjacent area along the current movement direction when the target cleaning area moves to the boundary inflection point of the target cleaning area;
the type identification module is used for identifying the type of the adjacent region according to the area of the adjacent region and the area of the preset cleaning virtual region;
the merging updating module is used for merging the adjacent region and the target cleaning region when the type of the adjacent region is a preset type, updating the target cleaning region, and controlling the area detecting module to perform the operation of acquiring the area of the adjacent region along the current motion direction when the adjacent region moves to the boundary inflection point of the target cleaning region again;
and the sweeping module is used for performing area sweeping on the latest target sweeping area when the edgewise sweeping is finished.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area;
when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction;
identifying the type of the adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region;
when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area;
when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area;
when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction;
identifying the type of the adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region;
when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area;
when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
According to the sweeping control method and device of the sweeping robot, the computer equipment and the storage medium, the target sweeping area is determined according to the current position, and the sweeping along the edge is started in the target sweeping area; when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction; identifying the type of the adjacent region according to the area of the adjacent region and the area of the cleaning virtual region; when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area; when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area. In the whole process, the type of the adjacent region is identified based on the area of the adjacent region and the area of the virtual cleaning region, when the type of the adjacent region is a preset type, the adjacent region and the target cleaning region are combined, the size of the target cleaning region is adjusted in a self-adaptive mode, the adjacent region of the preset type is combined into the target cleaning region, the number of the regions needing to be cleaned independently is reduced, and the cleaning efficiency of the cleaning robot is improved remarkably.
Drawings
Fig. 1 is a schematic diagram illustrating a cleaning area division of a sweeping robot in the conventional art;
fig. 2 is an application environment diagram of the sweeping robot sweeping control method in one embodiment;
fig. 3 is a schematic flow chart of a cleaning control method of the cleaning robot in one embodiment;
fig. 4 is a schematic diagram illustrating division of a cleaning area of a cleaning robot in an application example of the present application;
fig. 5 is a schematic flow chart of a cleaning control method of the cleaning robot in another embodiment;
fig. 6 is a schematic flow chart of a sweeping control method of a sweeping robot in an application example;
fig. 7 is a block diagram of a sweeping control device of the sweeping robot in one embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to further explain the technical field related to the sweeping robot sweeping control method in detail, and to highlight the significant technical advantages thereof, a description will be first developed for a traditional sweeping robot scheme based on a virtual sweeping area.
As shown in fig. 1, a conventional cleaning robot of a certain model performs cleaning management by using a square virtual zone of 4m × 4m as a maximum unit during first cleaning, and an actual cleaning virtual zone is mostly formed by surrounding a virtual edge of 4m × 4m with a wall, and if the complete cleaning virtual zone is 16m2Then at 8m2As evaluation limits, define greater than 8m2The actual cleaning area is a large area, less than or equal to 8m2The actual cleaning area is a small area, and all the cleaning virtual areas are in a large area and a small area, wherein the small area surrounded by the 4m × 4m virtual area and the irregular real environment reduces the cleaning efficiency of the cleaning robot. In fig. 1, there are 8 virtual cleaning zones, and there is a phenomenon of coexistence of large and small zones, for example: the unit 3 is a complete 4m by 4m cleaning virtual zone, but the actual cleaning area of the adjacent unit 4 is a narrow cleaning zone of 1m by 4m surrounded by the virtual zone edge line and the wall. The units 3 and 4 actually perform independent sweeping respectively, and the solidified sweeping logic which exists in adjacent narrow areas and cannot be combined reduces sweeping efficiency.
Based on the defects of the conventional technology, the sweeping control method of the sweeping robot provided by the application can be applied to the application environment shown in fig. 2. The sweeping robot is used for determining a target sweeping area according to the current position and starting sweeping along the edge in the target sweeping area; when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction; identifying the type of the adjacent region according to the area of the adjacent region and the area of the cleaning virtual region; when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area; when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
In one embodiment, as shown in fig. 3, a sweeping control method of a sweeping robot is provided, which is described by taking the method as an example for the sweeping robot in fig. 1, and includes the following steps:
s100: and determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area.
And determining a target cleaning area corresponding to the cleaning operation according to the current position of the cleaning robot. In practical application, firstly, a whole area to be cleaned is divided into a plurality of cleaning virtual areas based on a preset cleaning virtual area, and the cleaning virtual area where the cleaning robot is located is positioned according to the current position of the cleaning robot, namely, a target cleaning area is determined. Specifically, the virtual cleaning area is preset, and may be set according to the actual needs, for example, 5m × 5m, 4.5m × 4.5m, and 4m × 4m, and is generally 16m × 5m2～25m2In the meantime. In the actual setting process, if the area of the cleaning virtual area is too small, the cleaning area can be subdivided, more small partitions are added, redundant paths for large-scale scheduling are generated, and if the area of the cleaning virtual area is too large, the unit can cross the room, and a narrow partition can also be generated. Preferably, the size of the preset cleaning virtual area is 4m by 4 m. Based on the preset cleaning virtual area, the whole cleaning area (full)House) into individual virtual units, as shown in fig. 4. Some of the virtual units are divided into 2 parts by a space (house), if the unit 2 is divided into 2 parts by a room, the unit 2 cannot be cleaned continuously as one part, and the unit 2 needs to be divided into 2 parts for independent cleaning, such a unit area cannot be used as a target cleaning area because the wall of the room cannot be merged with other cleaning virtual areas, and cleaning virtual areas all in the same room are selected as the target cleaning area, for example, the unit 3 in fig. 4. Starting to clean along the edge in the target cleaning area, namely, cleaning along the edge line of the target cleaning area, so that on one hand, the edge part of the area is directly cleaned along the edge line of the target cleaning area, and the whole area is cleaned completely; on the other hand, the edgewise sweeping is like an action of one sweeping range determination, and the boundary of the entire sweeping area is constantly determined.
S200: and when the target cleaning area moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction.
The sweeping robot executes the edgewise sweeping action and continuously moves edgewise, and when the robot moves to the boundary inflection point of the target sweeping area, the area of an adjacent area in the current moving direction is obtained. Specifically, as shown in fig. 4, the sweeping robot performs an edgewise sweeping motion in the cell 3, and continuously moves edgewise, and when the sweeping robot moves to a boundary inflection point such as a critical point 2, the sweeping robot obtains an area of an adjacent area in the current movement direction (positive direction of the X axis), that is, obtains an area of a narrow part of the area in the cell 4; similarly, when the sweeping robot moves to the critical point 3 subsequently, the sweeping robot obtains the area of the adjacent area along the current movement direction (positive direction of Y axis), that is, obtains the area of the narrow part area in the unit 5, and for this part, detailed description will be given in the following specific example. It should be noted that the inflection point refers to a point where the movement direction of the sweeping robot changes, and includes a sweeping virtual corner point and a non-sweeping virtual corner point.
S300: and identifying the type of the adjacent region according to the area of the adjacent region and the area of the preset cleaning virtual region.
Judging the type of an adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region, wherein the specific type of the adjacent region comprises a large region and a small region, when the adjacent region is the large region, the area of the adjacent region is larger, the adjacent region does not belong to a narrow region, the adjacent region can be used as an independent cleaning region, the type of the region can be selected to be combined with a target cleaning region, so that the range of the target cleaning region is enlarged, the number of turns per unit area is reduced to a certain extent, and the cleaning efficiency is improved to a small extent; when the adjacent area is a small area, the area of the adjacent area is small, and the adjacent area belongs to a narrow area, and if the adjacent area is taken as an independent cleaning area, the sweeping robot needs to turn for multiple times to clean, and the cleaning efficiency is seriously reduced, so that the adjacent area of the small area type and the target cleaning area can be preferably combined in subsequent processing to update the target cleaning area. Further, the ratio of the area of the adjacent area to the area of the virtual cleaning area can be calculated, the ratio is compared with a preset ratio threshold, and if the ratio is greater than the preset ratio threshold, the type of the adjacent area is judged to be a large area; and if the ratio is smaller than a preset ratio threshold, judging the type of the adjacent area as a small area. In practical application, the small area can be used as a preset type, so that the adjacent area of the small area is preferably combined with the target cleaning area, and the number of narrow cleaning areas is reduced to the maximum extent. The preset ratio threshold may be set to be not greater than 1/2, such as 1/2, 1/3, etc., according to the actual setting.
S400: and when the type of the adjacent area is the preset type, merging the adjacent area and the target cleaning area, updating the target cleaning area, and returning to the step S200.
The adjacent areas of the preset type are combined with the target cleaning area, namely a larger target cleaning area is generated, the number of turns of a unit cleaning area is reduced, and the cleaning efficiency of the sweeping robot is improved. After the target cleaning area is updated, returning to the step S200, the sweeping robot continues to perform the edge cleaning action in the updated target cleaning area, searches for the next inflection point and then performs the similar processing, and sequentially circulating until the edge cleaning action is completed.
Furthermore, the preset type is specifically a small area, the large area can be used as an independent cleaning area, the defect that cleaning efficiency is low due to the fact that multiple short-distance reciprocating motions are needed for cleaning due to narrow space and too many times of turning times are caused does not exist, and therefore the large area is not combined, and cleaning independence is kept. And in the small area, the sweeping robot needs to turn for many times to complete the sweeping in the area due to the narrow space, and the sweeping efficiency is seriously reduced, so that the small area can be used as a preset type, when the type of the adjacent area is the small area, the adjacent area and the target sweeping area are combined to generate a larger target sweeping area, the turning number of the unit sweeping area is obviously reduced, and the sweeping efficiency of the sweeping robot is improved to the maximum extent.
S500: when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
When the sweeping robot finishes the edgewise sweeping of the whole latest target sweeping area, the edgewise sweeping stage of the sweeping robot is finished, the sweeping robot accurately obtains the area range and the boundary data corresponding to the current sweeping task, the sweeping robot starts to enter the area sweeping stage, and the sweeping robot can sweep in a bow-shaped motion in the latest target sweeping area.
According to the sweeping control method of the sweeping robot, a target sweeping area is determined according to the current position, and edge sweeping is started in the target sweeping area; when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction; identifying the type of the adjacent region according to the area of the adjacent region and the area of the cleaning virtual region; when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area; when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area. In the whole process, the type of the adjacent region is identified based on the area of the adjacent region and the area of the virtual cleaning region, when the type of the adjacent region is a preset type, the adjacent region and the target cleaning region are combined, the size of the target cleaning region is adjusted in a self-adaptive mode, the adjacent region of the preset type is combined into the target cleaning region, the number of the regions needing to be cleaned independently is reduced, and the cleaning efficiency of the cleaning robot is improved remarkably.
As shown in fig. 5, in one embodiment, S100 includes:
s120: and acquiring the area of a preset cleaning virtual area and the whole area to be cleaned, and positioning the current position.
S140: and dividing the whole area to be cleaned into a plurality of virtual cleaning areas according to the area of the virtual cleaning areas.
S160: and determining a target sweeping area in the plurality of sweeping virtual areas according to the current position, and starting edge sweeping in the target sweeping area.
The whole area to be cleaned refers to an area which needs to be cleaned in the cleaning operation, for example, if the King starts the sweeping robot and the whole house needs to be cleaned at this time, the whole area to be cleaned is a whole house; if the main horizontal position is set to be needed to be cleaned at this time, the whole area to be cleaned is the main horizontal position, and under the general condition, the whole area to be cleaned is defaulted to be the whole house. Dividing the whole area to be cleaned into a plurality of cleaning virtual areas according to the area of the preset cleaning virtual area, starting a positioning function of the cleaning robot, positioning the current position of the cleaning robot, and determining a target cleaning area in the plurality of cleaning virtual areas according to the current position of the cleaning robot. As shown in fig. 4, after the cleaning of the unit 1 and the unit 2 is completed, the sweeping robot enters the unit 3, and the cowry sweeping area is the unit 3 in this case, that is, the sweeping robot starts sweeping along the side in the unit 3.
In one embodiment, when moving to the boundary inflection point of the target sweeping zone, acquiring the area of the adjacent region in the current moving direction comprises:
when the robot moves to the boundary inflection point of the target cleaning area, judging whether the current inflection point is the corner point of the virtual cleaning area; if the current inflection point is the corner point of the cleaning virtual area, taking the current inflection point as an origin point, and ranging adjacent areas along the current motion direction to obtain the areas of the adjacent areas; and if the current inflection point is not the corner point of the cleaning virtual area, taking the side line of the cleaning virtual area where the current inflection point is located as a reference, and measuring the distance of the adjacent area in the current motion direction to obtain the area of the adjacent area.
In the process of measuring the distance of the adjacent region, the distance measurement in the X-axis direction and the Y-axis direction can be specifically carried out so as to directly and accurately obtain the distance in the X-axis direction and the distance in the Y-axis direction and accurately obtain the area of the adjacent region. The boundary inflection point comprises a sweeping virtual area corner and a non-sweeping virtual area corner, and specifically, whether the inflection point belongs to a corner of a sweeping virtual area is judged. To describe the process of obtaining the area of the adjacent area in this embodiment in detail, a specific example will be used below, and the above process will be described in detail with reference to fig. 4. As shown in fig. 4, the sweeping robot first performs an edge sweeping action in a target sweeping area (unit 3), when moving to a critical point 2, which is a boundary inflection point of the unit 3, determines whether the critical point 2 is a corner point of a virtual sweeping area (unit 3), that is, determines whether the critical point 2 is a corner point of a virtual sweeping area, and identifies that the critical point 2 is a corner point of the unit 3, and then, using the critical point 2 as an origin, performs distance measurement in the X-axis direction and the Y-axis direction on a neighboring area in the current moving direction (horizontally rightward in fig. 3), which is, unit 4, optionally, the sweeping robot may measure the boundary distances of the neighboring areas in the X-axis direction and the Y-axis direction by using a laser radar device, that is, to measure the lengths of the neighboring areas in the X-axis direction and the Y-axis direction, and multiply the two length values to obtain the area of the neighboring area; the sweeping robot continues to sweep along the edge to reach the critical point 3, the critical point 3 belongs to the corner point of the non-sweeping virtual area, the coordinate of the critical point 3 on the virtual edge is calculated by taking the virtual edge of the sweeping virtual area (unit 4) where the critical point 3 is located as the reference, and the distance measurement is carried out on the unit 4, which is the adjacent area in the current movement direction, in the X-axis direction and the Y-axis direction to obtain the area of the adjacent area. The subsequent processing is similar to that described above and will not be described herein.
In one embodiment, after performing the zone sweep on the latest target sweep area when the edgewise sweep is completed, the method further includes:
and when the latest target cleaning area is used for cleaning the area, moving to the next virtual cleaning area, returning to the step of determining the target cleaning area according to the current position and starting the edge cleaning in the target cleaning area.
When the latest target cleaning area finishes the area cleaning, namely the cleaning of the large area is finished, the sweeping robot moves to the next virtual cleaning area, the target cleaning area is determined again, and the target cleaning area of a brand new area is updated and the area cleaning is started until the cleaning of the whole cleaning area is finished. Specifically, the "next-sweeping virtual zone" herein refers to a next adjacent, unswept virtual sweeping zone, which may be determined based on a path planning scheme for the entire area to be swept.
In order to explain the technical scheme of the cleaning control method of the cleaning robot in detail, the whole scheme will be described in detail with reference to the schematic diagram of fig. 4 and the schematic flowchart of the specific embodiment shown in fig. 6.
As shown in fig. 4, when the sweeping robot takes the unit 1 as the sweeping center, the sweeping robot sweeps along the edge to a critical point 1 of a virtual sweeping area, the critical point is a corner point of the virtual sweeping area, the sweeping robot takes the point as a ranging 0 point, and the laser radar is adopted to perform X-axis and-Y-axis ranging on the adjacent unit 2, the X-axis ranging is 4m, the-Y axis is 3m, and the area pre-judgment result of the adjacent area is 12m2Greater than 8m2In order to avoid merging in a large area, the sweeping robot respectively cleans the unit 1 and the adjacent unit 2 independently.
As shown in fig. 6, when the sweeping robot takes the unit 3 as the cleaning center (target cleaning area), the merging judgment process for the adjacent areas is as follows:
(1) the sweeping robot cleans the unit 3 to a steering critical point 2 along the edge, if the point is a virtual cleaning area angular point, the point is a distance measurement reference 0 point, a laser radar is adopted to carry out X-axis and-Y-axis distance measurement on the adjacent unit 4, the X-axis distance measurement is 4m, the-Y-axis is 1m, and the area pre-judgment result of the adjacent area is 4m2Less than 8m2The robot is a community, the unit 3 and the unit 4 are combined, the sweeping robot does not turn, and the robot continues to follow the wall;
(2) the sweeping robot continuously enters the unit 4 along the wall, when the unit 4 is along the wall, the turning critical point 3 is reached, if the point is not the angular point of the cleaning virtual area, the point is the distance measurement 0 point, the current coordinate on the virtual edge is calculated, the distance measurement is carried out by taking the virtual edge coordinate as the calculation reference, the-X axial distance of the adjacent unit 5 is judged to be 2m, the Y axial direction is 1m, and the area prejudgment result of the adjacent area is 2m2Less than 8m2The robot is a community, the unit 3, the unit 4 and the unit 5 are combined, the sweeping robot does not turn, and the sweeping robot continues to follow the wall;
(3) the sweeping robot continuously enters the unit 5 along the wall, when the unit 5 is along the wall and reaches a turning critical point 4 which is not a corner point of a sweeping virtual area, the current coordinate on the virtual edge is calculated, distance measurement is carried out by taking the virtual edge coordinate as a calculation reference, the-X axial distance of the adjacent unit 6 is judged to be 2m, the Y axial direction is 4m, and the area pre-judgment result of the adjacent area is 8m2Is equal to 8m2The robot is a community, the unit 3, the unit 4, the unit 5 and the unit 6 are combined, the sweeping robot does not turn, and the sweeping robot continues to follow the wall;
(4) the sweeping robot continues to enter the unit 6 along the wall, when the unit 6 is along the wall and reaches the turning critical point 5, the critical point is not the corner point of the cleaning virtual area, the current coordinate on the virtual edge is calculated, the distance measurement is carried out by taking the virtual edge coordinate as the calculation reference, the-X axial distance of the adjacent unit 7 is judged to be 2m, the-Y axial direction is 1m, the area pre-judgment result of the adjacent area is 2m2Less than 8m2The robot is a community, the unit 3, the unit 4, the unit 5, the unit 6 and the unit 7 are combined, the sweeping robot does not turn, and the sweeping robot continues to follow the wall;
(5) the sweeping robot continues to enter the unit 7 along the wall, when the unit 7 is along the wall and reaches the steering critical point 6, the unit 2 is judged to be a cleaned area, and then the combined cleaning is not involved;
(6) the sweeping robot continues to sweep edgewise to a critical point 7, which is a corner point of the virtual area swept by the unit 3. The judging unit 3 is a central unit, and the cleaning and sweeping robot finishes area combination and then finishes edge combination.
Finally, the sweeping robot takes the unit 3 as a sweeping center (latest target sweeping area), and the combined area after the edge is as follows: the unit 3, the unit 4, the unit 5, the unit 6 and the unit 7 are combined, narrow areas around the unit 3 can be combined and cleaned, and compared with a unit management logic with a solidified competitive product and an independent unit management logic, the combination algorithm can adapt to the surrounding environment under the same map condition, and the effect of improving cleaning efficiency is achieved.
It should be understood that, although the steps in the flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each of the flowcharts described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
As shown in fig. 7, the present application further provides a sweeping robot sweeping control device, which includes:
an initial module 100, configured to determine a target cleaning area according to a current position, and start edge cleaning in the target cleaning area;
the area detection module 200 is configured to obtain areas of adjacent regions in the current movement direction when the target cleaning region moves to a boundary inflection point of the target cleaning region;
the type identification module 300 is configured to identify the type of the adjacent region according to the area of the adjacent region and the area of the preset cleaning virtual region;
a merging update module 400, configured to merge the adjacent region with the target cleaning region when the type of the adjacent region is a preset type, update the target cleaning region, and control the area detection module 200 to re-execute an operation of obtaining the area of the adjacent region along the current movement direction when the adjacent region moves to a boundary inflection point of the target cleaning region;
a sweeping module 500 for performing an area sweep of the latest target sweeping area when the edgewise sweeping is completed.
The sweeping robot sweeping control device determines a target sweeping area according to the current position and starts sweeping along the edge in the target sweeping area; when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction; identifying the type of the adjacent region according to the area of the adjacent region and the area of the cleaning virtual region; when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area; when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area. In the whole process, the type of the adjacent region is identified based on the area of the adjacent region and the area of the virtual cleaning region, when the type of the adjacent region is a preset type, the adjacent region and the target cleaning region are combined, the size of the target cleaning region is adjusted in a self-adaptive mode, the adjacent region of the preset type is combined into the target cleaning region, the number of the regions needing to be cleaned independently is reduced, and the cleaning efficiency of the cleaning robot is improved remarkably.
In one embodiment, the initialization module 100 is further configured to obtain a preset virtual cleaning area and an entire area to be cleaned, and locate a current position; dividing the whole area to be cleaned into a plurality of cleaning virtual areas according to the area of the cleaning virtual areas; and determining a target cleaning area in a plurality of cleaning virtual areas according to the current position.
In one embodiment, the area detection module 200 is further configured to determine whether a current inflection point is a corner point of the cleaning virtual area when the boundary inflection point of the target cleaning area is reached; if the current inflection point is the corner point of the cleaning virtual area, taking the current inflection point as an origin point, and ranging adjacent areas along the current motion direction to obtain the areas of the adjacent areas; and if the current inflection point is not the corner point of the cleaning virtual area, taking the side line of the cleaning virtual area where the current inflection point is located as a reference, and measuring the distance of the adjacent area in the current motion direction to obtain the area of the adjacent area.
In one embodiment, the types of the adjacent regions include a small region and a large region, the preset type is the small region, and the type identification module 300 is further configured to obtain a ratio of the area of the adjacent region to the area of the cleaning virtual region; when the ratio is smaller than a preset ratio threshold, judging the type of the adjacent area as a small area; and when the ratio is not less than the preset ratio threshold, judging the type of the adjacent area as a large area.
In one embodiment, the predetermined ratio threshold is not greater than 1/2.
In one embodiment, the sweeping robot sweeping control device further includes a returning module, configured to move to a next virtual sweeping area when the latest target sweeping area has completed performing area sweeping, and control the initiating module 100 to re-perform the operation of determining the target sweeping area according to the current position and starting edge sweeping within the target sweeping area.
In one embodiment, the merge update module 400 is further configured to not merge the neighboring region with the target cleaning zone when the neighboring region type is a large region.
For specific limitations of the cleaning control device of the cleaning robot, reference may be made to the above limitations of the cleaning control method of the cleaning robot, and details are not described herein again. All or part of the modules in the sweeping control device of the sweeping robot can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as the area of a preset cleaning virtual area. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a sweeping robot sweeping control method.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area;
when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction;
identifying the type of the adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region;
when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area;
when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the area of a preset cleaning virtual area and the whole area to be cleaned, and positioning the current position; dividing the whole area to be cleaned into a plurality of cleaning virtual areas according to the area of the cleaning virtual areas; and determining a target cleaning area in a plurality of cleaning virtual areas according to the current position.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
when the robot moves to the boundary inflection point of the target cleaning area, judging whether the current inflection point is the corner point of the virtual cleaning area; if the current inflection point is the corner point of the cleaning virtual area, taking the current inflection point as an origin point, and ranging adjacent areas along the current motion direction to obtain the areas of the adjacent areas; and if the current inflection point is not the corner point of the cleaning virtual area, taking the side line of the cleaning virtual area where the current inflection point is located as a reference, and measuring the distance of the adjacent area in the current motion direction to obtain the area of the adjacent area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the ratio of the area of the adjacent area to the area of the virtual cleaning area; when the ratio is smaller than a preset ratio threshold, judging the type of the adjacent area as a small area; and when the ratio is not less than the preset ratio threshold, judging the type of the adjacent area as a large area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and when the latest target cleaning area is used for cleaning the area, moving to the next virtual cleaning area, returning to the step of determining the target cleaning area according to the current position and starting the edge cleaning in the target cleaning area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
when the adjacent region type is a large region, the adjacent region is not merged with the target sweeping region.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area;
when the robot moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction;
identifying the type of the adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region;
when the type of the adjacent area is a preset type, combining the adjacent area with the target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area;
when the edgewise sweep is completed, the zone sweep is performed on the latest target sweep area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the area of a preset cleaning virtual area and the whole area to be cleaned, and positioning the current position; dividing the whole area to be cleaned into a plurality of cleaning virtual areas according to the area of the cleaning virtual areas; and determining a target cleaning area in a plurality of cleaning virtual areas according to the current position.
In one embodiment, the computer program when executed by the processor further performs the steps of:
when the robot moves to the boundary inflection point of the target cleaning area, judging whether the current inflection point is the corner point of the virtual cleaning area; if the current inflection point is the corner point of the cleaning virtual area, taking the current inflection point as an origin point, and ranging adjacent areas along the current motion direction to obtain the areas of the adjacent areas; and if the current inflection point is not the corner point of the cleaning virtual area, taking the side line of the cleaning virtual area where the current inflection point is located as a reference, and measuring the distance of the adjacent area in the current motion direction to obtain the area of the adjacent area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the ratio of the area of the adjacent area to the area of the virtual cleaning area; when the ratio is smaller than a preset ratio threshold, judging the type of the adjacent area as a small area; and when the ratio is not less than the preset ratio threshold, judging the type of the adjacent area as a large area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and when the latest target cleaning area is used for cleaning the area, moving to the next virtual cleaning area, returning to the step of determining the target cleaning area according to the current position and starting the edge cleaning in the target cleaning area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
when the adjacent region type is a large region, the adjacent region is not merged with the target sweeping region.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A sweeping control method of a sweeping robot is characterized by comprising the following steps:
determining a target cleaning area according to the current position, and starting edge cleaning in the target cleaning area;
when the target cleaning area moves to the boundary inflection point of the target cleaning area, acquiring the area of an adjacent area along the current movement direction;
identifying the type of the adjacent region according to the area of the adjacent region and the area of a preset cleaning virtual region;
when the type of the adjacent area is a preset type, combining the adjacent area with a target cleaning area, updating the target cleaning area, and returning to the step of acquiring the area of the adjacent area along the current movement direction when the adjacent area moves to the boundary inflection point of the target cleaning area, wherein the preset type is a small area type;
when the edgewise cleaning is completed, performing area cleaning on the latest target cleaning area;
when the target sweeping area moves to the boundary inflection point of the target sweeping area, acquiring the area of an adjacent area along the current movement direction comprises:
identifying a boundary inflection point type when moving to a boundary inflection point of the target sweeping area; and acquiring the area of an adjacent area in the current motion direction according to the boundary inflection point type, wherein the boundary inflection point type comprises a cleaning virtual area angular point and a non-cleaning virtual area angular point.
2. The method of claim 1, wherein said determining a target cleaning zone based on a current location comprises:
acquiring the area of a preset cleaning virtual area and the whole area to be cleaned, and positioning the current position;
dividing the whole area to be cleaned into a plurality of cleaning virtual areas according to the area of the cleaning virtual areas;
and determining a target cleaning area in the plurality of cleaning virtual areas according to the current position.
3. The method of claim 1, wherein the obtaining areas of adjacent zones along a current direction of motion when moving to a boundary inflection point of the target sweeping zone comprises:
when the robot moves to the boundary inflection point of the target cleaning area, judging whether the current inflection point is the corner point of the cleaning virtual area;
if the current inflection point is the corner point of the cleaning virtual area, taking the current inflection point as an origin point, and ranging adjacent areas along the current motion direction to obtain the areas of the adjacent areas;
and if the current inflection point is not the corner point of the cleaning virtual area, taking the side line of the cleaning virtual area where the current inflection point is located as a reference, and measuring the distance of the adjacent area in the current motion direction to obtain the area of the adjacent area.
4. The method of claim 1, wherein the neighboring region types include a small region and a large region;
the identifying the type of the adjacent area according to the area of the adjacent area and the area of the cleaning virtual area comprises:
acquiring the ratio of the area of the adjacent area to the area of the virtual cleaning area;
when the ratio is smaller than a preset ratio threshold, judging the type of the adjacent area as a small area;
and when the ratio is not less than a preset ratio threshold, judging that the type of the adjacent area is a large area.
5. The method of claim 4, wherein the predetermined ratio threshold is not greater than 1/2.
6. The method of claim 1, further comprising, after performing the zone sweep on the latest target sweep area when the edgewise sweep is complete:
and moving to a next cleaning virtual area when the latest target cleaning area is used for cleaning the area, returning to the step of determining the target cleaning area according to the current position, and starting edge cleaning in the target cleaning area.
7. The method of claim 1, further comprising:
when the adjacent region type is a large region, the adjacent region is not merged with the target cleaning region.
8. The utility model provides a robot of sweeping floor cleans controlling means which characterized in that, the device includes:
the initial module is used for determining a target cleaning area according to the current position and starting edge cleaning in the target cleaning area;
the area detection module is used for identifying the type of a boundary inflection point when the target sweeping area moves to the boundary inflection point; acquiring the area of an adjacent area in the current motion direction according to the boundary inflection point type, wherein the boundary inflection point type comprises a cleaning virtual area angular point and a non-cleaning virtual area angular point;
the type identification module is used for identifying the type of the adjacent region according to the area of the adjacent region and the area of the cleaning virtual region;
a merging updating module, configured to merge an adjacent region with a target cleaning region when the type of the adjacent region is a preset type, update the target cleaning region, and control the area detecting module to re-execute the operation of obtaining the area of the adjacent region along the current movement direction when the adjacent region moves to a boundary inflection point of the target cleaning region, where the preset type is a small region type;
and the sweeping module is used for performing area sweeping on the latest target sweeping area when the edgewise sweeping is finished.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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