CN113842090A - Control method and device for cleaning robot and computer readable storage medium - Google Patents
Control method and device for cleaning robot and computer readable storage medium Download PDFInfo
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- CN113842090A CN113842090A CN202111034629.4A CN202111034629A CN113842090A CN 113842090 A CN113842090 A CN 113842090A CN 202111034629 A CN202111034629 A CN 202111034629A CN 113842090 A CN113842090 A CN 113842090A
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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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- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention discloses a control method and a control device for a cleaning robot and a computer readable storage medium. Wherein, the method comprises the following steps: acquiring first characteristic information of a ground seam in an area to be cleaned; determining a cleaning strategy for clearing the ground gap based on the first characteristic information; cleaning the sweeping seams according to a cleaning strategy. The invention solves the technical problem that the cleaning machine in the related art cannot clean thoroughly due to limited working range coverage area of the cleaning machine.
Description
Technical Field
The invention relates to the field of smart home, in particular to a control method and device of a cleaning robot and a computer readable storage medium.
Background
Nowadays, various household cleaning robots walk into thousands of households, and are used for freeing the hands of people, so that convenience is brought to the life of people. Cleaning robots are further classified into sweeping robots, mopping robots, sweeping and mopping all-in-one machines and the like, wherein a traveling route covering the whole area is usually planned when the cleaning robot with the sweeping function sweeps, and indoor cleaning is realized through the matching of a cleaning brush head and a dust collection module when the cleaning robot walks.
However, in the cleaning mode with global coverage, when dealing with the daily household environment with the paved ground, the cleaning condition of the paved gap is not specially concerned, if the deep cleaning of the places with hidden dirt is needed, a command needs to be given manually to inform the robot of the position of the gap, otherwise, only most of the flat areas can be cleaned, and the situation that cleaning is incomplete due to the influence of the terrain can occur in some special gaps such as gaps between tiles, gaps between wood floors and the like, namely, the positions where dirt is easily hidden such as the gaps between the paved ground and the joints between doors and the like.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of a cleaning robot and a computer readable storage medium, which are used for at least solving the technical problem that the cleaning robot cannot clean thoroughly due to limited working range coverage area of the cleaning robot in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a control method of a cleaning robot including: acquiring first characteristic information of a ground seam in an area to be cleaned; determining a cleaning strategy for clearing the ground gap based on the first characteristic information; and cleaning the ground seams according to the cleaning strategy.
Optionally, before acquiring the first characteristic information of the ground seam in the area to be cleaned, the method further comprises: scanning the area to be cleaned to obtain second characteristic information of the area to be cleaned; generating a global map of the area to be cleaned based on the second feature information.
Optionally, acquiring first characteristic information of the ground seam in the area to be cleaned includes: detecting a ground seam in the area to be cleaned in the process of cleaning the area to be cleaned; acquiring detection information of the ground seam; marking the ground seams in a global map of the area to be cleaned based on the detection information; and processing the global map to obtain first characteristic information of the ground seams in the area to be cleaned.
Optionally, processing the global map to obtain first feature information of a ground seam in the area to be cleaned includes: performing corrosion operation on the ground seams in the global map to obtain ground seams after the corrosion operation; performing expansion operation on the ground seam after the corrosion operation to obtain the ground seam after the expansion operation; obtaining the first characteristic information based on the ground seam after the expansion operation.
Optionally, determining a cleaning strategy for clearing the gap based on the first characteristic information comprises: determining position information and size information of the ground seam based on the first characteristic information; determining the cleaning strategy based on the location information and the size.
Optionally, determining a cleaning strategy for clearing the gap based on the first characteristic information comprises: determining a cleaning strategy corresponding to the first feature information through a predetermined model, wherein the predetermined model is obtained by using multiple sets of training data through machine learning training, and each set of training data in the multiple sets of training data comprises: the ground seam characteristic information and the cleaning strategy corresponding to the ground seam characteristic information.
Optionally, sweeping the seam according to the cleaning strategy includes at least one of: cleaning the ground seam according to a cleaning path in the cleaning strategy; and cleaning the ground seam according to the operation parameters in the cleaning strategy.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of a cleaning robot, including: the acquisition module is used for acquiring first characteristic information of a ground seam in an area to be cleaned; a determination module for determining a cleaning strategy for clearing the seam based on the first characteristic information; and the sweeping module is used for sweeping the ground seam according to the cleaning strategy.
Optionally, the apparatus further comprises: the scanning module is used for scanning the area to be cleaned before first characteristic information of a ground seam in the area to be cleaned is acquired, so that second characteristic information of the area to be cleaned is acquired; a generating module for generating a global map of the area to be cleaned based on the second characteristic information.
Optionally, the obtaining module includes: the detection unit is used for detecting ground seams in the area to be cleaned in the process of cleaning the area to be cleaned; the acquisition unit is used for acquiring the detection information of the ground seam; the marking unit is used for marking the ground seams in a global map of the area to be cleaned based on the detection information; and the processing unit is used for processing the global map to obtain first characteristic information of the ground seams in the area to be cleaned.
Optionally, the processing unit includes: the corrosion subunit is used for performing corrosion operation on the ground joint in the global map to obtain the ground joint after the corrosion operation; the expansion subunit is used for performing expansion operation on the ground seam after the corrosion operation to obtain the ground seam after the expansion operation; a generating subunit, configured to obtain the first feature information based on the ground seam after the expansion operation.
Optionally, the determining module includes: a first determination unit configured to determine position information and size information of the ground seam based on the first feature information; a second determination unit for determining the cleaning strategy based on the position information and the size.
Optionally, the determining module includes: a third determining unit, configured to determine a cleaning strategy corresponding to the first feature information through a predetermined model, where the predetermined model is obtained through machine learning training using multiple sets of training data, and each of the multiple sets of training data includes: the ground seam characteristic information and the cleaning strategy corresponding to the ground seam characteristic information.
Optionally, the sweeping module comprises at least one of: a first cleaning unit for cleaning the ground seam according to a cleaning path in the cleaning strategy; a second cleaning unit for cleaning the ground seam according to the operation parameters in the cleaning strategy.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus in which the computer-readable storage medium is located is controlled to execute the control method of the cleaning robot described in any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program executes to execute the control method of the cleaning robot described in any one of the above.
In the embodiment of the invention, first characteristic information of a ground seam in an area to be cleaned is acquired; determining a cleaning strategy for clearing the ground gap based on the first characteristic information; cleaning the sweeping seams according to a cleaning strategy. By the control method of the cleaning robot, the cleaning strategy for cleaning the ground gap is generated based on the acquired first characteristic information in the ground gap in the cleaning area, and the cleaning is performed according to the strategy, so that the technical effect of improving the cleaning efficiency is achieved, and the technical problem that the cleaning robot cannot clean thoroughly due to the fact that the coverage area of the cleaning robot is limited in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a probing phase process according to an embodiment of the invention;
FIG. 3 is a schematic view of a path to be cleaned according to an embodiment of the invention;
FIG. 4 is a flow chart of a crevice cleaning solution in accordance with an embodiment of the present invention;
fig. 5 is a schematic view of a control device of the cleaning robot according to the embodiment of the present invention;
FIG. 6 is a schematic view of a preferred suture treatment device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a control method of a cleaning robot, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a control method of a cleaning robot according to an embodiment of the present invention, as shown in fig. 1, the control method of the cleaning robot including the steps of:
step S102, first characteristic information of a ground seam in the area to be cleaned is acquired.
Optionally, the manner of acquiring the first feature information in the above steps includes but is not limited to: the first characteristic information is acquired through computer vision, and the first characteristic information is acquired by emitting infrared rays to the ground and capturing reflected infrared rays.
And step S104, determining a cleaning strategy for clearing the ground seams based on the first characteristic information.
Optionally, in the above step, the first feature information is processed by morphological processing, path planning, and the like, so as to obtain a cleaning strategy.
And S106, cleaning the sweeping seams according to a cleaning strategy.
As can be seen from the above, in the embodiment of the present invention, first characteristic information of the ground seam in the area to be cleaned may be obtained first; determining a cleaning strategy for clearing the ground seams based on the first characteristic information; and finally cleaning the sweeping seams according to a cleaning strategy. By the control method of the cleaning robot, the cleaning strategy for cleaning the ground gap is generated based on the acquired first characteristic information in the ground gap in the cleaning area, and the cleaning is performed according to the strategy, so that the technical effect of improving the cleaning efficiency is achieved, and the technical problem that the cleaning robot cannot clean thoroughly due to the fact that the coverage area of the cleaning robot is limited in the related art is solved.
As an alternative embodiment, before the first characteristic information of the ground seam in the area to be cleaned is acquired, the method further comprises: scanning the area to be cleaned to obtain second characteristic information of the area to be cleaned; and generating a global map of the area to be cleaned based on the second characteristic information.
In the above alternative embodiment, the cleaning robot detects gaps in real time during the full-coverage cleaning process, automatically detects the gaps of the floor tiles in the home environment, and marks the gaps in the plane grid map. The grid map is generally obtained by directly converting a vector digital line map, so that the sweeping path can be accurately calculated.
As an alternative embodiment, in step S102, the obtaining of the first characteristic information of the ground seam in the area to be cleaned includes: detecting ground seams in the area to be cleaned in the cleaning process of the area to be cleaned; acquiring detection information of a ground seam; marking the ground seams in a global map of the area to be cleaned based on the detection information; and processing the global map to obtain first characteristic information of ground seams in the area to be cleaned.
Fig. 2 is a schematic diagram of a detection stage according to an embodiment of the present invention, and as shown in fig. 2, a gap detector installed below a chassis of a cleaning robot, including but not limited to a laser range finder, can determine the flatness of the ground by measuring the real-time change of the distance between the chassis of the robot and the ground, so as to calculate the position of the gap.
It should be noted that the gap detector in the embodiment of the present invention includes, but is not limited to, a laser range finder, an infrared range finder, an ultrasonic range finder, etc., and the installation position is not limited to any particular position, as long as the distance to the ground can be theoretically measured at both the incident angle and the ground perpendicular.
As an alternative embodiment, processing the global map to obtain the first feature information of the ground seams in the area to be cleaned includes: performing corrosion operation on the ground seams in the global map to obtain ground seams after the corrosion operation; performing expansion operation on the ground seam after the corrosion operation to obtain the ground seam after the expansion operation; first characteristic information is obtained based on the ground seam after the expansion operation.
In the above optional embodiment, the first characteristic information of the ground gap may be obtained through corrosion and expansion operations, and the path to be cleaned is obtained through further processing of the first characteristic information, fig. 3 is a schematic diagram of the path to be cleaned according to an embodiment of the present invention, as shown in fig. 3, ground gaps with different shapes exist among floor tiles with different shapes, and the main body of the ground gap is expanded through corrosion and expansion operations on the ground gap, so that the contour of the ground gap is clearer, and the robot may perform path planning through a contour in combination with a path planning algorithm such as a shortest path grid method, and may quickly obtain an optimized path for the robot to clean the ground gap.
It should be noted that the path planning algorithm includes, but is not limited to: a grid method, an artificial potential field method, a fuzzy rule method, or the like.
In the above alternative embodiment, a series of image processing operations are performed on the ground seam by using morphology, erosion is an operation of obtaining a local minimum value of an image, noise points around the ground seam can be eliminated, irregular or unclear ground seam images become clear and regular, dilation is an operation of obtaining a local maximum value of the image, the ground seam images subjected to erosion operations can be more visualized, ground seams mistakenly identified by interference can be eliminated, specific positions requiring deep cleaning of the robot can be obtained, and finally the expanded ground seams are used as a path to be cleaned by the robot.
As an alternative embodiment, in step S104, the determining a cleaning strategy for clearing the ground gap based on the first characteristic information includes: determining position information and size information of the ground seam based on the first characteristic information; a cleaning strategy is determined based on the location information and the size.
In the above optional embodiment, the ground gap size information determined based on the first characteristic information includes, but is not limited to: the length of the ground gap, the width of the ground gap and the depth of the ground gap.
Specifically, for example, generally, if the robot moves on a flat household floor, the height of the chassis from the floor is kept constant, so that the gap detector measures that the distance value of the chassis from the floor is always kept near a constant value (for example, 3 CM); when the numerical value measured by the gap detector is suddenly larger than 4CM and then returns to 3CM, judging that a concave gap exists at the current position, and recording the position information of the concave gap in a grid map; similarly, when the value is suddenly smaller than 2CM and then returns to 3CM, the current position is judged to be a gap of the bulge for the bulge, if the bulge surface is narrow, the position of the whole bulge surface is treated as the gap, otherwise, if the width of the bulge surface exceeds the diameter of the robot chassis, the gaps formed by the two sides of the bulge surface and the ground are respectively recorded in the map.
Therefore, the robot marks the positions of the gaps on the map, the grid map is the map constructed by the cleaning robot through the map building algorithm, and the robot records the positioning coordinates of the robot when the ground gaps are detected on the map, so that the marking of the positions of the ground gaps is completed.
As an alternative embodiment, in step S104, the determining a cleaning strategy for clearing the ground gap based on the first characteristic information includes: determining a cleaning strategy corresponding to the first characteristic information through a predetermined model, wherein the predetermined model is obtained by using a plurality of groups of training data through machine learning training, and each group of training data in the plurality of groups of training data comprises: the ground gap characteristic information and the cleaning strategy corresponding to the ground gap characteristic information.
In the above alternative embodiment, the predetermined model is historical data saved after acquiring the first characteristic information a plurality of times and determining the seam cleaning strategy based on the first characteristic information.
As an alternative embodiment, cleaning the cleaning gap according to the cleaning strategy includes at least one of the following: cleaning the ground seam according to a cleaning path in the cleaning strategy; the ground seams are cleaned according to the operating parameters in the cleaning strategy.
Fig. 4 is a flowchart of a floor gap cleaning scheme according to an embodiment of the present invention, and as shown in fig. 4, an embodiment of the present invention provides a floor gap cleaning mode for a cleaning robot, and for a home scene with a large floor gap, after the global coverage cleaning is completed, the robot can automatically recognize the floor gap and plan a cleaning path to perform an intensive cleaning on the floor gap. The following describes the seam cleaning process in more detail with reference to the examples of the present invention.
Step 1), the cleaning robot starts a gap (namely a ground gap) detection module in real time in the process of carrying out full-coverage cleaning, automatically detects the gap of the ceramic tile in the household environment and marks the gap in a plane grid map.
And 2) performing morphological processing on the map with the tile gaps generated in the step 1), firstly performing corrosion operation on all gaps in the map to eliminate noise points around the gaps, then performing expansion processing on the map after corrosion to expand main bodies of the gaps, and finally taking the expanded gaps as paths to be cleaned by the robot.
And 3) automatically planning the movement route of the robot through a route planning algorithm according to the route to be cleaned in the step 2).
And 4) controlling the cleaning robot to directionally clean the gap according to the moving path.
From the above, in the embodiment of the invention, the household cleaning robot ground gap cleaning method of the embodiment of the invention realizes that in the conventional cleaning process of the robot, the robot judges the flatness degree of the ground by measuring the real-time change of the distance between the chassis and the ground, automatically detects the position of the ground gap in the map, carries out post-processing on all detected gaps by using an image corrosion and expansion method, plans the shape and the contour of the ground gap, and automatically plans the gap cleaning route by a path planning algorithm, so that the aim of controlling the robot to clean the ground gap again according to the planned route is achieved, the key cleaning of the ground gap is realized, the automatic cleaning of the ground gap of the household cleaning robot is also realized, the gap of the ground paved by the household can be automatically identified, the cleaning route is planned, and the incomplete cleaning condition of the gaps of the paved ground surface of the conventional household cleaning robot due to the influence of the terrain is improved, the cleaning effect is improved, the cleaning time is saved, and the step of manually setting and planning to clean dirt at the gap is simplified.
Example 2
According to another aspect of an embodiment of the present invention, there is also provided a control apparatus of a cleaning robot using the control method of the cleaning robot in embodiment 1 described above, and fig. 5 is a schematic view of the control apparatus of the cleaning robot according to an embodiment of the present invention, as shown in fig. 5, the control apparatus of the cleaning robot including: an acquisition module 51, a determination module 53, and a cleaning module 55. The following describes a control device of the cleaning robot.
An obtaining module 51 is used for obtaining first characteristic information of the ground seam in the cleaning area.
A determination module 53 for determining a cleaning strategy for clearing the ground gap based on the first characteristic information.
And the cleaning module 55 is used for cleaning the sweeping seam according to a cleaning strategy.
It should be noted that the acquiring module 51, the determining module 53 and the cleaning module 55 correspond to steps S102 to S106 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the modules described above as part of an apparatus may be implemented in a computer system such as a set of computer-executable instructions.
As can be seen from the above, in the embodiment of the present invention, first, the first characteristic information of the ground seam in the area to be cleaned can be acquired by the acquisition module 51; then the determining module 53 determines a cleaning strategy for clearing the ground gap according to the first characteristic information; and finally, the cleaning module 55 cleans the cleaning seams according to a cleaning strategy. By the control device of the cleaning robot, the cleaning strategy for cleaning the ground gap is generated based on the acquired first characteristic information in the ground gap in the cleaning area, and the ground gap is cleaned according to the strategy, so that the technical effect of improving the cleaning efficiency is achieved, and the technical problem that the cleaning robot cannot clean thoroughly due to the fact that the coverage area of the cleaning robot is limited in the related art is solved.
Optionally, the control device of the cleaning robot further includes: the scanning module is used for scanning the area to be cleaned before acquiring first characteristic information of a ground seam in the area to be cleaned to obtain second characteristic information of the area to be cleaned; and the generating module is used for generating a global map of the area to be cleaned based on the second characteristic information.
Optionally, the obtaining module includes: the detection unit is used for detecting ground seams in the area to be cleaned in the cleaning process of the area to be cleaned; the acquisition unit is used for acquiring detection information of the ground seam; the marking unit is used for marking the ground seams in a global map of the area to be cleaned based on the detection information; and the processing unit is used for processing the global map to obtain first characteristic information of the ground seams in the area to be cleaned.
Optionally, a processing unit comprising: the corrosion subunit is used for performing corrosion operation on the ground joint in the global map to obtain the ground joint after the corrosion operation; the expansion subunit is used for performing expansion operation on the ground seam after the corrosion operation to obtain the ground seam after the expansion operation; and the generation subunit is used for obtaining the first characteristic information based on the ground seam after the expansion operation.
Optionally, the determining module includes: a first determination unit configured to determine position information and size information of the ground seam based on the first feature information; a second determination unit for determining a cleaning strategy based on the position information and the size.
Optionally, the determining module includes: a third determining unit, configured to determine a cleaning strategy corresponding to the first feature information through a predetermined model, where the predetermined model is obtained through machine learning training using multiple sets of training data, and each set of training data in the multiple sets of training data includes: the ground gap characteristic information and the cleaning strategy corresponding to the ground gap characteristic information.
Optionally, the sweeping module comprises at least one of: a first cleaning unit for cleaning the ground seam according to a cleaning path in a cleaning strategy; a second cleaning unit for cleaning the ground seam according to the operating parameters in the cleaning strategy.
Fig. 6 is a schematic diagram of a preferred ground seam cleaning device according to an embodiment of the invention, and as shown in fig. 6, the ground seam cleaning device comprises a seam detection module (i.e. an acquisition module), a post-processing module (i.e. a determination module), a path planning module (i.e. a determination module) and an execution module (i.e. a cleaning module). The main components of the gap detection module are a gap detector (see fig. 3) arranged below the chassis of the cleaning robot, including but not limited to a laser range finder, and the gap detection module is used for judging the flatness of the ground by measuring the real-time change of the distance between the chassis of the cleaning robot and the ground so as to calculate the position of the gap; the post-processing module is used for carrying out image processing on all detected gaps on a map by the cleaning robot, and aims to integrate real and effective ground gaps through morphological processing, eliminate the gaps which are mistakenly identified due to interference and obtain specific positions needing deep cleaning of the robot; the path planning module performs optimal traversal planning on a complete cleaning path, ensures that the robot can efficiently clean the gaps instead of randomly and repeatedly acting among the gaps, and can obtain an optimized path for cleaning the gaps by the robot through path planning algorithms such as a shortest path grid method and the like; and finally, the execution module of the robot controls the robot to move according to a set route and complete cleaning.
As can be seen from the above, in the embodiment of the present invention, by the household cleaning robot ground gap cleaning method of the embodiment of the present invention, during the conventional cleaning process of the robot, the robot measures the real-time change of the distance between the chassis and the ground to determine the flatness degree of the ground, automatically detects the position of the ground gap in the map, performs post-processing on all detected gaps by using an image erosion and expansion method, plans the shape and the contour of the ground gap, and automatically plans the gap cleaning route by using a path planning algorithm, so as to control the robot to clean the ground gap again according to the planned route, thereby realizing the key cleaning of the ground gap and also realizing the automatic cleaning of the ground gap of the household cleaning robot.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, an apparatus in which the computer-readable storage medium is stored is controlled to perform the control method of the cleaning robot of any one of the above.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program executes to execute the control method of the cleaning robot described in any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A control method of a cleaning robot, characterized by comprising:
acquiring first characteristic information of a ground seam in an area to be cleaned;
determining a cleaning strategy for clearing the ground gap based on the first characteristic information;
and cleaning the ground seams according to the cleaning strategy.
2. The method of claim 1, wherein prior to obtaining first characteristic information of a seam in the area to be cleaned, the method further comprises:
scanning the area to be cleaned to obtain second characteristic information of the area to be cleaned;
generating a global map of the area to be cleaned based on the second feature information.
3. The method of claim 2, wherein obtaining first characteristic information of a seam in the area to be cleaned comprises:
detecting a ground seam in the area to be cleaned in the process of cleaning the area to be cleaned;
acquiring detection information of the ground seam;
marking the ground seams in a global map of the area to be cleaned based on the detection information;
and processing the global map to obtain first characteristic information of the ground seams in the area to be cleaned.
4. The method of claim 3, wherein processing the global map to obtain first feature information of the ground seams in the area to be cleaned comprises:
performing corrosion operation on the ground seams in the global map to obtain ground seams after the corrosion operation;
performing expansion operation on the ground seam after the corrosion operation to obtain the ground seam after the expansion operation;
obtaining the first characteristic information based on the ground seam after the expansion operation.
5. The method of claim 1, wherein determining a cleaning strategy to break up the seam based on the first characterization information comprises:
determining position information and size information of the ground seam based on the first characteristic information;
determining the cleaning strategy based on the location information and the size.
6. The method of claim 1, wherein determining a cleaning strategy to break up the seam based on the first characterization information comprises:
determining a cleaning strategy corresponding to the first feature information through a predetermined model, wherein the predetermined model is obtained by using multiple sets of training data through machine learning training, and each set of training data in the multiple sets of training data comprises: the ground seam characteristic information and the cleaning strategy corresponding to the ground seam characteristic information.
7. The method of any of claims 1-6, wherein sweeping the seam according to the cleaning strategy comprises at least one of:
cleaning the ground seam according to a cleaning path in the cleaning strategy;
and cleaning the ground seam according to the operation parameters in the cleaning strategy.
8. A control device of a cleaning robot, characterized by comprising:
the acquisition module is used for acquiring first characteristic information of a ground seam in an area to be cleaned;
a determination module for determining a cleaning strategy for clearing the seam based on the first characteristic information;
and the sweeping module is used for sweeping the ground seam according to the cleaning strategy.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein the computer program, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform the control method of the cleaning robot according to any one of claims 1 to 7.
10. A processor, characterized in that it is configured to run a computer program, wherein the computer program is configured to execute the method of controlling a cleaning robot according to any one of the preceding claims 1 to 7 when running.
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