CN113892863B - Path planning method and device, electronic equipment and storage medium - Google Patents
Path planning method and device, electronic equipment and storage medium Download PDFInfo
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- 238000013439 planning Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000010408 sweeping Methods 0.000 claims abstract description 153
- 238000004140 cleaning Methods 0.000 claims abstract description 148
- 230000007613 environmental effect Effects 0.000 claims abstract description 50
- 238000004590 computer program Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012913 prioritisation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a path planning method, a path planning device, an electronic device and a storage medium. The method comprises the following steps: when a work starting instruction of the sweeping robot is received, environment characteristic information is obtained; according to the environment characteristic information, matching a room map corresponding to the environment characteristic information in a preset room map library, wherein the preset room map library stores the preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information; when a room map corresponding to the environmental characteristic information is matched, dividing cleaning priorities corresponding to all rooms in the room map based on the room map; and planning a cleaning path of the sweeping robot according to the cleaning priority. By adopting the method provided by the embodiment of the application, the secondary pollution of the cleaned area of the sweeping robot can be avoided, so that the cleaning efficiency of the sweeping robot is improved.
Description
Technical Field
The present application relates to the field of floor sweeping robot technologies, and in particular, to a path planning method and apparatus, an electronic device, and a storage medium.
Background
With the continuous development of smart homes, a sweeping robot appears. Nowadays, more and more families choose the robot of sweeping the floor to clean the work, and the robot of sweeping the floor also follows the single function of sweeping the floor, develops to sweep and drag integrative function, can satisfy more deep clean demand.
At present, the robot of sweeping the floor is when carrying out the cleaning work, generally uses the starting position as initial position, cleans from inside to outside planning to return to fill electric pile and charge after cleaning the completion. However, in this way, unnecessary repeated coverage of partial areas exists in the cleaning process and the recharging process, which easily causes secondary pollution of the cleaned area, and thus causes the cleaning efficiency of the sweeping robot to be low.
Disclosure of Invention
In view of the above, it is necessary to provide a path planning method, an apparatus, an electronic device, and a storage medium, which can improve the cleaning efficiency of the cleaning robot.
A method of path planning, the method comprising:
when a starting work instruction of the sweeping robot is received, acquiring environmental characteristic information;
according to the environment characteristic information, matching a room map corresponding to the environment characteristic information in a preset room map library, wherein the preset room map library stores preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information;
when a room map corresponding to the environmental characteristic information is matched, dividing cleaning priorities corresponding to all rooms in the room map based on the room map;
and planning a cleaning path of the sweeping robot according to the cleaning priority.
In one embodiment, the acquiring environmental characteristic information includes:
acquiring distance characteristic information and direction characteristic information between the sweeping robot and an obstacle, wherein the environment characteristic information comprises the distance characteristic information and the direction characteristic information;
and determining the position characteristic information of the sweeping robot according to the distance characteristic information and the direction characteristic information, wherein the environment characteristic information comprises the position characteristic information.
In one embodiment, the matching, according to the environment feature information, a room map corresponding to the environment feature information in a preset room map library includes:
matching a preset room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information;
and when the preset room map is matched, determining the preset room map as the room map.
In one embodiment, the matching, according to the environment feature information, a room map corresponding to the environment feature information in a preset room map library further includes:
and when the preset room map is not matched, planning a cleaning path of the cleaning robot according to factory settings of the cleaning robot.
In one embodiment, the dividing the cleaning priority corresponding to each room in the room map based on the room map includes:
determining the number of entrances and exits of each room in the room map based on the room map;
and dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room.
In one embodiment, the dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room includes:
and the cleaning priority of the rooms with the number of the entrances and the exits larger than a preset value is lower than the cleaning priority of the rooms with the number of the entrances and the exits smaller than or equal to the preset value.
In one embodiment, the dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room further includes:
the larger the number of the entrances and exits is, the lower the cleaning priority of the corresponding room is.
In one embodiment, the dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room further includes:
when the number of the entrances and exits of more than two rooms is the same, the cleaning priorities of the more than two rooms with the same number of the entrances and exits are determined according to the distance between each room and the charging pile of the sweeping robot.
In one embodiment, when the number of the entrances and exits where two or more rooms exist is the same, determining the cleaning priorities of the two or more rooms with the same number of the entrances and exits according to the distance between each room and the charging pile of the sweeping robot includes:
when the number of the entrances and exits where more than two rooms exist is the same, the larger the distance between the room and the charging pile of the sweeping robot is, the higher the cleaning priority of the room is.
In one embodiment, the distance between the room and the charging pile of the sweeping robot is the distance between the entrance and the exit of the room and the entrance and the exit of the room where the charging pile of the sweeping robot is located.
A path planning apparatus, the apparatus comprising:
the characteristic information acquisition module is used for acquiring environmental characteristic information when receiving a starting work instruction of the sweeping robot;
the room map matching module is used for matching a room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information, and the preset room map library stores preset environmental characteristic information and a preset room map corresponding to the preset environmental characteristic information;
the cleaning priority dividing module is used for dividing the cleaning priority corresponding to each room in the room map based on the room map when the room map corresponding to the environment characteristic information is matched;
and the cleaning path determining module is used for planning the cleaning path of the sweeping robot according to the cleaning priority.
An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the path planning method when executing the computer program.
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 path planning method described above.
According to the path planning method, the path planning device, the electronic equipment and the storage medium, when a start working instruction of the sweeping robot is received, the environmental characteristic information is obtained; according to the environment characteristic information, matching a room map corresponding to the environment characteristic information in a preset room map library, wherein the preset room map library stores the preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information; when a room map corresponding to the environmental characteristic information is matched, dividing cleaning priorities corresponding to all rooms in the room map based on the room map; and planning a cleaning path of the sweeping robot according to the cleaning priority. By adopting the method of the embodiment, each room to be cleaned by the sweeping robot can be determined by matching the room map, and the cleaning path of the sweeping robot is determined by dividing the cleaning priority corresponding to each room, so that the repeated coverage of the traveling area of the sweeping robot in the cleaning process and the recharging process can be effectively avoided, the secondary pollution of the cleaned area of the sweeping robot can be avoided, and the cleaning efficiency of the sweeping robot can be improved.
Drawings
FIG. 1 is a diagram of an exemplary path planning method;
FIG. 2 is a flow diagram illustrating a method for path planning in one embodiment;
FIG. 3 is a flow diagram illustrating a method for path planning in an exemplary embodiment;
FIG. 4 is a schematic diagram of a room map in one embodiment;
FIG. 5 is a block diagram of a path planning apparatus according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of an electronic device in one 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 one embodiment, the application environment of the path planning method provided by the present application may relate to the sweeping robot 102 and the external control device 104 at the same time, as shown in fig. 1. Wherein, the sweeping robot 102 and the external control device 104 can communicate through a network. Specifically, the user sends a work start instruction to the cleaning robot 102 through the external control device 104, and the cleaning robot 102 acquires the environmental characteristic information and transmits the environmental characteristic information to the external control device 104 when receiving the work start instruction. The external control device 104 matches a room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information, the preset room map library stores preset environmental characteristic information and a preset room map corresponding to the preset environmental characteristic information, when the room map corresponding to the environmental characteristic information is matched, based on the room map, the cleaning priority corresponding to each room in the room map is divided, the cleaning path of the cleaning robot 102 is planned according to the cleaning priority, the cleaning path is transmitted to the cleaning robot 102, the cleaning robot 102 acquires the cleaning path, and cleaning work is performed according to the acquired cleaning path.
In one embodiment, the application environment of the path planning method provided by the present application may only relate to the cleaning robot 102, and the cleaning robot 102 is provided with a start button, and a user may click the start button to generate a start work instruction, so that the cleaning robot 102 starts to work. The sweeping robot 102 is provided with a controller therein, and the controller can control the sweeping robot 102. Specifically, when receiving a start work instruction of the sweeping robot 102, the controller acquires environment feature information, matches a room map corresponding to the environment feature information in a preset room map library according to the environment feature information, the preset room map library stores the preset environment feature information and a preset room map corresponding to the preset environment feature information, when the room map corresponding to the environment feature information is matched, divides a cleaning priority corresponding to each room in the room map based on the room map, plans a cleaning path of the sweeping robot 102 according to the cleaning priority, and controls the sweeping robot 102 to perform cleaning work according to the planned cleaning path.
The cleaning robot 102 may be a single suction type, a middle brush type, or a lifting V-brush type cleaning robot, a controller inside the cleaning robot 102 may be an electronic device, the electronic device includes, but is not limited to, various control chips, a control circuit board, and the like, the external control device 104 may be a terminal or a server for remote control, the terminal may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and the like, and the server may be implemented by an independent server or a server cluster formed by a plurality of servers.
In one embodiment, as shown in fig. 2, a path planning method is provided, which is described by taking an example of the method applied to a controller inside the sweeping robot 102 in fig. 1, and includes:
and step S202, acquiring environmental characteristic information when a work starting instruction of the sweeping robot is received.
In one embodiment, the sweeping robot is a wireless machine that can automatically complete the sweeping operation in the room after the start of the operation. The user can send a starting work instruction to the sweeping robot through the external control equipment, or directly click a starting button arranged on the sweeping robot to send the starting work instruction, so that the sweeping robot starts to work. The controller acquires environmental characteristic information when receiving a starting work instruction of the sweeping robot. Specifically, the environment characteristic information comprises distance characteristic information and direction characteristic information between the sweeping robot and the obstacle, and position characteristic information of the sweeping robot determined according to the distance characteristic information and the direction characteristic information. The obstacles can be various articles placed in the room, and can also be walls of the room and the like.
In one embodiment, the sweeping robot is provided with a sensing device, and the sensing device can detect characteristic information between the sweeping robot and an obstacle and transmit the detected characteristic information to the controller. Sensing devices include, but are not limited to, laser radar, gyroscopes, wheel speed gauges, etc. The laser radar can irradiate the obstacle through laser to realize accurate distance measurement so as to measure and obtain distance characteristic information between the sweeping robot and the obstacle. The gyroscope can measure the angular velocity for judging the direction so as to detect and obtain the direction characteristic information between the sweeping robot and the obstacle. The wheel speed meter can record the traveling mileage of the sweeping robot during sweeping so as to determine the position change of the wheel speed meter. Specifically, when a starting work instruction of the sweeping robot is received by the controller, the controller controls the induction device for starting the sweeping robot to work, the induction device obtains distance characteristic information and direction characteristic information between the sweeping robot and an obstacle, the position characteristic information of the sweeping robot is determined according to the distance characteristic information and the direction characteristic information, and the environment characteristic information comprises the distance characteristic information, the direction characteristic information and the position characteristic information.
And step S204, according to the environment characteristic information, matching a room map corresponding to the environment characteristic information in a preset room map library, wherein the preset room map library stores the preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information.
In one embodiment, a storage space is arranged inside the controller, a preset room map library is stored in the storage space, and preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information are stored in the preset room map library. The preset room map can be a plane map or a three-dimensional map. Specifically, the preset room map includes information on the number of entrances and exits of each room, information on articles in the room, information on distances between rooms, and the like. The number of the entrances and exits of the room refers to the number of doors of the room. For example, a main lying study is arranged in the main lying study, the number of the entrances and exits of the main lying study is 2, namely, the entrances and exits of the main lying study enter the doors of the main lying study, and the number of the entrances and exits of the main lying study is 1, namely, the doors of the main lying study. The articles in the room comprise various articles placed in the room, such as tables, chairs, wardrobes and the like, and the articles further comprise a charging pile of the sweeping robot. The distance between the rooms refers to a movable distance between two rooms of the sweeping robot, namely, the shortest distance between the sweeping robot and all obstacles is that the sweeping robot travels from the entrance and the exit of one room to the entrance and the exit of the other room and bypasses all the obstacles.
In one embodiment, after the controller acquires the environmental characteristic information, a preset room map corresponding to the environmental characteristic information is matched in a preset room map library according to the environmental characteristic information, and when the preset room map is matched, the preset room map is determined as the room map. The environment characteristic information comprises distance characteristic information and direction characteristic information between the sweeping robot and the obstacle, and position characteristic information of the sweeping robot. And when the information contained in the preset room map is matched with the distance characteristic information, the direction characteristic information and the position characteristic information, determining that the preset room map is matched. For example, the environmental characteristic information indicates that an obstacle with a length of 0.5m exists at a position 1 meter (m) directly in front of the sweeping robot, and if a certain preset room map contains the same information, it is determined that the preset room map can be matched.
In one embodiment, when the information included in the preset room map is not matched with at least one of the distance feature information, the direction feature information and the position feature information, it is determined that the preset room map is not matched. And when the preset room map is not matched, planning a cleaning path of the sweeping robot according to factory settings of the sweeping robot. The factory setting of the sweeping robot comprises preset sweeping modes, and the preset sweeping modes are possibly different due to different manufacturers of the sweeping robots. The preset sweeping mode can be that the sweeping robot rotates for a preset angle in a clockwise direction or an anticlockwise direction when encountering an obstacle.
Specifically, when the preset room map is not matched, the controller plans the cleaning path of the sweeping robot according to the position characteristic information of the sweeping robot and the preset cleaning mode of the sweeping robot. Taking the example that the floor sweeping robot rotates by the preset angle in the clockwise direction, determining a room where the floor sweeping robot is located according to the position characteristic information of the floor sweeping robot, taking the room as a target cleaning room, after the target cleaning room is cleaned, based on the preset cleaning mode of the floor sweeping robot, enabling the floor sweeping robot to enter a next room located in the clockwise direction of the target cleaning room, taking the room as a new target cleaning room, and so on until the floor sweeping robot returns to the first determined target cleaning room, and determining that cleaning of all rooms is completed. After all rooms are cleaned, a room map is created, and the newly created room map and the acquired environmental characteristic information are correspondingly stored in a preset room map library so as to be called next time.
In step S206, when the room map corresponding to the environmental characteristic information is matched, the cleaning priority corresponding to each room in the room map is divided based on the room map.
In one embodiment, when the room map corresponding to the environmental characteristic information is matched, the controller divides the cleaning priority corresponding to each room in the room map based on the room map. The cleaning robot is controlled to clean the room with higher cleaning priority, and the cleaning robot is controlled to clean the room with lower cleaning priority. Specifically, the cleaning priority of the room may be determined according to the number of entrances and exits of the room.
In one embodiment, the room map includes the number of entrances and exits of each room. Specifically, the number of entrances and exits of each room in the room map is determined based on the room map, and the cleaning priority corresponding to each room is divided according to the number of entrances and exits of each room. The cleaning priority of the rooms with the number of the entrances and the exits larger than a preset value is lower than the cleaning priority of the rooms with the number of the entrances and the exits smaller than or equal to the preset value. Specifically, the preset value may be set to 1. The rooms with the number of the entrances and the exits larger than a preset value are called multi-communication rooms, and the rooms with the number of the entrances and the exits smaller than or equal to the preset value are called non-multi-communication rooms.
In one embodiment, the larger the number of entrances and exits, the lower the cleaning priority of the corresponding room. If the multi-communication room and the non-multi-communication room exist, the cleaning priority of the multi-communication room is lower than that of the non-multi-communication room. If more than two multi-communication rooms exist, the larger the number of the entrances and exits is, the lower the corresponding cleaning priority is. For example, there are 2 multi-communication rooms, where the number of entrances and exits of one multi-communication room is 2, and the number of entrances and exits of the other multi-communication room is 3, then the cleaning priority of the multi-communication room with the number of entrances and exits being 3 is lower than the cleaning priority of the multi-communication room with the number of entrances and exits being 3.
In one embodiment, when the number of the entrances and exits of more than two rooms is the same, the cleaning priorities of the more than two rooms with the same number of the entrances and exits are determined according to the distance between each room and the charging pile of the sweeping robot. Specifically, when the number of entrances and exits where two or more rooms exist is the same, the larger the distance between the room and the charging pile of the sweeping robot is, the higher the cleaning priority of the room is. For example, there are 2 non-multi-connected rooms, and the number of the entrances and exits of the non-multi-connected rooms is 1, where the distance between one non-multi-connected room and the charging pile of the sweeping robot is 3m, and the distance between the other non-multi-connected room and the charging pile of the sweeping robot is 5m, the cleaning priority of the non-multi-connected room with the distance of 5m is higher than the cleaning priority of the non-multi-connected room with the distance of 3 m. For another example, there are 2 multi-communication rooms, and the number of the entrances and exits of the multi-communication rooms is 2, where the distance between one multi-communication room and the charging pile of the sweeping robot is 3m, and the distance between the other multi-communication room and the charging pile of the sweeping robot is 5m, the cleaning priority of the multi-communication room with the distance of 5m is greater than the cleaning priority of the multi-communication room with the distance of 3 m.
In one embodiment, the distance between the room and the charging pile of the sweeping robot is the distance between the entrance and the exit of the room and the entrance and the exit of the room where the charging pile of the sweeping robot is located. If a plurality of entrances and exits exist in a certain room, namely a multi-communication room, the distance between each entrance and exit of the room and the entrance and exit of the room where the sweeping robot is located is determined, and the shortest distance among the distances is determined as the distance between the room and a charging pile of the sweeping robot. For example, 3 entrances and exits exist in a multi-connected room, the distances between the entrances and the exits of the room where the sweeping robot is located are 2m, 3m and 5m respectively, and then the distance between the multi-connected room and the entrance and the exit of the room where the sweeping robot is located is determined to be 2m.
In one embodiment, after cleaning is completed, the sweeping robot needs to return to the position of the charging pile for charging, and the distance between the room where the charging pile of the sweeping robot is located and the charging pile of the sweeping robot is certainly the closest distance in all the rooms, so that the cleaning priority of the room where the charging pile of the sweeping robot is located is determined as the lowest cleaning priority, and secondary pollution is avoided in the recharging process of the sweeping robot.
And S208, planning a cleaning path of the cleaning robot according to the cleaning priority.
In one embodiment, the cleaning priorities of the rooms are sorted from high to low, and the cleaning path of the cleaning robot is planned. The controller controls the sweeping robot to respectively carry out sweeping work on each room according to the planned sweeping path. Wherein, all clean after accomplishing in all rooms, the controller control robot of sweeping the floor returns the position of filling electric pile and charges to clean work next time.
According to the path planning method, when a starting work instruction of the sweeping robot is received, environment characteristic information is obtained; according to the environment characteristic information, matching a room map corresponding to the environment characteristic information in a preset room map library, wherein the preset room map library stores the preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information; when a room map corresponding to the environmental characteristic information is matched, dividing cleaning priorities corresponding to all rooms in the room map based on the room map; and planning a cleaning path of the sweeping robot according to the cleaning priority. By adopting the method of the embodiment, the rooms to be cleaned of the sweeping robot can be determined by matching the room map, and the cleaning path of the sweeping robot is determined by dividing the cleaning priority corresponding to each room, so that the repeated coverage of the traveling area of the sweeping robot in the cleaning process and the recharging process can be effectively avoided, the secondary pollution of the cleaned area of the sweeping robot is avoided, and the cleaning efficiency of the sweeping robot is improved.
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and one of the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
In a specific embodiment, a controller is disposed inside the sweeping robot, and a start button is disposed on the sweeping robot, as shown in fig. 3, which is a schematic flow chart of the path planning method, the specific steps are as follows:
step 1, a user clicks a start button of a sweeping robot to generate a start working instruction, and a controller acquires environment characteristic information when receiving the start working instruction, wherein the environment characteristic information comprises distance characteristic information and direction characteristic information between the sweeping robot and an obstacle, and position characteristic information of the sweeping robot is determined according to the distance characteristic information and the direction characteristic information;
step 2, matching a preset room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information; when the preset room map is matched, determining the preset room map as the room map, and continuing to execute the step 3; when the preset room map is not matched, continuing to execute the step 4;
step 3, as shown in fig. 4, a schematic diagram of a room map is shown, the room map includes 6 rooms, which are: the method comprises the following steps of determining a room A1, a room A2, a room A3, a room A4, a room B and a room C, wherein the number of entrances and exits of the room A1 is 1, the number of entrances and exits of the room A2 is 1, the number of entrances and exits of the room A3 is 1, the number of entrances and exits of the room A4 is 1, the number of entrances and exits of the room B is 5, and the number of entrances and exits of the room C is 1;
according to the number of the entrances and exits of each room, determining that the room A1, the room A2, the room A3, the room A4 and the room C are non-multi-connected rooms, determining that the room B is a multi-connected room, and determining that the room C is a room where a charging pile of the sweeping robot is located; to the no ally oneself with room more, confirm with the distance between the room C of the electric pile place of sweeping the floor robot: room A1> room A2> room A3> room A4> room C;
the cleaning priority corresponding to each room is divided into: the cleaning path of the cleaning robot is determined as follows, wherein the path is defined by room A1> room A2> room A3> room A4> room B > room C: the controller controls the sweeping robot to return to the position of the charging pile for charging after the cleaning of the room C is finished;
step 4, according to factory settings of the sweeping robot, determining that the preset sweeping mode of the sweeping robot is that the sweeping robot rotates by a preset angle in a clockwise direction when encountering an obstacle; according to the position characteristic information of the sweeping robot, a room C where the sweeping robot is located serves as a target sweeping room, after the room C is swept, based on a preset sweeping mode of the sweeping robot, the sweeping robot can enter a room B located in the clockwise direction of the room C, the room B serves as a new target sweeping room, and by analogy, the room A3, the room A1, the room A2 and the room A4 are sequentially swept until the room C is returned, and then the sweeping path of the sweeping robot is determined to be: the room C → the room B → the room A3 → the room A1 → the room A2 → the room A4, after cleaning of all the rooms is completed, a room map is created, and the newly created room map and the acquired environmental characteristic information are correspondingly stored in a preset room map library.
It should be understood that, although the steps in the above-described 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 limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the above-mentioned flowcharts may include a plurality of steps or a plurality of 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 the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.
In one embodiment, as shown in fig. 5, there is provided a path planning apparatus, including: a characteristic information obtaining module 510, a room map matching module 520, a cleaning prioritization module 530, and a cleaning path determination module 540, wherein:
the characteristic information obtaining module 510 is configured to obtain environmental characteristic information when a start work instruction of the sweeping robot is received.
A room map matching module 520, configured to match, according to the environment feature information, a room map corresponding to the environment feature information in a preset room map library, where the preset room map library stores preset environment feature information and a preset room map corresponding to the preset environment feature information.
A cleaning priority dividing module 530, configured to, when a room map corresponding to the environment feature information is matched, divide a cleaning priority corresponding to each room in the room map based on the room map.
And a cleaning path determining module 540, configured to plan a cleaning path of the sweeping robot according to the cleaning priority.
In one embodiment, the feature information obtaining module 510 includes the following units:
the first characteristic information acquisition unit is used for acquiring distance characteristic information and direction characteristic information between the sweeping robot and an obstacle, and the environment characteristic information comprises the distance characteristic information and the direction characteristic information.
The second characteristic information determining unit is used for determining the position characteristic information of the sweeping robot according to the distance characteristic information and the direction characteristic information, and the environment characteristic information comprises the position characteristic information.
In one embodiment, the room map matching module 520 includes the following elements:
and the preset room map matching unit is used for matching a preset room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information.
And the room map determining unit is used for determining the preset room map as the room map when the preset room map is matched.
In one embodiment, the path planning apparatus further includes the following units:
and the cleaning path planning unit is used for planning the cleaning path of the sweeping robot according to factory settings of the sweeping robot when the preset room map is not matched.
In one embodiment, the cleaning prioritization module 530 includes the following elements:
and an entrance number determination unit configured to determine the number of entrances and exits for each room in the room map based on the room map.
And the cleaning priority dividing unit is used for dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room.
For the specific definition of the path planning apparatus, reference may be made to the definition of the path planning method in the foregoing, and details are not described here. The modules in the path planning apparatus may be wholly or partially implemented by software, hardware, or a combination thereof. The modules may be embedded in a hardware form or may be independent of a processor in the electronic device, or may be stored in a memory in the electronic device in a software form, so that the processor calls and executes operations corresponding to the modules.
In one embodiment, an electronic device is provided, the internal structure of which may be as shown in fig. 6. The electronic device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic equipment is used for communicating with external control equipment in a wired or wireless mode, the communication interface can be used for acquiring a starting work instruction of the sweeping robot, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a path planning method.
In one embodiment, the electronic device further includes a display screen and an input device, the display screen of the electronic device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device may be a touch layer covered on the display screen, a key, a trackball or a touch pad arranged on a housing of the electronic device, or an external keyboard, a touch pad or a mouse, etc.
Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the electronic device to which the present application is applied, and a particular electronic device may include more or less components than those shown in the drawings, or may combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the path planning method when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the path planning method described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may 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-mentioned embodiments 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 (12)
1. A method of path planning, the method comprising:
when a starting work instruction of the sweeping robot is received, acquiring environment characteristic information, wherein the environment characteristic information comprises distance characteristic information and direction characteristic information between the sweeping robot and an obstacle, and position characteristic information of the sweeping robot determined according to the distance characteristic information and the direction characteristic information;
according to the environment characteristic information, matching a room map corresponding to the environment characteristic information in a preset room map library, wherein the preset room map library stores preset environment characteristic information and a preset room map corresponding to the preset environment characteristic information;
when a room map corresponding to the environmental characteristic information is matched, dividing cleaning priorities corresponding to all rooms in the room map based on the room map;
planning a cleaning path of the sweeping robot according to the cleaning priority;
the dividing of the cleaning priority corresponding to each room in the room map based on the room map includes:
determining the number of entrances and exits of each room in the room map based on the room map; the number of the entrances and exits of the room refers to the number of doors of the room;
and dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room.
2. The path planning method according to claim 1, wherein the obtaining environmental characteristic information includes:
obtaining distance characteristic information and direction characteristic information between the sweeping robot and an obstacle, wherein the environment characteristic information comprises the distance characteristic information and the direction characteristic information;
and determining the position characteristic information of the sweeping robot according to the distance characteristic information and the direction characteristic information, wherein the environment characteristic information comprises the position characteristic information.
3. The path planning method according to claim 2, wherein the matching of the room map corresponding to the environmental feature information in a preset room map library according to the environmental feature information comprises:
matching a preset room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information;
and when the preset room map is matched, determining the preset room map as the room map.
4. The path planning method according to claim 3, wherein the matching of the room map corresponding to the environmental feature information in a preset room map library according to the environmental feature information further comprises:
and when the preset room map is not matched, planning a cleaning path of the sweeping robot according to factory settings of the sweeping robot.
5. The path planning method according to claim 1, wherein the dividing of the cleaning priority corresponding to each room according to the number of entrances and exits of each room comprises:
and the cleaning priority of the rooms with the number of the entrances and the exits larger than a preset value is lower than the cleaning priority of the rooms with the number of the entrances and the exits smaller than or equal to the preset value.
6. The path planning method according to claim 5, wherein the dividing of the cleaning priority corresponding to each of the rooms according to the number of entrances and exits of each of the rooms further comprises:
the larger the number of the entrances and exits is, the lower the cleaning priority of the corresponding room is.
7. The path planning method according to claim 5, wherein the dividing of the cleaning priority corresponding to each room according to the number of entrances and exits of each room further comprises:
when the number of the entrances and exits of more than two rooms is the same, the cleaning priorities of the more than two rooms with the same number of the entrances and exits are determined according to the distance between each room and the charging pile of the sweeping robot.
8. The path planning method according to claim 7, wherein when the number of entrances and exits where two or more rooms exist is the same, determining the cleaning priorities of the two or more rooms with the same number of entrances and exits according to the distance between each room and the charging pile of the sweeping robot comprises:
when the number of the entrances and exits where more than two rooms exist is the same, the larger the distance between the room and the charging pile of the sweeping robot is, the higher the cleaning priority of the room is.
9. The path planning method according to claim 8, wherein the distance between the room and the charging pile of the sweeping robot is the distance between the entrance and the exit of the room where the charging pile of the sweeping robot is located.
10. A path planner, the device comprising:
the system comprises a characteristic information acquisition module, a characteristic information acquisition module and a control module, wherein the characteristic information acquisition module is used for acquiring environmental characteristic information when receiving a working starting instruction of the sweeping robot, and the environmental characteristic information comprises distance characteristic information and direction characteristic information between the sweeping robot and an obstacle and position characteristic information of the sweeping robot determined according to the distance characteristic information and the direction characteristic information;
the room map matching module is used for matching a room map corresponding to the environmental characteristic information in a preset room map library according to the environmental characteristic information, and the preset room map library stores preset environmental characteristic information and a preset room map corresponding to the preset environmental characteristic information;
the cleaning priority dividing module is used for dividing the cleaning priority corresponding to each room in the room map based on the room map when the room map corresponding to the environment characteristic information is matched;
the cleaning path determining module is used for planning the cleaning path of the sweeping robot according to the cleaning priority;
the cleaning priority dividing module is used for determining the number of entrances and exits of each room in the room map based on the room map; the number of the entrances and exits of the room refers to the number of doors of the room; and dividing the cleaning priority corresponding to each room according to the number of the entrances and exits of each room.
11. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the path planning method according to any of claims 1 to 9.
12. 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 path planning method according to any one of claims 1 to 9.
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| CN108209750A (en) * | 2017-12-29 | 2018-06-29 | 美的集团电子商务有限公司 | Cleaning method, sweeper and the computer readable storage medium of sweeper |
| CN108436921A (en) * | 2018-06-14 | 2018-08-24 | 于小龙 | A kind of sweeping robot intelligent control method |
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| CN107677285B (en) * | 2017-04-11 | 2019-05-28 | 平安科技（深圳）有限公司 | The path planning system and method for robot |
| WO2020140860A1 (en) * | 2019-01-03 | 2020-07-09 | 科沃斯机器人股份有限公司 | Dynamic region division and region channel identification method, and cleaning robot |
| CN111562777B (en) * | 2019-01-29 | 2024-04-19 | 北京奇虎科技有限公司 | Sweeping path planning method and device of sweeping robot |
| CN109984684B (en) * | 2019-04-11 | 2021-04-27 | 云鲸智能科技（东莞）有限公司 | Cleaning control method, cleaning control device, cleaning robot and storage medium |
| CN111839371B (en) * | 2020-08-21 | 2021-10-01 | 成都全景智能科技有限公司 | Ground sweeping method and device, sweeper and computer storage medium |
| CN113303703A (en) * | 2021-04-28 | 2021-08-27 | 深圳乐动机器人有限公司 | Control method of cleaning robot, cleaning robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108209750A (en) * | 2017-12-29 | 2018-06-29 | 美的集团电子商务有限公司 | Cleaning method, sweeper and the computer readable storage medium of sweeper |
| CN108436921A (en) * | 2018-06-14 | 2018-08-24 | 于小龙 | A kind of sweeping robot intelligent control method |
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