CN113907648B

CN113907648B - Method and device for determining cleaning path, sweeping robot and storage medium

Info

Publication number: CN113907648B
Application number: CN202111213440.1A
Authority: CN
Inventors: 谢翘楚; 伊布拉幸
Original assignee: Weisi Robot Shenzhen Co ltd
Current assignee: Weisi Robot Shenzhen Co ltd
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2022-09-06
Anticipated expiration: 2041-10-19
Also published as: CN113907648A

Abstract

The embodiment of the invention discloses a method and a device for determining a cleaning path, a sweeping robot and a storage medium, wherein the method comprises the following steps: determining a cleaning area; determining the position information of a rolling brush and two rollers on the sweeping robot; determining the distance between the roller brush and the roller and the distance between the two rollers based on the position information; if the distance is larger than half of the distance, a bow-shaped cleaning path is adopted to clean the cleaning area; and if the distance is not more than half of the distance, cleaning the cleaning area by adopting a U-shaped cleaning path. The scheme classifies the sweeping robots of various differences according to the position information of the rolling brushes on the sweeping robots and the two rollers, and then selects different sweeping paths based on different classifications, so that the maximization of the working efficiency of the sweeping robots of various differences is realized, and the sweeping work of sweeping areas is finished as much as possible.

Description

Method and device for determining cleaning path, sweeping robot and storage medium

Technical Field

The invention relates to the technical field of sweeping robot control, in particular to a method and a device for determining a sweeping path, a sweeping robot and a storage medium.

Background

At present, with the increasing living standard of people, the floor sweeping robot is widely applied to the home environment, the floor sweeping robot can sweep the ground in a room, the clean work load of a user is reduced, and the living experience of the user is improved.

The floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. The sweeping robot generally adopts a brush sweeping and vacuum mode, and sundries on the ground are firstly absorbed into the garbage storage box, so that the function of cleaning the ground is achieved. The sweeping robots all rely on the set designated route to carry out sweeping, but as the types of the sweeping robots are increased day by day, the fixed designated route is adopted to carry out sweeping, so that the sweeping robots are not effectively suitable for various sweeping robots of different types to realize the maximum sweeping efficiency.

Thus, there is a need for a better solution to the problems of the prior art.

Disclosure of Invention

In view of this, the invention provides a method and a device for determining a cleaning path, a sweeping robot and a storage medium, which are used for overcoming the defects in the prior art, selecting different cleaning paths for different sweeping robots, maximizing the working efficiency of various sweeping robots, and facilitating the completion of the cleaning work of a cleaning area as much as possible.

Specifically, the present invention proposes the following specific examples:

the embodiment of the invention provides a method for determining a cleaning path, which comprises the following steps:

determining a cleaning area;

determining position information of a rolling brush and two rollers on the sweeping robot;

determining the distance between the rolling brush and the roller and the distance between the two rollers based on the position information;

if the distance is larger than half of the distance, adopting a bow-shaped cleaning path to clean the cleaning area;

and if the distance is not more than half of the distance, cleaning the cleaning area by adopting a U-shaped cleaning path.

In a specific embodiment, the rolling brush is in a long strip shape, and a connecting line between the two rollers is parallel to the length of the rolling brush.

In a specific embodiment, the zigzag-shaped sweeping path is composed of a long-side path and a short-side path which are perpendicular to each other; the method further comprises the following steps:

if the arched cleaning path is adopted for cleaning, when the floor cleaning robot is switched from the long-edge path to the short-edge path, the floor cleaning robot performs an operation of retreating for a first preset distance on the short-edge path;

and if the arched cleaning path is adopted for cleaning, when the cleaning robot is ready to switch from the short-edge path to the long-edge path, the operation of advancing by a second preset distance is executed on the short-edge path.

In a specific embodiment, the method further comprises:

mapping the cleaning area to a grid map;

storing the grid map in the sweeping robot that performs sweeping;

determining a cleaning-completed area, and recording the cleaning-completed area in the grid map.

In a specific embodiment, the method further comprises:

if the sweeping carried out by adopting the arched sweeping path or the U-shaped sweeping path is finished, determining whether an uncleaned area still exists in the grid map;

and if the non-cleaned area exists, controlling the sweeping robot to carry out supplementary sweeping on the non-cleaned area.

In a specific embodiment, the method further comprises:

and if the full-coverage cleaning of the cleaning area is finished, setting the state of the cleaning area as a cleaned state.

In a specific embodiment, the cleaning area is selected based on a user clicking a display interface; and all areas to be cleaned in the designated area and the sweeping robot in a working state are displayed on the display interface.

The embodiment of the invention also provides a device for determining the cleaning path, which comprises:

the first determination module is used for determining a cleaning area;

the second determining module is used for determining the position information of the rolling brush and the two rollers on the sweeping robot;

the third determining module is used for determining the distance between the rolling brush and the roller and the distance between the two rollers based on the position information;

the first cleaning module is used for cleaning the cleaning area by adopting a bow-shaped cleaning path if the distance is greater than half of the distance;

and the second cleaning module is used for cleaning the cleaning area by adopting a U-shaped cleaning path if the distance is not more than half of the distance.

The embodiment of the invention provides a sweeping robot, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to enable the processor to execute the method for determining the sweeping path.

An embodiment of the present invention provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for determining a cleaning path is implemented.

Therefore, the embodiment of the invention provides a method and a device for determining a cleaning path, a sweeping robot and a storage medium, wherein the method comprises the following steps: determining a cleaning area; determining position information of a rolling brush and two rollers on the sweeping robot; determining the distance between the rolling brush and the roller and the distance between the two rollers based on the position information; if the distance is larger than half of the distance, adopting a bow-shaped cleaning path to clean the cleaning area; and if the distance is not more than half of the distance, cleaning the cleaning area by adopting a U-shaped cleaning path. In this scheme, according to the position information of the round brush and two gyro wheels on the robot of sweeping the floor, confirm the round brush arrives distance between the gyro wheel and the interval between two gyro wheels are based on the relation between distance and the interval and are categorised to the robot of sweeping the floor of various differences, and then select different routes of sweeping based on the classification of difference, have realized the work efficiency maximize of various different robots of sweeping the floor, do benefit to accomplish the work of sweeping in the region of sweeping as far as possible.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.

Fig. 1 is a schematic flow chart illustrating a method for determining a cleaning path according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram illustrating a sweeping robot involved in the method for determining a cleaning path according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of another sweeping robot involved in the method for determining a cleaning path according to the embodiment of the present invention;

FIG. 4 is a schematic diagram of a bow-shaped cleaning path involved in a method of determining a cleaning path according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a U-shaped cleaning path involved in the method for determining a cleaning path according to the embodiment of the present invention;

fig. 6 is a schematic structural diagram of an apparatus for determining a cleaning path according to an embodiment of the present invention.

Illustration of the drawings:

100-a sweeping robot; 110-rolling brushes; 120-a roller;

201-a first determination module; 202-a second determination module; 203-a third determination module;

204-a first cleaning module; 205-second purge module.

Detailed Description

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.

The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.

Example 1

Embodiment 1 of the present invention discloses a method for determining a cleaning path, as shown in fig. 1, including the following steps:

step S101, determining a cleaning area;

specifically, when a certain area, for example, a living room needs to be cleaned, the user may generate a cleaning instruction, and the specific content of the cleaning instruction may include selecting a certain brand of cleaning robot 100 to perform cleaning of the entire floor area of the living room. In this case, the cleaning area corresponds to the entire floor area of the living room, and the cleaning robot 100 that performs cleaning is a cleaning robot 100 of a certain brand.

The specific cleaning area may be generated by a user, and the cleaning robot 100 may be selected by default if there is only one cleaning area, or may be selected by a user if there are a plurality of cleaning areas, or one of the cleaning areas may be randomly selected as the cleaning robot 100 for performing cleaning.

Step S102, determining the position information of the rolling brush 110 and the two rollers 120 on the sweeping robot 100;

specifically, as shown in fig. 2 and 3, after the sweeping robot 100 performing the sweeping is determined, the position information of the rolling brush 110 and the two rollers 120 on the sweeping robot 100, that is, the information of the position of the rolling brush 110, and the position information of each of the two rollers 120 need to be determined.

The specific determination method may be obtained based on a sensor on the sweeping robot 100, such as a distance measuring sensor, or may be obtained by artificial measurement.

Step S103, determining the distance between the rolling brush 110 and the roller 120 and the distance between the two rollers 120 based on the position information;

based on the obtained position information, a distance between the rolling brush 110 and the roller 120 (for example, the distance is denoted as D in fig. 2 and 3) and a distance between the two rollers 120 (for example, the distance is denoted as L in fig. 2 and 3) can be determined.

Step S104, if the distance is larger than half of the distance, a bow-shaped cleaning path is adopted to clean the cleaning area;

specifically, if the distance is greater than half of the distance (i.e., D > L/2), for example, corresponding to the sweeping robot 100 in fig. 2, in this case, a zigzag-shaped cleaning path is adopted for cleaning, and a specific zigzag-shaped cleaning path is shown in fig. 4.

And S105, if the distance is not more than half of the distance, cleaning the cleaning area by adopting a U-shaped cleaning path.

Specifically, if the distance is not greater than half of the distance (i.e., D ≦ L/2), for example, corresponding to the sweeping robot 100 in fig. 3, in this case, a U-shaped sweeping path is adopted for sweeping, and the specific U-shaped sweeping path is shown in fig. 5.

Through this scheme, based on the distance between round brush 110 to gyro wheel 120 to and the interval between two gyro wheels 120 to sweep floor robot 100 and classify, specifically divide into two kinds, select different routes of sweeping to the classification of difference, according to actual experiment, can realize that various differences sweep floor robot 100's work efficiency maximize, do benefit to accomplish the work of sweeping in the region as far as possible.

Further, as shown in fig. 2 and 3, the rolling brush 110 is in a long strip shape, and a connection line between the two rollers 120 is parallel to the length of the rolling brush 110.

In one specific embodiment, as shown in fig. 4, the arcuate cleaning path is composed of a long side path and a short side path that are perpendicular to each other; the method further comprises the following steps:

if a bow-shaped cleaning path is adopted for cleaning, when the cleaning robot 100 is switched from the long-side path to the short-side path, the operation of retreating by a first preset distance is executed on the short-side path, so as to improve the cleaning coverage rate;

if the zigzag cleaning path is adopted for cleaning, when the cleaning robot 100 is ready to switch from the short-side path to the long-side path, the cleaning robot performs an operation of moving forward by a second preset distance on the short-side path, so as to improve the cleaning coverage.

Specifically, in order to further improve the coverage rate of cleaning, when selecting the bow-shaped cleaning path for use, because the bow-shaped cleaning path comprises the long edge path and the short edge path which are perpendicular to each other, when turning, there is partial area without coverage, and the mode of retreating and advancing the preset distance is adopted in the scheme, so that the coverage of all the areas is realized.

In a specific embodiment, the method further comprises the following steps:

mapping the cleaning area to a grid map;

storing the grid map in the sweeping robot 100 performing sweeping;

Specifically, the cleaning area corresponds to a grid map and is stored in the cleaning robot 100, and when cleaning of a certain block of area is completed subsequently, the block of area in the grid map is marked to avoid repeated cleaning and improve cleaning efficiency.

Further, the method further comprises:

and if the non-cleaned area exists, controlling the sweeping robot 100 to perform supplementary sweeping on the non-cleaned area so as to realize full-coverage sweeping of the cleaned area.

Specifically, when the cleaning is completed based on the zigzag-shaped cleaning path or the U-shaped cleaning path, there is a high possibility that an uncleaned region is present, and in this case, the supplementary cleaning operation is also performed, and the specific supplementary cleaning operation is not limited to a specific path and manner as long as the cleaning region can be cleaned in a covering manner.

Further, in a particular embodiment, the method further comprises:

Specifically, still taking the above as an example for explanation, if the living room is cleaned, the area corresponding to the living room is set to be in the cleaned state, so as to avoid subsequent repeated cleaning.

In addition, for the convenience of user operation, the cleaning area is selected based on the user clicking a display interface; all the areas to be cleaned in the designated area and the sweeping robot 100 in a working state are displayed on the display interface.

Example 2

For further explanation of the present invention, embodiment 2 of the present invention also discloses an apparatus for determining a cleaning path, as shown in fig. 6, including:

a first determination module 201 for determining a cleaning area;

a second determining module 202, configured to determine position information of the rolling brush 110 and the two rollers 120 on the sweeping robot 100;

a third determining module 203, configured to determine a distance between the rolling brush 110 and the roller 120 and a distance between the two rollers 120 based on the position information;

a first cleaning module 204, configured to clean the cleaning area by using a zigzag cleaning path if the distance is greater than half of the distance;

and a second cleaning module 205, configured to perform cleaning in the cleaning area using a U-shaped cleaning path if the distance is not greater than half of the distance.

In a specific embodiment, the rolling brush 110 has a long bar shape, and a connection line between the two rollers 120 is parallel to the length of the rolling brush 110.

In a specific embodiment, the zigzag-shaped sweeping path is composed of a long-side path and a short-side path which are perpendicular to each other; the device also includes:

the processing module is configured to, if a zigzag cleaning path is adopted for cleaning, execute an operation of retreating by a preset distance on the short-side path when the cleaning robot 100 completes switching from the long-side path to the short-side path, so as to improve a cleaning coverage rate;

if a zigzag cleaning path is adopted for cleaning, when the cleaning robot 100 is ready to switch from the short-side path to the long-side path, the cleaning robot performs an operation of advancing by a preset distance on the short-side path, so as to improve the cleaning coverage.

In a specific embodiment, the method further comprises the following steps: a storage module to: mapping the cleaning area to a grid map;

storing the grid map in the sweeping robot 100 performing sweeping;

In a specific embodiment, the apparatus further comprises: a supplementary sweeping module used for: if the sweeping carried out by adopting the arched sweeping path or the U-shaped sweeping path is finished, determining whether an uncleaned area still exists in the grid map;

In a specific embodiment, the apparatus further comprises: a marking module to: and if the full-coverage cleaning of the cleaning area is finished, setting the state of the cleaning area as a cleaned state.

In a specific embodiment, the cleaning area is selected based on a user clicking a display interface; all the areas to be cleaned in the designated area and the sweeping robot 100 in a working state are displayed on the display interface.

Example 3

Embodiment 3 of the present invention further discloses a sweeping robot 100, which includes a memory and a processor, where the memory stores a computer program, and the processor runs the computer program to enable the processor to execute the method for determining a sweeping path in embodiment 1.

Specifically, the sweeping robot 100 is shown in fig. 2 or 3.

Example 4

The embodiment 4 of the present invention further discloses a storage medium, wherein a computer program is stored on the storage medium, and when being executed by a processor, the computer program implements the method for determining a cleaning path in the embodiment 1.

Therefore, the embodiment of the invention provides a method and a device for determining a cleaning path, a sweeping robot and a storage medium, wherein the method comprises the following steps: determining a cleaning area; determining the position information of the rolling brush 110 and the two rollers 120 on the sweeping robot 100; determining a distance between the roll brush 110 and the roller 120 and a distance between the two rollers 120 based on the position information; if the distance is larger than half of the distance, adopting an arched cleaning path to clean the cleaning area; and if the distance is not more than half of the distance, cleaning the cleaning area by adopting a U-shaped cleaning path. In the scheme, the distance between the rolling brushes 110 and the rollers 120 and the distance between the two rollers 120 are determined according to the position information of the rolling brushes 110 and the two rollers 120 on the sweeping robot 100, various different sweeping robots 100 are classified based on the relation between the distances, and then different sweeping paths are selected based on different classifications, so that the maximization of the working efficiency of various different sweeping robots 100 is realized, and the sweeping work of a sweeping area is favorably completed as much as possible.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules 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 or a part thereof which contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) 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 removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.

Claims

1. A method of determining a cleaning path, comprising:

determining a cleaning area;

if the distance is larger than half of the distance, a bow-shaped cleaning path is adopted to clean the cleaning area, wherein the bow-shaped cleaning path consists of a long-edge path and a short-edge path which are perpendicular to each other;

if the distance is not more than half of the distance, cleaning the cleaning area by adopting a U-shaped cleaning path;

if the arched cleaning path is adopted for cleaning, when the cleaning robot is switched from the long-edge path to the short-edge path, the operation of retreating for a first preset distance is executed on the short-edge path;

2. The method of claim 1, wherein the roller brush is elongated and the line of connection between the two rollers is parallel to the length of the roller brush.

3. The method of claim 1, further comprising:

mapping the cleaning area to a grid map;

storing the grid map in the sweeping robot that performs sweeping;

4. The method of claim 3, further comprising:

5. The method of claim 1 or 4, further comprising:

6. The method of claim 1, wherein the cleaning zone is selected based on a user clicking on a display interface; and all areas to be cleaned in the designated area and the sweeping robot in a working state are displayed on the display interface.

7. An apparatus for determining a cleaning path, comprising:

the first determination module is used for determining a cleaning area;

the first cleaning module is used for cleaning the cleaning area by adopting a bow-shaped cleaning path if the distance is larger than a half of the distance, wherein the bow-shaped cleaning path consists of a long-edge path and a short-edge path which are perpendicular to each other;

the second cleaning module is used for cleaning the cleaning area by adopting a U-shaped cleaning path if the distance is not more than half of the distance;

the processing module is used for executing an operation of retreating for a preset distance on the short-edge path when the sweeping robot is switched from the long-edge path to the short-edge path in the process of sweeping by adopting the zigzag sweeping path so as to improve the sweeping coverage rate;

if the arched cleaning path is adopted for cleaning, when the cleaning robot is ready to switch from the short-edge path to the long-edge path, the operation of advancing by a preset distance is executed on the short-edge path, so that the cleaning coverage rate is improved.

8. A sweeping robot, characterized by comprising a memory and a processor, the memory storing a computer program, the processor running the computer program to cause the processor to execute the method of determining a sweeping path according to any one of claims 1-6.

9. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out a method of determining a cleaning path according to any one of claims 1-6.