CN114003039A - Cleaning robot path planning method and device, computer equipment and storage medium - Google Patents
Cleaning robot path planning method and device, computer equipment and storage medium Download PDFInfo
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- CN114003039A CN114003039A CN202111277475.1A CN202111277475A CN114003039A CN 114003039 A CN114003039 A CN 114003039A CN 202111277475 A CN202111277475 A CN 202111277475A CN 114003039 A CN114003039 A CN 114003039A
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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
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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Abstract
The application relates to a cleaning robot path planning method, a cleaning robot path planning device, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring a global map, and positioning the position of a cleaning pile in the global map; identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas; arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas; and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area. In the whole process, the cleaning channel is arranged in the multi-communication area, the cleaning robot can drive to the cleaning area through the cleaning channel, secondary pollution is avoided when the cleaning robot drives to other cleaning areas, and the cleaning path is planned in a pertinence mode according to different cleaning area types, so that the cleaning effect can be effectively improved.
Description
Technical Field
The present disclosure relates to the field of cleaning robot technology, and in particular, to a method and an apparatus for planning a path of a cleaning robot, a computer device, and a storage medium.
Background
The existing cleaning robot product with mopping and sweeping functions has the function of a cleaning appliance.
In practical applications, after the cleaning robot cleans a part of the range, the cleaning tool returns, and based on the function of the robot, if the floor cleaning path is cleaned from inside to outside, the cleaning pile returns from outside after the inside is cleaned, so that secondary pollution is caused. If the cleaning is performed from the outside to the inside, the cleaning effect will be poor due to the contamination and the dirtiness of the instruments when the cleaning device is driven to the outside.
Disclosure of Invention
Based on this, it is necessary to provide a cleaning robot path planning method, an apparatus, a computer device, and a storage medium capable of improving a cleaning effect, in order to solve the problem that a conventional cleaning path of a cleaning robot may cause a poor cleaning effect.
A cleaning robot path planning method comprises the following steps:
acquiring a global map, and positioning the position of a cleaning pile in the global map;
identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
In one embodiment, each cleaning zone further comprises a wash post zone, a proximal wash post zone, and a distal wash post zone;
planning the cleaning robot path according to the type of the cleaning path and each cleaning area includes:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain a priority result;
and taking the cleaning channel as a channel for driving from the cleaning pile area to other cleaning areas, and planning a cleaning robot path according to the priority result and the cleaning channel.
In one embodiment, before planning the cleaning robot path according to the priority result and the cleaning path, the method further includes:
determining an access passage of each cleaning area according to the global map;
taking one side of the access passage far away from the cleaning pile as an inlet and one side of the access passage close to the cleaning pile as an outlet to obtain an access result;
planning a cleaning robot path according to the priority result and the cleaning path includes:
and planning a cleaning robot path according to the access result, the priority result and the cleaning channel.
In one embodiment, planning the cleaning robot path according to the entrance and exit result, the priority result, and the cleaning path includes:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage;
planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result;
and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result comprises the following steps:
generating an alternative return path from the outlet of the cleaning zone and the inlet of the wash stake zone;
removing paths of path cleaning channels in the optional return paths to obtain initial return paths;
acquiring path distance corresponding to each initial return path;
and selecting the path corresponding to the minimum path distance.
In one embodiment, planning the cleaning robot path according to the entrance and exit result, the priority result, and the cleaning path includes:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage;
planning a return path of the cleaning robot to the pile cleaning area in an edge mode according to the access result and the global map;
and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, determining the cleaning priority of the pile cleaning area, the multi-communication area, the adjacent pile cleaning area and the far pile cleaning area comprises:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain an initial priority result;
when the cleaning areas of the same type exist, the distance between the cleaning areas of the same type and the pile cleaning area is obtained;
and adjusting the initial priority result according to the distance to obtain a priority result.
A cleaning robot path planning apparatus, the apparatus comprising:
the acquisition module is used for acquiring a global map and positioning the position of a cleaning pile in the global map;
the type identification module is used for identifying the type of each cleaning area in the global map according to the position of the cleaning pile, and the cleaning areas comprise multi-communication areas;
the channel setting module is used for setting cleaning channels in the multi-communication areas, and the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and the planning module is used for planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a global map, and positioning the position of a cleaning pile in the global map;
identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a global map, and positioning the position of a cleaning pile in the global map;
identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
The cleaning robot path planning method, the cleaning robot path planning device, the computer equipment and the storage medium acquire a global map and position a cleaning pile in the global map; identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas; arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas; and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area. In the whole process, the cleaning channel is arranged in the multi-communication area, the cleaning robot can drive to the cleaning area through the cleaning channel, secondary pollution is avoided when the cleaning robot drives to other cleaning areas, and the cleaning path is planned in a pertinence mode according to different cleaning area types, so that the cleaning effect can be effectively improved.
Drawings
FIG. 1 is a diagram of an application environment of a cleaning robot path planning method in one embodiment;
FIG. 2 is a schematic flow chart diagram of a cleaning robot path planning method in one embodiment;
FIG. 3 is a schematic diagram of a full house map in an example application;
FIG. 4 is a schematic flow chart illustrating a cleaning robot path planning method according to another embodiment;
FIG. 5 is a schematic diagram of a full house map in another example of an application;
FIG. 6 is a block diagram of a path planning apparatus for a cleaning robot according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The cleaning robot path planning method provided by the application can be applied to the application environment shown in fig. 1. The cleaning robot responds to user operation and executes whole-house cleaning operation, and the cleaning robot firstly acquires a global map and positions the positions of cleaning piles in the global map; according to the cleaning pile position, the type of each cleaning area in the global map is identified, cleaning channels are arranged in the multi-communication areas, the cleaning robot path is planned according to the cleaning channels and the type of each cleaning area, the cleaning channels are used for providing the cleaning paths which are driven to the cleaning areas from the cleaning piles, the secondary pollution situation can be effectively avoided when the cleaning robot is driven to the cleaning areas from the cleaning piles, the paths are planned in a targeted mode based on the type of each cleaning area, and the cleaning effect can be remarkably improved.
In one embodiment, as shown in fig. 2, a cleaning robot path planning method is provided, which is described by applying the method to the cleaning robot in fig. 1, and includes the following steps:
s200: and acquiring a global map, and positioning the position of the cleaning pile in the global map.
The global map refers to a global map of the whole clean area, and taking full-house cleaning as an example, the global map is a full-house clean map. The cleaning robot records a corresponding global map after completing global cleaning for an unfamiliar environment, and automatically reads the global map from the storage space when being awakened to execute a global cleaning task next time. The global map includes information such as the distribution of each cleaning area and the position of the cleaning pile. If not necessary, the cleaning robot is electrified and started, and the surrounding environment information is collected; extracting characteristic points such as wall corners, wall edges, obstacles and the like from the surrounding environment information; judging whether a matched global map exists or not based on the extracted feature points, and if so, reading the global map; if not, automatic cleaning based on the virtual unit is started. The cleaning pile refers to a device for cleaning and replacing a cleaning assembly by a cleaning robot, and after a cleaning area is cleaned by a general cleaning robot, in order to avoid bringing dirt into other cleaning areas, the cleaning robot needs to return to the cleaning pile for cleaning/replacing the cleaning assembly, namely, the cleaning robot travels from the cleaning pile to a cleaning area, then returns to the cleaning pile after cleaning of the cleaning area is completed, and then enters the next cleaning area to perform cleaning operation after cleaning/replacing of the cleaning assembly is completed.
S400: and identifying the type of each cleaning area in the global map according to the position of the washing pile, wherein the cleaning areas comprise multi-communication areas.
As mentioned above, the entire path plan is developed around the wash post position, since the cleaning robot needs to return the wash post after completing the cleaning job for a single cleaning area. Here, the type of the cleaning areas in the global map, in which the multiply connected area is contained, is identified on the basis of the wash post position. The multiple communication areas are communicated with the multiple cleaning areas, and the cleaning robot can enter other cleaning areas from the cleaning pile area through the multiple communication areas. Further, the cleaning area also includes a cleaning pile area, a near cleaning pile area, a multiple communication area and a far cleaning pile area, and correspondingly, when the cleaning area is applied to full-house cleaning, as shown in fig. 3, each room is taken as a cleaning area, and then the cleaning area includes a cleaning pile room 5, a room (2 and 3) near the cleaning pile, a multiple communication room 1 and a room 4 far from the cleaning pile.
S600: cleaning channels are provided in the multiple communication areas for providing a cleaning path from the washing pile to each cleaning area.
And cleaning channels are arranged in the multi-communication area and are used for providing cleaning paths running from the cleaning piles to the cleaning areas, namely, the cleaning robot can run to each cleaning area along the cleaning channels, and secondary pollution of the cleaning robot on the way to each cleaning area is avoided. It will be appreciated that the cleaning channels are only used from the wash post to each cleaning zone, and that return from each cleaning zone should avoid routing the cleaning channels to prevent contamination of the cleaning channels. The cleaning channel setting may be specifically based on the needs of the actual situation, and it is necessary to satisfy the condition that it needs to extend from the washing pile to each cleaning area, and its width may be equal to the width of the cleaning assembly of the cleaning robot or add a certain redundancy, and in an ideal case (without obstacle interference), the cleaning channel may be rectangular, and may be specifically referred to as Q1 in fig. 3.
S800: and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
And determining the cleaning sequence of each cleaning area based on the type of the cleaning area, setting a driving path from the cleaning pile to each cleaning area based on the cleaning passage, and planning the path of the whole cleaning robot by combining the two aspects.
The cleaning robot path planning method obtains a global map, and positions the cleaning pile in the global map; identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas; arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas; and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area. In the whole process, the cleaning channel is arranged in the multi-communication area, the cleaning robot can drive to the cleaning area through the cleaning channel, secondary pollution is avoided when the cleaning robot drives to other cleaning areas, and the cleaning path is planned in a pertinence mode according to different cleaning area types, so that the cleaning effect can be effectively improved.
In one embodiment, each cleaning zone further comprises a wash post zone, a proximal wash post zone, and a distal wash post zone; as shown in fig. 4, S800 includes:
s820: and determining the cleaning priority of the pile cleaning area, the multi-communication area, the area close to the pile cleaning area and the area far away from the pile cleaning area to obtain a priority result.
S840: the cleaning channel is used as a channel for driving from the cleaning pile area to other cleaning areas.
S860: and planning a cleaning robot path according to the priority result and the cleaning channel.
In order to realize ordered cleaning, the cleaning priorities of the pile cleaning area, the multi-communication area, the adjacent pile cleaning area and the area far away from the pile cleaning area need to be determined firstly, namely which cleaning area needs to be cleaned preferentially in each cleaning area needs to be determined firstly, and the determination process can be obtained based on a preset priority rule or can be obtained based on the principle that secondary pollution is not caused. Specifically, since the cleaning path in the multiple communication area needs to be kept in a clean state throughout the cleaning operation, the multiple communication area needs to be cleaned first, and since the cleaning robot needs to return to the cleaning pile area after each cleaning operation is completed, the cleaning pile area is an area where secondary contamination is most likely to occur, and should be a last-cleaned area, and the areas near the cleaning pile and far from the cleaning pile may have cleaning priorities based on actual needs, and preferably, the areas near the cleaning pile may be cleaned first, and then the areas far from the cleaning pile may be cleaned. That is, preferably, the cleaning priorities are, in order from high to low: a multi-communication zone, a zone proximal to the cleaning piles, a zone distal to the cleaning piles, and a cleaning piles zone.
The cleaning channel is used as a channel for driving the cleaning pile area to other cleaning areas, so that secondary pollution of the cleaning robot in the process of driving the cleaning robot to other cleaning areas can be avoided, namely, the driving path from the cleaning pile area to other cleaning areas is planned based on the cleaning channel; and determining the cleaning sequence of each cleaning area based on the priority result determined in the step S820, and combining the cleaning paths together to complete the path planning of the cleaning robot.
In one embodiment, before planning the cleaning robot path according to the priority result and the cleaning path, the method further includes:
determining an access passage of each cleaning area according to the global map; taking one side of the access passage far away from the cleaning pile as an inlet and one side of the access passage close to the cleaning pile as an outlet to obtain an access result;
planning a cleaning robot path according to the priority result and the cleaning path includes: and planning a cleaning robot path according to the access result, the priority result and the cleaning channel.
In this embodiment, the path is further optimized and planned, focusing on the difference of the incoming and outgoing paths in the cleaning area, and further avoiding secondary pollution. Specifically, each cleaning area is provided with a corresponding access channel, one side far away from the cleaning pile is selected as an inlet and one side close to the cleaning pile is selected as an outlet for the inlet and the outlet, the inlet and the outlet entering the cleaning area are determined, the priority result and the cleaning channel are integrated, and the whole cleaning robot path is planned. Referring specifically to fig. 3, the entrance of the room 2 adjacent to the wash post is a side a1 far away from the wash post, and the exit is a side a2 near the wash post, and obviously, the cleaning path is planned in such a way that the cleaning robot is prevented from secondary pollution during entering and leaving, and the cleaning effect is further improved.
In one embodiment, planning the cleaning robot path according to the entrance and exit result, the priority result, and the cleaning path includes:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
It will be appreciated that the cleaning robot path comprises two parts, a reach path and a return path, wherein the reach path is a path to reach other cleaning areas from the cleaning post area and the return path is a path to return to the cleaning post area from other cleaning areas. As already mentioned above, the approach path is provided on the basis of the cleaning path, i.e. for a single cleaning zone, the approach path is from the outlet of the washing column region → the cleaning path → the inlet of the cleaning zone; when the cleaning robot returns, the cleaning robot can adopt a mode of shortest path distance to reduce the moving distance of the cleaning robot, improve the cleaning efficiency and reduce the risk of secondary pollution to other cleaning areas.
In one embodiment, planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result comprises the following steps:
generating an alternative return path from the outlet of the cleaning zone and the inlet of the wash stake zone; removing paths of path cleaning channels in the optional return paths to obtain initial return paths; acquiring path distance corresponding to each initial return path; and selecting the path corresponding to the minimum path distance.
When the return path is determined by taking the shortest path distance, firstly, an outlet of the cleaning area and an inlet of the pile cleaning area generate an optional return path, for example, 3 return paths including a return path 1, a return path 2 and a return path 3 may be generated, because the return path cannot be allowed to pass through the cleaning path, which may cause pollution of the cleaning path, the path in which the cleaning path passes through needs to be eliminated, for example, the return path 2, then an initial return path including the return path 1 and the return path 3 is obtained, then path distances corresponding to the return path 1 and the return path 3 are calculated, for example, 10m and 12m respectively, and a path in which the path distance is the smallest is selected as a final return path, that is, the return path 1 is selected as a final return path.
In one embodiment, planning the cleaning robot path according to the entrance and exit result, the priority result, and the cleaning path includes:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area in an edge mode according to the access result and the global map; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In the embodiment, the return path is planned in an edgewise manner, so that the risk of polluting other cleaning areas can be reduced to the maximum extent, and a final cleaning robot path is generated according to the return path determined based on the edgewise manner, the arrival path determined before and the priority result.
In one embodiment, determining the cleaning priority of the pile cleaning area, the multi-communication area, the adjacent pile cleaning area and the far pile cleaning area comprises:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain an initial priority result; when the cleaning areas of the same type exist, the distance between the cleaning areas of the same type and the pile cleaning area is obtained; and adjusting the initial priority result according to the distance to obtain a priority result.
In determining the cleaning priority, there may be a plurality of cleaning areas belonging to the same type of cleaning area, and the cleaning priority determination is also required for the same type of cleaning area. Here, depending on the distance of the cleaning zones of the same type from the wash post zone, a shorter distance of priority cleaning can be selected, i.e. a shorter distance of higher priority cleaning, based on this distance as a basis for the determination of the cleaning priority; a far away priority cleaning may also be selected, i.e., a far away cleaning has a higher priority; preferably, the cleaning with short distance is selected to have high priority, so as to correct the initial priority result again to obtain the final priority result. Taking fig. 3 as an example, the adjacent washing pile room comprises an adjacent washing pile room 2 and an adjacent washing pile room 3, and it can be seen from fig. 3 that the inlet of the adjacent washing pile room 2 is closer to (i.e. shorter in distance from) the washing pile room, and therefore the adjacent washing pile room 2 has a higher cleaning priority than the critical washing pile room 3, i.e. the priority result is 1 → 2 → 3 → 4 → 5.
In order to describe the technical solution and the effect of the cleaning robot path planning method in detail, a plurality of specific application examples will be adopted and will be described with reference to fig. 3 and 5.
Example one
As shown in fig. 3, the cleaning robot needs to clean 5 unit rooms, where room 1 is a multi-communication room, rooms 2 and 3 are rooms near the cleaning pile, room 4 is a room farthest from the cleaning pile, and room 5 is a room where the cleaning pile is located. The room 1 channel (Q1) is a virtual clean channel arranged after the multi-communication room is cleaned, so that the cleaning robot can run after cleaning appliances. After the cleaning robot starts the floor mopping function, the appliance is in a clean state when the cleaning robot starts to clean the multi-communication room (room 1) preferentially to ensure that other rooms are driven through the multi-communication room subsequently, and the cleaning principle in the multi-communication room is that the cleaning robot enters the multi-communication room (room 1) to be cleaned from a distance away from the cleaning pile to a distance close to the cleaning pile, the cleaning robot can return to the cleaning pile after cleaning is finished, and a virtual clean channel (Q1) of the multi-communication room can be set at the moment. The cleaning room is started again after the cleaning appliance is completed, this time the room is selected as the room (room 2 or 3) next to the wash post, at which time the cleaning robot appliance must walk from the multi-channel clean tunnel (Q1) to room 2, enter from room 2 door far from the wash post (side a 1), clean from far from the wash post toward near from the wash post, and finally finish returning the wash post from room 2 door near from the wash post (side a 2), after the door of room 2, the door area of room 2 is provided with a virtual wall, return from room 2 to the wash post to avoid the clean tunnel (Q1), and return the wash post along the shortest wall side of the multi-channel room. After the washing appliance is finished, the cleaning room 3 is started again, and the path of the cleaning room is consistent with the planning principle of the cleaning room 2. After cleaning the rooms (rooms 2 and 3) close to the cleaning piles, the room (room 4) farthest from the cleaning piles is selected for cleaning, at the moment, the cleaning robot has to walk to the room 4 from a multi-communication cleaning channel (Q1), enters from the near side (C1 side) of a room 4 door from the cleaning channel (Q1), if the distance from the cleaning channel is consistent, the right side is preferentially selected for entering, the room 4 cleaning principle is that cleaning is carried out from the far side to the near side from the cleaning piles, and finally cleaning is completed, the cleaning pile is returned from the far side (C2 side) of the room 4 door from the cleaning channel (Q1), the return path of the cleaning pile is consistent with the planning principle of cleaning the room 2, the cleaning channel (Q1) must be avoided, and the cleaning pile is selected to be returned along the shortest wall side of the multi-channel room. After the room 4 is cleaned, the room (room 5) where the charging pile is located is selected to be cleaned according to the principle that the cleaning is carried out from a position far away from the cleaning pile to a position near the cleaning pile. And finally, rapidly cleaning the multi-connected room (room 1) with secondary pollution along the edge to ensure that the secondary pollution is also cleaned.
Example two
As shown in fig. 5, the cleaning robot needs to clean 5 unit rooms, where room 1 is a multi-communication room, rooms 2 and 3 are rooms near the cleaning pile, room 4 is a room farthest from the cleaning pile, and room 5 is a room where the cleaning pile is located. The room 1 channel (Q1) is a virtual clean channel arranged after the multi-communication room is cleaned, so that the cleaning robot can run after cleaning appliances. After the cleaning robot starts the floor mopping function, the appliance is in a clean state when the cleaning robot starts to clean the multi-communication room (room 1) preferentially to ensure that other rooms are driven through the multi-communication room subsequently, and the cleaning principle in the multi-communication room is that the cleaning robot enters the multi-communication room (room 1) to be cleaned from a distance away from the cleaning pile to a distance close to the cleaning pile, the cleaning robot can return to the cleaning pile after cleaning is finished, and a virtual clean channel (Q1) of the multi-communication room can be set at the moment. The cleaning room is started again after the cleaning appliance is finished, the room is selected to be a room (room 2 or 3) close to the cleaning pile at a distance, at the moment, the cleaning robot appliance must walk to the room 2 from a multi-communication cleaning channel (Q1), the cleaning robot appliance enters from the far side (A1 side) of the cleaning pile from the door 2 of the room, the cleaning principle of the room 2 is to clean from the far side to the near side of the cleaning pile, the cleaning pile is returned from the far side (A2 side) of the room 2 door after the final cleaning is finished, the cleaning pile is returned from the room 2 to avoid the cleaning channel (Q1), and the shortest distance returning to the charging pile is planned. After the washing appliance is finished, the cleaning room 3 is started again, and the path of the cleaning room is consistent with the planning principle of the cleaning room 2. After cleaning the rooms (rooms 2 and 3) close to the cleaning piles, the room (room 4) farthest from the cleaning piles is selected for cleaning, at the moment, the cleaning robot has to walk to the room 4 from a multi-communication cleaning channel (Q1), enters from the near side (C1 side) of a room 4 door from a cleaning channel (Q1), if the distance from the cleaning channel is consistent, the right side is preferentially selected for entering, the room 4 cleaning principle is that cleaning is carried out from the far side to the near side of the cleaning piles, and finally cleaning is completed, the cleaning pile is returned from the far side (C2 side) of the room 4 door from the cleaning channel (Q1), the return path of the cleaning pile is consistent with the planning principle of cleaning the room 2, the cleaning channel (Q1) must be avoided, and the cleaning pile is returned at the shortest distance. After the room 4 is cleaned, the room (room 5) where the charging pile is located is selected to be cleaned according to the principle that the cleaning is carried out from a position far away from the cleaning pile to a position near the cleaning pile. And finally, rapidly cleaning the multi-connected room (room 1) with secondary pollution to ensure that the secondary pollution is also cleaned.
It should be understood that, although the steps in the flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each of the flowcharts described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
As shown in fig. 6, the present application also provides a cleaning robot path planning apparatus, which includes:
the acquiring module 200 is used for acquiring a global map and positioning the position of a cleaning pile in the global map;
the type identification module 400 is used for identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
a passage setting module 600 for setting cleaning passages in the multiple communication areas, the cleaning passages being used for providing cleaning paths from the washing piles to the respective cleaning areas;
a planning module 800 for planning the cleaning robot path according to the cleaning path and the type of each cleaning zone.
The cleaning robot path planning device acquires a global map and positions the cleaning pile in the global map; identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas; arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas; and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area. In the whole process, the cleaning channel is arranged in the multi-communication area, the cleaning robot can drive to the cleaning area through the cleaning channel, secondary pollution is avoided when the cleaning robot drives to other cleaning areas, and the cleaning path is planned in a pertinence mode according to different cleaning area types, so that the cleaning effect can be effectively improved.
In one embodiment, each cleaning zone further comprises a wash post zone, a proximal wash post zone, and a distal wash post zone; the planning module 800 is further configured to determine cleaning priorities of the pile cleaning area, the multi-communication area, the adjacent pile cleaning area, and the far pile cleaning area, and obtain a priority result; taking the cleaning channel as a channel for driving from the cleaning pile area to other cleaning areas; and planning a cleaning robot path according to the priority result and the cleaning channel.
In one embodiment, the planning module 800 is further configured to determine the access ways of the cleaning areas according to the global map; taking one side of the access passage far away from the cleaning pile as an inlet and one side of the access passage close to the cleaning pile as an outlet to obtain an access result; and planning a cleaning robot path according to the access result, the priority result and the cleaning channel.
In one embodiment, the planning module 800 is further configured to plan a driving path of the cleaning robot from the pile cleaning area to another cleaning area according to the entrance and exit result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, the planning module 800 is further configured to generate an alternative return path based on the outlet of the cleaning area and the inlet of the wash pile area; removing paths of path cleaning channels in the optional return paths to obtain initial return paths; acquiring path distance corresponding to each initial return path; and selecting the path corresponding to the minimum path distance.
In one embodiment, the planning module 800 is further configured to plan a driving path of the cleaning robot from the pile cleaning area to another cleaning area according to the entrance and exit result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area in an edge mode according to the access result and the global map; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, the planning module 800 is further configured to determine cleaning priorities for the area of the pile cleaning, the area of the multiple connectivity, the area near the pile cleaning, and the area far from the pile cleaning, resulting in an initial priority result; when the cleaning areas of the same type exist, the distance between the cleaning areas of the same type and the pile cleaning area is obtained; and adjusting the initial priority result according to the distance to obtain a priority result.
For a specific embodiment of the cleaning robot path planning apparatus, reference may be made to the above embodiments of the cleaning robot path planning method, which are not described herein again. All or part of the modules in the cleaning robot path planning device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system 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 computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication 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 cleaning robot path planning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a global map, and positioning the position of a cleaning pile in the global map;
identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
In one embodiment, each cleaning zone further comprises a wash post zone, a proximal wash post zone, and a distal wash post zone; the processor, when executing the computer program, further performs the steps of:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain a priority result; taking the cleaning channel as a channel for driving from the cleaning pile area to other cleaning areas; and planning a cleaning robot path according to the priority result and the cleaning channel.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining an access passage of each cleaning area according to the global map; taking one side of the access passage far away from the cleaning pile as an inlet and one side of the access passage close to the cleaning pile as an outlet to obtain an access result; and planning a cleaning robot path according to the access result, the priority result and the cleaning channel.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
generating an alternative return path from the outlet of the cleaning zone and the inlet of the wash stake zone; removing paths of path cleaning channels in the optional return paths to obtain initial return paths; acquiring path distance corresponding to each initial return path; and selecting the path corresponding to the minimum path distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area in an edge mode according to the access result and the global map; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain an initial priority result; when the cleaning areas of the same type exist, the distance between the cleaning areas of the same type and the pile cleaning area is obtained; and adjusting the initial priority result according to the distance to obtain a priority result.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a global map, and positioning the position of a cleaning pile in the global map;
identifying the type of each cleaning area in the global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
arranging cleaning channels in the multi-communication areas, wherein the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
In one embodiment, each cleaning zone further comprises a wash post zone, a proximal wash post zone, and a distal wash post zone; the computer program when executed by the processor further realizes the steps of:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain a priority result; taking the cleaning channel as a channel for driving from the cleaning pile area to other cleaning areas; and planning a cleaning robot path according to the priority result and the cleaning channel.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining an access passage of each cleaning area according to the global map; taking one side of the access passage far away from the cleaning pile as an inlet and one side of the access passage close to the cleaning pile as an outlet to obtain an access result; and planning a cleaning robot path according to the access result, the priority result and the cleaning channel.
In one embodiment, the computer program when executed by the processor further performs the steps of:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
generating an alternative return path from the outlet of the cleaning zone and the inlet of the wash stake zone; removing paths of path cleaning channels in the optional return paths to obtain initial return paths; acquiring path distance corresponding to each initial return path; and selecting the path corresponding to the minimum path distance.
In one embodiment, the computer program when executed by the processor further performs the steps of:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning passage; planning a return path of the cleaning robot to the pile cleaning area in an edge mode according to the access result and the global map; and generating a cleaning robot path according to the arrival path, the return path and the priority result.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the cleaning priority of a pile cleaning area, a multi-communication area, a near pile cleaning area and a far pile cleaning area to obtain an initial priority result; when the cleaning areas of the same type exist, the distance between the cleaning areas of the same type and the pile cleaning area is obtained; and adjusting the initial priority result according to the distance to obtain a priority result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of cleaning robot path planning, the method comprising:
acquiring a global map, and positioning the position of a cleaning pile in the global map;
identifying the type of each cleaning area in a global map according to the position of the cleaning pile, wherein the cleaning areas comprise multi-communication areas;
providing a cleaning channel in the multiply connected region, the cleaning channel for providing a cleaning path from the wash post to each cleaning region;
and planning a cleaning robot path according to the cleaning channel and the type of each cleaning area.
2. The method of claim 1, wherein each cleaning zone further comprises a wash post zone, an adjacent wash post zone, and a remote wash post zone;
the planning a cleaning robot path according to the cleaning path and the type of each cleaning area includes:
determining the cleaning priority of the pile cleaning area, the multi-communication area, the adjacent pile cleaning area and the far pile cleaning area to obtain a priority result;
and taking the cleaning channel as a channel for driving from the cleaning pile area to other cleaning areas, and planning a cleaning robot path according to the priority result and the cleaning channel.
3. The method of claim 2, wherein prior to planning a cleaning robot path based on the priority result and the cleaning path, further comprising:
determining an access way of each cleaning area according to a global map;
taking one side of the access passage far away from the cleaning pile as an inlet and taking one side of the access passage close to the cleaning pile as an outlet to obtain an access result;
the planning a cleaning robot path according to the priority result and the cleaning path includes:
and planning a cleaning robot path according to the access result, the priority result and the cleaning channel.
4. The method of claim 3, wherein the planning a cleaning robot path based on the doorway result, the priority result, and the cleaning corridor comprises:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning channel;
planning a return path of the cleaning robot to the pile cleaning area by adopting a shortest path distance mode according to the access result;
and generating a cleaning robot path according to the arrival path, the return path and the priority result.
5. The method of claim 4, wherein planning a return path of the cleaning robot to the area of the cleaning pile using shortest path distance based on the access results comprises:
generating an alternative return path from an outlet of the cleaning zone and an inlet of the wash post zone;
rejecting paths in the selectable return paths which are routed to the cleaning channel to obtain an initial return path;
acquiring a path distance corresponding to each initial return path;
and selecting the path corresponding to the minimum path distance.
6. The method of claim 3, wherein the planning a cleaning robot path based on the doorway result, the priority result, and the cleaning corridor comprises:
planning a driving path of the cleaning robot from the cleaning pile area to other cleaning areas according to the access result and the cleaning channel;
planning a return path of the cleaning robot to the pile cleaning area in an edge mode according to the access result and the global map;
and generating a cleaning robot path according to the arrival path, the return path and the priority result.
7. The method of claim 1, wherein said determining cleaning priorities for said scavenger pile areas, said multiply connected area, said near scavenger pile area, and said far scavenger pile area comprises:
determining the cleaning priority of the pile cleaning area, the multi-communication area, the adjacent pile cleaning area and the far pile cleaning area to obtain an initial priority result;
when the cleaning areas of the same type exist, acquiring the distance between the cleaning areas of the same type and the cleaning pile area;
and adjusting the initial priority result according to the distance to obtain a priority result.
8. A cleaning robot path planning apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring a global map and positioning the position of a cleaning pile in the global map;
the type identification module is used for identifying the type of each cleaning area in the global map according to the position of the cleaning pile, and the cleaning areas comprise multi-communication areas;
the channel setting module is used for setting cleaning channels in the multi-communication areas, and the cleaning channels are used for providing cleaning paths running from the cleaning piles to the cleaning areas;
and the planning module is used for planning the path of the cleaning robot according to the cleaning channel and the type of each cleaning area.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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