CN114521843A - Cleaning position determining method and device, terminal equipment and intelligent cleaning system - Google Patents

Cleaning position determining method and device, terminal equipment and intelligent cleaning system Download PDF

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CN114521843A
CN114521843A CN202210419053.1A CN202210419053A CN114521843A CN 114521843 A CN114521843 A CN 114521843A CN 202210419053 A CN202210419053 A CN 202210419053A CN 114521843 A CN114521843 A CN 114521843A
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cleaning
coordinate
cleaning position
distance
determining
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CN114521843B (en
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何世友
杭大明
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Shenzhen Baseus Technology Co Ltd
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Shenzhen Baseus Technology Co Ltd
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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
    • 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
    • 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
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The invention belongs to the technical field of intelligent household appliances, and discloses a cleaning position determining method, a cleaning position determining device, terminal equipment and an intelligent cleaning system. The method comprises the following steps: when a working instruction is received, acquiring cleaning position related information and initial position related information related to a reference coordinate system; determining a reference coordinate of a cleaning position in the reference coordinate system according to the cleaning position related information; determining a starting coordinate of a starting position under the reference coordinate system according to the cleaning position related information and the starting position related information; and determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate. Through the mode, the user can conveniently set the cleaning position through the handheld terminal, and the cleaning robot cleans the cleaning position, so that the user experience is improved.

Description

Cleaning position determining method and device, terminal equipment and intelligent cleaning system
Technical Field
The invention relates to the technical field of intelligent household appliances, in particular to a cleaning position determining method, a cleaning position determining device, terminal equipment and an intelligent cleaning system.
Background
Along with the improvement of the living level, the cleaning robot is convenient to use, and more people can walk into the living of the cleaning robot, and the cleaning robot is connected with families and offices, becomes an important member of small household appliances, and is popular.
Cleaning machines people can carry out the coverage cleaning to the whole house at the during operation usually, but subaerial dirty condition is different, all carries out the coverage cleaning at every turn, and not only consuming time power is wasted energy, and the flexibility is poor, and intelligent sense is low moreover, and user experience is poor.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a cleaning position determining method, a cleaning position determining device, terminal equipment and an intelligent cleaning system, and aims to solve the technical problem of how to conveniently and quickly set a to-be-cleaned area in the prior art.
To achieve the above object, the present invention provides a cleaning position determining method including the steps of:
when a working instruction is received, acquiring cleaning position related information and initial position related information related to a reference coordinate system;
determining a reference coordinate of a cleaning position in the reference coordinate system according to the cleaning position related information;
determining a starting coordinate of a starting position under the reference coordinate system according to the cleaning position related information and the starting position related information;
and determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate.
Optionally, the reference coordinate system is a coordinate system established with a projection point of a first reference point on the handheld terminal on the ground as an origin, the cleaning position related information includes a first linear distance, a ground inclination angle and a geographical direction angle, the first linear distance is a distance between the first reference point and the cleaning position, the ground inclination angle is an included angle formed between a connecting line between the first reference point and the cleaning position and the ground, and the geographical direction angle is an included angle formed between a connecting line between the projection point of the first reference point on the ground and the cleaning position and a geographical north pole plane; the determining a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information includes:
determining a second linear distance according to the first linear distance and the ground inclination angle, wherein the second linear distance is the distance between the projection point of the first reference point on the ground and the cleaning position;
determining a first reference coordinate value and a second reference coordinate value of the cleaning position under the reference coordinate system according to the second straight-line distance and the geographic direction angle;
and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
Optionally, the reference coordinate system is a coordinate system established by taking a projection point of a first reference point on the handheld terminal on the ground as an origin, the cleaning position-related information includes a first linear distance, which is a distance between the first reference point and a cleaning position, and a ground inclination angle, the included angle formed by a connecting line between the first reference point and the cleaning position and the ground is the inclined angle of the ground, the start position-related information includes a first start distance, a second start distance, and a device distance, the first starting distance is the distance between the first reference point and a first device reference point on the first device, the second starting distance is a distance between the first reference point and a second device reference point on a second device, the device distance is a distance between the first device reference point and the second device reference point; the determining of the start coordinate of the start position under the reference coordinate system according to the cleaning position related information and the start position related information includes:
determining the ground clearance of the first reference point according to the first straight line distance and the ground inclination angle;
determining a first initial coordinate value and a second initial coordinate value according to the ground clearance, the first initial distance, the second initial distance and the equipment distance;
and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
Optionally, the reference coordinate system is a coordinate system established with a first reference point on the handheld terminal as an origin, the cleaning position related information includes a first linear distance and a ground inclination angle, the first linear distance is a distance between the first reference point and the cleaning position, and the ground inclination angle is an included angle formed between a connection line between the first reference point and the cleaning position and the ground; the determining a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information includes:
taking a first preset value as a first reference coordinate value of the cleaning position under the reference coordinate system;
determining a second reference coordinate value of the cleaning position in the reference coordinate system according to the first linear distance and the ground inclination angle;
and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
Optionally, the reference coordinate system is a coordinate system established with a first reference point on a handheld terminal as an origin, the cleaning position related information includes a first linear distance and a ground inclination angle, the first linear distance is a distance between the first reference point and a cleaning position, the ground inclination angle is an included angle formed between a connecting line between the first reference point and the cleaning position and the ground, the starting position related information includes a phase difference and a second linear distance, and the second linear distance is a distance between the first reference point and an equipment reference point on target equipment; the determining of the start coordinate of the start position under the reference coordinate system according to the cleaning position related information and the start position related information includes:
determining an azimuth angle between the handheld terminal and target equipment according to the phase difference, the wavelength of a preset pulse signal and the second straight line distance, wherein the azimuth angle is an included angle between the first straight line and the second straight line, the first straight line is a straight line where a first reference point and a second reference point on the handheld terminal are located, and the second straight line is a straight line where the first reference point on the handheld terminal and an equipment reference point on the target equipment are located;
determining a first initial coordinate value of an initial position under the reference coordinate system according to the azimuth angle and the second linear distance;
determining a second initial coordinate value of an initial position under the reference coordinate system according to the azimuth angle, the inclination angle to the ground, the first linear distance and the second linear distance;
and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
Optionally, the determining an azimuth angle between the handheld terminal and the target device according to the phase difference, the wavelength of the preset pulse signal, and the second linear distance includes:
determining a distance difference according to the phase difference and the wavelength of a preset pulse signal, wherein the distance difference is a difference value between the second straight-line distance and a third straight-line distance, and the third straight-line distance is a distance between the second reference point and the equipment reference point;
and determining an azimuth angle according to the distance difference, the first straight-line distance and the distance between the first reference point and the second reference point.
Optionally, the determining the target coordinate of the cleaning position in the target coordinate system according to the reference coordinate and the start coordinate includes:
determining a first target coordinate value of the cleaning position under a target coordinate system according to a first reference coordinate value of the reference coordinate and a first starting coordinate value of the starting coordinate;
determining a second target coordinate value of the cleaning position under a target coordinate system according to a second reference coordinate value of the reference coordinate and a second initial coordinate value of the initial coordinate;
and determining the target coordinate of the cleaning position under a target coordinate system according to the first target coordinate value and the second target coordinate value.
Further, to achieve the above object, the present invention also provides a cleaning position determining apparatus including:
the position information acquisition module is used for acquiring cleaning position related information and initial position related information related to a reference coordinate system when a working instruction is received;
a reference coordinate determination module for determining a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information;
the initial coordinate determination module is used for determining an initial coordinate of an initial position in the reference coordinate system according to the cleaning position related information and the initial position related information;
and the target coordinate determination module is used for determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate.
Furthermore, to achieve the above object, the present invention also proposes a terminal device comprising a memory and a processor, the memory storing a computer program which, when run on the processor, performs the cleaning position determination method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon a computer program which, when executed by a processor, implements the cleaning position determining method as described above.
In addition, in order to achieve the above object, the present invention further provides a fixed point cleaning method based on a cleaning robot, wherein the method includes:
the cleaning robot determines target coordinates of a cleaning position using the cleaning position determining method as described above, and moves to the cleaning position according to the target coordinates to perform spot cleaning on the cleaning position.
In addition, in order to achieve the above object, the present invention further provides a fixed point cleaning method based on a handheld terminal, wherein the method includes:
the handheld terminal determines the target coordinate of the cleaning position by using the cleaning position determining method, and sends the target coordinate to the cleaning robot, so that the cleaning robot moves to the cleaning position according to the target coordinate and performs fixed-point cleaning on the cleaning position.
In addition, in order to achieve the above object, the present invention further provides a fixed point cleaning method based on a base station, wherein the method includes:
the base station determines the target coordinates of the cleaning position by using the cleaning position determining method, and sends the target coordinates to the cleaning robot, so that the cleaning robot moves to the cleaning position according to the target coordinates and performs fixed-point cleaning on the cleaning position.
In addition, in order to achieve the above object, the present invention also provides an intelligent cleaning system, which is characterized in that the intelligent cleaning system comprises the terminal device as described above;
if the terminal equipment is a cleaning robot, the intelligent cleaning system further comprises a handheld terminal interacting with the cleaning robot; the handheld terminal sends a work instruction to the cleaning robot, and sends the collected cleaning position related information and the collected starting position related information to the cleaning robot so as to move to a target coordinate and execute a cleaning task after the cleaning robot determines the target coordinate;
if the terminal equipment is a handheld terminal, the intelligent cleaning system further comprises a cleaning robot and/or a base station which interacts with the handheld terminal; after the handheld terminal determines the target coordinate, the handheld terminal sends the target coordinate to the cleaning robot and/or the base station; after the cleaning robot receives the target coordinates, moving to the target coordinates and executing a cleaning task; after the base station receives the target coordinate, the target coordinate is sent to a cleaning robot so that the cleaning robot moves to the target coordinate and performs a cleaning task;
if the terminal equipment is a base station, the intelligent cleaning system further comprises a cleaning robot and a handheld terminal, wherein the cleaning robot and the handheld terminal are interacted with the base station; and the handheld terminal sends a working instruction to the base station and sends the collected cleaning position related information and the collected starting position related information to the base station, so that the base station sends the target coordinate to the cleaning robot after determining the target coordinate, and the cleaning robot moves to the target coordinate and executes a cleaning task after receiving the target coordinate.
The cleaning position determining method can quickly position the cleaning position, effectively improves the cleaning efficiency of the cleaning robot, enables the cleaning robot to be more intelligent and flexible, and greatly improves the user experience.
Drawings
Fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a cleaning position determining method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of reference coordinates of an embodiment of a cleaning position determining method of the present invention;
FIG. 4 is a schematic diagram of a start coordinate of an embodiment of a cleaning position determining method according to the present invention;
fig. 5 is a flowchart illustrating the cleaning position determining method of the second embodiment of the present invention at step S20;
FIG. 6 is a top view of a handheld terminal and a target device according to an embodiment of a cleaning position determining method of the present invention;
fig. 7 is a flowchart illustrating the cleaning position determining method of the third embodiment of the present invention at step S30;
FIG. 8 is a schematic view of an azimuth of an embodiment of a cleaning position determining method of the present invention;
FIG. 9 is a block diagram showing the construction of a first embodiment of a cleaning position determining apparatus according to the present invention;
FIG. 10 is a first signaling flow diagram of a first embodiment of the intelligent cleaning system of the present invention;
FIG. 11 is a second signaling flow diagram of the first embodiment of the intelligent cleaning system of the present invention;
fig. 12 is a third signaling flow diagram of the first embodiment of the intelligent cleaning system of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of storage medium, may include therein an operating system, a network communication module, a user interface module, and a computer program.
In the terminal device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the terminal device of the present invention may be provided in the terminal device, and the terminal device calls the computer program stored in the memory 1005 through the processor 1001 and executes the cleaning position determining method provided by the embodiment of the present invention.
An embodiment of the present invention provides a cleaning position determining method, and referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of a cleaning position determining method according to the present invention.
In this embodiment, the cleaning position determining method includes the steps of:
step S10: when a work order is received, cleaning position related information and start position related information related to a reference coordinate system are acquired.
It should be noted that the main execution body of this embodiment is a terminal device, and the terminal device may be a cleaning robot, a base station interacting with the cleaning robot, or a handheld terminal interacting with the cleaning robot, which is not limited in this embodiment.
In a specific implementation, a user can hold the handheld terminal and press the designated key, at this time, the handheld terminal can collect an image of a dirty area, when the image of the dirty area is collected (namely, when the designated key is pressed), the target device can receive a working instruction, at this time, the target device can acquire cleaning position related information and initial position related information related to a reference coordinate system, and the target device can be a base station or a cleaning robot.
In another specific implementation, the user can hold the handheld terminal, press the designated key, and at this time, the handheld terminal can emit the indication light to irradiate on the dirty area, and the user can judge whether the handheld terminal is aligned to the dirty area according to the indication light, and when the indication light irradiates on the dirty area (i.e., when the designated key is pressed), the target device can receive the working instruction, and at this time, the target device can acquire the cleaning position related information and the start position related information related to the reference coordinate system.
The indication light of the handheld terminal is a highlight point, the highlight point is a cleaning position, and the position information related to the highlight point is the cleaning position related information under the reference coordinate system.
Step S20: and determining the reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information.
In this embodiment, the reference coordinate system may be a coordinate system established with a projection point of a first reference point on a handheld terminal on the ground as an origin, where the cleaning position related information includes a first linear distance, a ground tilt angle, and a geographic direction angle, the first linear distance is a distance between the first reference point and the cleaning position, the ground tilt angle is an included angle formed by a connection line between the first reference point and the cleaning position and the ground, the geographic direction angle is an included angle formed by a connection line between the projection point of the first reference point on the ground and the cleaning position and a geographic north pole plane, and the reference coordinate of the cleaning position in the reference coordinate system is determined according to the cleaning position related information, including: determining a second linear distance according to the first linear distance and the ground inclination angle, wherein the second linear distance is the distance between the projection point of the first reference point on the ground and the cleaning position; determining a first reference coordinate value and a second reference coordinate value of the cleaning position under the reference coordinate system according to the second straight-line distance and the geographic direction angle; and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
In this embodiment, the information related to the cleaning position includes a distance between a first reference point on the handheld terminal and the cleaning position, an inclination angle formed by a central axis of the handheld terminal and the ground, and an included angle formed by a connection line between a projection point of the first reference point on the ground and the cleaning position and a plane of geographic north pole.
The distance between the measured cleaning position and the first reference point on the handheld terminal can be obtained by laser ranging, and can also be obtained by measuring by using a binocular vision sensor and a monocular vision sensor; the first reference point is on the central axis, and the first reference point and the cleaning position are on the same straight line, so that an included angle between the straight line formed by the first reference point and the cleaning position and the ground is equal to an inclination angle between the handheld terminal and the ground and can be obtained by a gyroscope inside the handheld terminal; an included angle formed by a connecting line between the projection point of the first reference point on the ground and the cleaning position and the geographical north plane can be obtained by a geomagnetic sensor inside the handheld terminal.
For example, referring to fig. 3, point a is a first reference point on the handheld terminal, point G is a cleaning position on the ground, point D is a projection point of the first reference point on the ground, the plane P passes through point a, is parallel to a direction line of geographic north pole and is perpendicular to the ground, point C is a projection point of point G on the plane P, D is taken as a coordinate origin, a straight line where DC is located is taken as a Y-axis, and a straight line on the ground and perpendicular to CD is taken as an X-axis, thereby obtaining a reference coordinate system.
Under a reference coordinate system shown in fig. 3, based on that a distance between a first reference point on the handheld terminal and the cleaning position is AG (i.e., a first linear distance), an inclination angle formed by a central axis of the handheld terminal and the ground is ≧ AGD (i.e., an inclination angle to the ground), and an included angle formed by a connection line between a projection point of the first reference point on the ground and the cleaning position and a geographical north pole plane is × GDC (i.e., a geographical direction angle). Since AG and ═ AGD, AD are known to be perpendicular to GD, the length of GD (i.e., the second linear distance) can be determined, i.e., GD = AG × (AGs) (. kid), and then based on × (GDC) and GD, GC ×, so that the length of CD and the length of GC can be determined, i.e., CD = GD × (α GDC), GC = GD ═ sin (. kigdc), and then based on the length of CD and the length of GC, the reference coordinate can be determined, where the length of GC is the first reference coordinate value and the length of CD is the second reference coordinate value. Therefore, the reference coordinates of the cleaning position can be expressed as (first reference coordinate value, second reference coordinate value) in the reference coordinate system.
Step S30: and determining the starting coordinate of the starting position under the reference coordinate system according to the cleaning position related information and the starting position related information.
It is understood that the reference coordinate system is still a coordinate system established by taking a projection point of a first reference point on the handheld terminal on the ground as an origin, the cleaning position related information includes a first straight line distance and a ground inclination angle, the first straight line distance is a distance between the first reference point and the cleaning position, the ground inclination angle is an included angle formed by a connecting line between the first reference point and the cleaning position and the ground, the starting position related information includes a first starting distance, a second starting distance and a device distance, the first starting distance is a distance between the first reference point and a first device reference point on a first device, the second starting distance is a distance between the first reference point and a second device reference point on a second device, and the device distance is a distance between the first device reference point and the second device reference point, the determining of the start coordinate of the start position under the reference coordinate system according to the cleaning position related information and the start position related information includes: determining the ground clearance of the first reference point according to the first straight line distance and the ground inclination angle; determining a first initial coordinate value and a second initial coordinate value according to the ground clearance, the first initial distance, the second initial distance and the equipment distance; and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
It should be noted that, in this embodiment, the first device and the second device may be a base station and a cleaning robot, respectively, for example, when the first device is the base station, the second device may be the cleaning robot, and when the first device is the cleaning robot, the second device is the base station.
It should be noted that the first reference point, the first device reference point, and the second device reference point are all provided with bluetooth transceiver modules, and the first reference point performs bluetooth signal interaction with the first device reference point and the second device reference point, respectively, so as to obtain a distance (i.e., a first starting distance) between the first device reference point and the first reference point, and a distance (i.e., a second starting distance) between the second device reference point and the first reference point.
The first starting distance and the second starting distance are calculated as follows:
Figure 395489DEST_PATH_IMAGE001
in the above formula
Figure 2051DEST_PATH_IMAGE002
Representing a first starting distance or a second starting distance, abs () is an absolute value, rssi is a bluetooth signal strength, a is a signal strength when two bluetooth transceiving devices are 1 meter apart, and n is an environmental attenuation factor.
For example, referring to fig. 3, point a is a first reference point on the handheld terminal, point G is a cleaning position on the ground, point D is a projection point of the first reference point on the ground, plane P passes through point a, is parallel to a direction line of geographic north pole and is perpendicular to the ground, point C is a projection point of point G on plane P, D is an origin of coordinates, a straight line of DC is a Y-axis, and a straight line perpendicular to CD on the ground is an X-axis, thereby obtaining a reference coordinate system. Since the length of the first linear distance AG and the angle to the angle of ground inclination ×. AGD are known, the ground clearance AD of the first reference point can be calculated.
It will be appreciated that point M is a first device reference point on a first device and point N is a second device reference point on a second device.
If the point M is a point on the cleaning robot, the coordinates of the point M in the reference coordinate system are the start coordinates of the start position. At this time, the first start coordinate value of the start coordinate is the length of MO, and the second start coordinate value of the start coordinate is the length of DO. Wherein MO is perpendicular to DO, and the lengths of MO and DO can be calculated by the following method:
because the coordinate of the N point is known in a coordinate system taking the M point as the origin of coordinates, the length of the line segment MN and the included angle formed by the line segment MN and the Y axis of the target coordinate system can be obtained;
further, since the lengths of the first start distance AM and the second start distance AN are known, and AD is perpendicular to DM and DN, respectively, the lengths of DM and DN can be obtained;
further, on the basis of the known DM, MN and DN, the angles of three angles in the triangular DMN can be obtained based on the cosine theorem;
further, after the angle DMN and angle NMO are known, the angle of the angle DMO can be determined;
since DO is known to be perpendicular to MO, the lengths of MO and DO, i.e., MO = MD × cos (× DMO) and DO = MD × sin (× DMO), can be found after knowing the angle of × DMO and the length of segment MD.
If the point M is a point on the base station and N is a point on the cleaning robot, the coordinates of the point N in the reference coordinate system are the start coordinates of the start position. At this time, the first start coordinate value of the start coordinate is the length of NO ', and the second start coordinate value of the start coordinate is the length of DO'. Wherein the length of NO 'perpendicular to DO', NO 'and DO' can be calculated as follows:
after determining < DMO and < NDM, and as < DMO = < MDB, then < NDO' =180 DEG-DMO-NDM;
since DO ' is known to be perpendicular to NO ', after the angle of ═ NDO ' and the length of the segment ND are known, the lengths of NO ' and DO ' can be obtained, i.e. NO ' = ND x sin (× NDO '), DO ' = ND x cos (× NDO ').
Step S40: and determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate.
Further, the determining the target coordinate of the cleaning position in the target coordinate system according to the reference coordinate and the start coordinate includes: determining a first target coordinate value of the cleaning position under a target coordinate system according to a first reference coordinate value of the reference coordinate and a first starting coordinate value of the starting coordinate; determining a second target coordinate value of the cleaning position under a target coordinate system according to a second reference coordinate value of the reference coordinate and a second initial coordinate value of the initial coordinate; and determining the target coordinate of the cleaning position under a target coordinate system according to the first target coordinate value and the second target coordinate value.
It should be noted that the calculation formula of the first target coordinate value is as follows:
Figure 995415DEST_PATH_IMAGE003
in the above-mentioned formula,
Figure 749744DEST_PATH_IMAGE004
is a first target coordinate value, x, of the cleaning position in a target coordinate systemGA first reference coordinate value, x, being a reference coordinateMA first start coordinate value being a start coordinate.
The calculation formula of the second target coordinate value is as follows:
Figure 922974DEST_PATH_IMAGE005
in the above-mentioned formula,
Figure 446360DEST_PATH_IMAGE006
is a second target coordinate value, y, of the cleaning position in the target coordinate systemGA second reference coordinate value, y, being a reference coordinateMA second start coordinate value being the start coordinate.
According to the above manner, the target coordinates of the cleaning position in the target coordinate system can be determined.
Through the mode, when a user needs to clean a certain cleaning position at a fixed point, the user can point to the cleaning position by using the handheld terminal so that the handheld terminal can collect cleaning position related information and initial position related information related to a reference coordinate system, the handheld terminal can determine a reference coordinate of the cleaning position and an initial coordinate of the cleaning robot based on the collected cleaning position related information and initial position related information, finally, the reference coordinate is converted into a target coordinate under a target coordinate system according to the reference coordinate and the initial coordinate, and then the target coordinate is sent to the cleaning robot, so that the cleaning robot can be accurately positioned to the cleaning position to complete a positioning and cleaning task; or the handheld terminal can send the collected cleaning position related information and the collected starting position related information to the cleaning robot, and the cleaning robot determines a target coordinate in a target coordinate system according to the obtained cleaning position related information and the starting position related information and completes a positioning cleaning task; or the handheld terminal can send the collected cleaning position related information and the collected starting position related information to the base station, the base station determines a target coordinate under a target coordinate system according to the obtained cleaning position related information and the starting position related information, and sends the target coordinate to the cleaning robot, so that the cleaning robot can be accurately positioned to the cleaning position, and the positioning and cleaning task is completed.
The cleaning position determining method in the embodiment can quickly locate the cleaning position, effectively improves the cleaning efficiency of the cleaning robot, enables the fixed-point cleaning process to be simpler, enables the cleaning robot to be more intelligent and flexible, and greatly improves the user experience.
Preferably, a second embodiment of the cleaning position determining method according to the present invention is described in detail below, in which the determination process of the reference coordinate of the cleaning position is simpler, and the positioning speed can be increased.
In this embodiment, the distance measuring module of the handheld terminal may be disposed on the first reference point, and therefore, the distance between the distance measuring module and the cleaning position is the distance between the first reference point and the cleaning position, which is the first linear distance.
It will be appreciated that the laser ranging module is mounted at the location of the first reference point, and that the laser ranging module uses ranging methods including, but not limited to, phase method rangefinders and pulse method rangefinders, the pulse type laser rangefinder emits a short pulse laser beam or a series of short pulse laser beams to the target during operation, the laser beam reflected by the target is received by the photocell, the timer measures the time from the emission to the reception of the laser beam, and the distance from the first reference point to the cleaning position is calculated. The phase-method laser range finder detects a distance by detecting a phase difference occurring when emitted light and reflected light propagate in a space.
Similarly, a single camera may be installed at the position of the first reference point, and the monocular vision-based measurement method needs to acquire position information in a three-dimensional space from two-dimensional image information so as to obtain the distance between the first reference point and the cleaning position. In this embodiment, two cameras may be further installed at the first reference point, and the two cameras calculate the distance between the cleaning position and the first reference point based on a binocular vision ranging method.
Referring to fig. 4, in the present embodiment, in order to determine the target coordinate in the target coordinate system more quickly and easily, the first reference point is taken as the origin of coordinates a1, the pointing line of the first reference point a1 pointing to the second reference point a2 is taken as the first coordinate axis X, and the pointing line perpendicular to the first coordinate axis and pointing to the predetermined direction is taken as the second coordinate axis Y; and establishing a reference coordinate system according to the coordinate origin A1, the first coordinate axis X and the second coordinate axis Y.
It can be understood that, in the reference coordinate system in this embodiment, the first reference point on the handheld terminal is used as the origin of coordinates, the pointing line of the first reference point pointing to the second reference point is used as the first coordinate axis, the first coordinate axis may be an X axis in the reference coordinate system, and the pointing line perpendicular to the first coordinate axis and parallel to the ground and pointing to a predetermined direction is used as the second coordinate axis, the predetermined direction is a forward direction of the handheld terminal, and the second coordinate axis may be a Y axis in the reference coordinate system.
It should be noted that the reference coordinate system may further include a third coordinate axis, where the third coordinate axis may be a Z axis in the reference coordinate system, and the third coordinate axis is perpendicular to the ground.
In this embodiment, the cleaning position related information includes a first linear distance and a ground inclination angle, the first linear distance is a distance between the first reference point and the cleaning position, and the ground inclination angle is an included angle formed between a connecting line between the first reference point and the cleaning position and the ground.
For example, in the reference coordinate system shown in fig. 4, A1 is the origin of coordinates of the reference coordinate system, a2 is the second reference point, the pointing line of A1 to a2 is the X axis, the pointing line of A1 to point I is the Y axis, point M is the device reference point, point G is the cleaning position, A1G is the first linear distance, and angle A1GD is the inclination angle to ground.
Further, referring to fig. 5, in this embodiment, the step S20 in embodiment 1 may include the following steps:
in step S21, a first preset value is used as a first reference coordinate value of the cleaning position in the reference coordinate system.
It can be understood that, since the distance measuring module of the handheld terminal is also disposed on the first reference point, the distance between the distance measuring module and the cleaning position is the distance between the first reference point and the cleaning position, which is the first straight-line distance.
Further, taking the distance measuring module using laser ranging as an example, as shown in fig. 4, the laser emitted from the first reference point a1 is perpendicular to the X-axis of the first coordinate axis (the pointing line of the first reference point a1 pointing to the second reference point a 2), the cleaning position point G is kept on the ground parallel to the Y-axis of the second coordinate axis, so the first preset value is 0, and further, the first reference coordinate value X of the cleaning position in the reference coordinate system is X-axisG = 0。
And step S22, determining a second reference coordinate value of the cleaning position under the reference coordinate system according to the first straight line distance and the ground inclination angle.
The second reference coordinate may be calculated using the following formula:
yG = Lcosθ
in the above formula, yGAnd L is a first straight line distance, and theta is a ground inclination angle.
Step S23, determining a reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
It is understood that, in the reference coordinate system of the present embodiment, the reference coordinate is (x)G，yG）。
The present embodiment determines a reference coordinate of the cleaning position in the reference coordinate system based on a first preset value, the first straight-line distance, and the inclination angle to the ground. By the aid of the mode, the reference coordinate of the cleaning position under the reference coordinate system can be determined more quickly and conveniently, positioning and cleaning efficiency of the cleaning robot is effectively improved, and user experience is enhanced.
Preferably, a third embodiment of the cleaning position determining method according to the present invention is described in detail below, in which the determining process of the start coordinate of the start position is simpler, and the positioning speed can be further increased.
Referring to fig. 6, in the embodiment, an Ultra Wide Band (UWB) receiving module and a distance measuring module are installed in the handheld terminal, the UWB receiving module includes a first antenna U1 and a second antenna U2, and a distance between the two antennas is less than 0.5 times of a wavelength of a UWB carrier. The handheld terminal may be a handheld remote controller or other handheld devices with the same function, and the embodiment is not limited.
It should be noted that, if the first antenna U1 of the UWB receiving module is used as the first reference point, the UWB receiving module and the second antenna U2 are used as the second reference point on the handheld terminal, and the distance measuring module of the handheld terminal is also arranged on the first reference point, so that the distance between the distance measuring module and the cleaning position is the distance between the first reference point and the cleaning position, which is the first linear distance.
In this embodiment, the cleaning robot is provided with a UWB transmitting module, the UWB transmitting module includes a third antenna U3, and the third antenna U3 is an apparatus reference point on the target apparatus.
In this embodiment, in order to determine the start coordinate of the start position more quickly and simply, please refer to fig. 4, the first reference point is taken as a coordinate origin a1, a pointing line of the first reference point pointing to the second reference point is taken as a first coordinate axis X, and a pointing line perpendicular to the first coordinate axis and pointing to a preset direction is taken as a second coordinate axis Y; and establishing a reference coordinate system according to the coordinate origin A, the first coordinate axis X and the second coordinate axis Y.
In this embodiment, the start position related information includes an azimuth angle and a second linear distance, the azimuth angle is an included angle between the first straight line and the second straight line, the first straight line is a straight line where the first reference point and the second reference point on the handheld terminal are located, the second straight line is a straight line where the first reference point on the handheld terminal and the device reference point on the target device are located, and the second linear distance is a distance between the first reference point and the device reference point. Wherein the target device may be a cleaning robot or a base station.
As shown in fig. 4, an included angle between a connection line A1M between the first reference point A1 and the equipment reference point M and a connection line A1a2 between the first reference point A1 and the second reference point A1 is an azimuth angle, namely ≈ MA1a 2; the second linear distance is A1M.
It should be noted that, during ranging, the UWB transmitting module initiates, the UWB receiving module receives the response (responses) and then receives the response, the UWB transmitting module receives the response again to complete ranging once, and the current timestamp is recorded each time the UWB transmitting module and the UWB receiving module send and receive data. Thus, the time difference of transmission can be obtained by subtracting the time stamps, the flight time of unilateral data transmission can be obtained according to the time difference of transmission, and the first linear distance can be obtained according to the flight time and the data transmission speed because the data transmission speed is known.
Further, referring to fig. 7, in this embodiment, the step S30 in embodiment 1 may include the following steps:
and step S31, determining the azimuth angle between the handheld terminal and the target device according to the phase difference, the wavelength of the preset pulse signal and the second straight-line distance.
Further, the determining an azimuth angle between the handheld terminal and the target device according to the phase difference, the wavelength of the preset pulse signal and the second linear distance includes: determining a distance difference according to the phase difference and the wavelength of a preset pulse signal, wherein the distance difference is a difference value between the second straight-line distance and a third straight-line distance, and the third straight-line distance is a distance between the second reference point and the equipment reference point; and determining an azimuth angle according to the distance difference, the first straight line distance and the distance between the first reference point and the second reference point.
It should be noted that the third antenna U3 of the UWB transmitting module at the device reference point sends a preset signal to the UWB receiving module at the first reference point, and the first antenna U1 of the UWB receiving module determines the first phase when receiving the preset pulse signal.
Similarly, the third antenna U3 of the UWB transmitting module at the device reference point sends a preset signal to the UWB receiving module at the second reference point, and the second antenna U2 of the UWB receiving module determines the second phase when receiving the preset pulse signal.
It is understood that since the distance between the first reference point and the second reference point is less than 0.5 times the wavelength of the UWB carrier, the first phase and the second phase are in the same period of the preset pulse signal, and thus the phase difference is a phase difference in the same period.
Referring to fig. 8, A1 is a first reference point, A2 is a second reference point, M is an apparatus reference point, A1M is a second linear distance, and a difference between the second linear distance A1M and the third linear distance A2M, i.e. a distance difference, can be calculated according to the phase difference, and the distance difference calculation formula is as follows:
Figure 876204DEST_PATH_IMAGE007
in the above formula, p is the distance difference, φ is the phase difference, and λ is the wavelength of the predetermined pulse signal.
Further, the perpendicular lines from a2 to A1M correspond to two right triangles, which can be derived from the pythagorean theorem:
Figure 55512DEST_PATH_IMAGE008
wherein, R is the second straight-line distance, p is the distance difference, D is the distance between the first reference point and the second reference point, and a is the middle set value.
The derivation can be derived from the above equation:
Figure 330636DEST_PATH_IMAGE009
finally, according to a preselected theorem, the method comprises the following steps:
Figure 974107DEST_PATH_IMAGE010
wherein α is the azimuth.
Step S32, determining a first initial coordinate value of an initial position in the reference coordinate system according to the azimuth angle and the second linear distance.
In the reference coordinate system shown in fig. 4, the first start coordinate value of the start position may be calculated using the following formula:
Figure 246956DEST_PATH_IMAGE011
in the above formula, xMIs the first initial coordinate value, r is the second linear distance, and α is the azimuth.
Step S33, determining a second initial coordinate value of the initial position in the reference coordinate system according to the azimuth, the inclination to ground, the first linear distance and the second linear distance.
When the third antenna U3 of the UWB transmitting module is disposed at the bottom of the target device, please refer to fig. 4, a1 is a first reference point, M is a device reference point, a2 is a second reference point, a direction in which the point a1 points to the point J is an X axis of a reference coordinate system, a direction in which the point a1 points to the point I is a Y axis of the reference coordinate system, a length of the AM is a second linear distance, and MF is a height h of the device reference point from the ground, then in the reference coordinate system, a second start coordinate value of the start position can be calculated by using the following formula:
Figure 975878DEST_PATH_IMAGE012
in the above formula, yMIs a second initial coordinate value, r is a second linear distance, α is an azimuth angle, L is a first linear distance, θ is a ground inclination angle, and h is a height of the third antenna U3 of the UWB transmitting module from the ground.
It should be noted that when h is 0 (i.e. the third antenna U3 of the UWB transmitting module is disposed at the bottom of the target device), the second starting coordinate value of the starting position in the reference coordinate system may be calculated by using the following formula:
Figure 54693DEST_PATH_IMAGE013
in the above formula, yMIs a second initial coordinate value, r is a second linear distance, α is an azimuth angle, L is a first linear distance, and θ is a ground inclination angle.
Step S34, determining a start coordinate of a start position in the reference coordinate system according to the first start coordinate value and the second start coordinate value.
It will be appreciated that the starting coordinate is (x)M，yM）。
The present embodiment determines a start coordinate of a start position in the reference coordinate system according to the azimuth angle, the inclination to ground, the first straight-line distance, and the second straight-line distance. The determination process of the initial coordinate of the initial position is simpler, and the positioning speed is effectively improved.
Furthermore, an embodiment of the present invention also provides a storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the cleaning position determining method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Referring to fig. 9, fig. 9 is a block diagram showing the structure of the first embodiment of the cleaning position determining apparatus of the present invention.
As shown in fig. 9, a cleaning position determining apparatus according to an embodiment of the present invention includes:
a position information obtaining module 10, configured to obtain cleaning position related information and start position related information related to a reference coordinate system when a work instruction is received;
a reference coordinate determination module 20, configured to determine a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position-related information;
a start coordinate determining module 30, configured to determine a start coordinate of a start position in the reference coordinate system according to the cleaning position related information and the start position related information;
and the target coordinate determination module 40 is used for determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate.
In an example, the reference coordinate determining module 20 is further configured to determine a second linear distance according to the first linear distance and the ground inclination angle, where the second linear distance is a distance between a projected point of the first reference point on the ground and the cleaning position;
determining a first reference coordinate value and a second reference coordinate value of the cleaning position under the reference coordinate system according to the second straight-line distance and the geographic direction angle;
and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
In an example, the starting coordinate determining module 30 is further configured to determine a ground clearance of the first reference point according to the first linear distance and the ground inclination angle;
determining a first initial coordinate value and a second initial coordinate value according to the ground clearance, the first initial distance, the second initial distance and the equipment distance;
and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
In an example, the reference coordinate determining module 20 is further configured to use a first preset value as a first reference coordinate value of the cleaning position in the reference coordinate system;
determining a second reference coordinate value of the cleaning position in the reference coordinate system according to the first linear distance and the ground inclination angle;
and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
In an example, the start coordinate determining module 30 is further configured to determine an azimuth angle between the handheld terminal and the target device according to the phase difference, the wavelength of the preset pulse signal, and the second straight line distance, where the azimuth angle is an included angle between the first straight line and the second straight line, the first straight line is a straight line where a first reference point and a second reference point on the handheld terminal are located, and the second straight line is a straight line where the first reference point on the handheld terminal and a device reference point on the target device are located;
determining a first initial coordinate value of an initial position under the reference coordinate system according to the azimuth angle and the second straight-line distance;
determining a second initial coordinate value of an initial position under the reference coordinate system according to the azimuth angle, the inclination angle to the ground, the first linear distance and the second linear distance;
and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
In an example, the start coordinate determining module 30 is further configured to determine a distance difference according to the phase difference and a wavelength of a preset pulse signal, where the distance difference is a difference between the second linear distance and a third linear distance, and the third linear distance is a distance between the second reference point and the device reference point;
and determining an azimuth angle according to the distance difference, the first straight-line distance and the distance between the first reference point and the second reference point.
In an example, the target coordinate determination module 40 is further configured to determine a first target coordinate value of the cleaning position in a target coordinate system according to a first reference coordinate value of the reference coordinate and a first starting coordinate value of the starting coordinate;
determining a second target coordinate value of the cleaning position under a target coordinate system according to a second reference coordinate value of the reference coordinate and a second initial coordinate value of the initial coordinate;
and determining the target coordinate of the cleaning position under a target coordinate system according to the first target coordinate value and the second target coordinate value.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
Through the manner, when a user needs to perform fixed-point cleaning on a certain cleaning position, the user can point to the cleaning position by using the handheld terminal so that the handheld terminal can collect cleaning position related information and initial position related information related to a reference coordinate system, the handheld terminal can determine a reference coordinate of the cleaning position and an initial coordinate of the cleaning robot based on the collected cleaning position related information and initial position related information, finally, the reference coordinate is converted into a target coordinate in a target coordinate system according to the reference coordinate and the initial coordinate, and then the target coordinate is sent to the cleaning robot, so that the cleaning robot can be accurately positioned to the cleaning position to complete a positioning and cleaning task; or the handheld terminal can send the collected cleaning position related information and the collected starting position related information to the cleaning robot, and the cleaning robot determines a target coordinate in a target coordinate system according to the obtained cleaning position related information and the starting position related information and completes a positioning cleaning task; or the handheld terminal can send the collected cleaning position related information and the collected starting position related information to the base station, the base station determines a target coordinate under a target coordinate system according to the obtained cleaning position related information and the starting position related information, and sends the target coordinate to the cleaning robot, so that the cleaning robot can be accurately positioned to the cleaning position, and the positioning and cleaning task is completed.
The cleaning position determining device in the embodiment can quickly locate the cleaning position, effectively improves the cleaning efficiency of the cleaning robot, enables the cleaning robot to be more intelligent and flexible, and greatly improves the user experience.
In addition, an embodiment of the present invention further provides a fixed point cleaning method based on a cleaning robot, where the method includes:
the cleaning robot determines the target coordinates of the cleaning position by using the cleaning position determining method, and moves to the cleaning position according to the target coordinates to perform fixed-point cleaning on the cleaning position.
In addition, the embodiment of the invention also provides a fixed point cleaning method based on the handheld terminal, which comprises the following steps:
the handheld terminal determines the target coordinate of the cleaning position by using the cleaning position determining method, and sends the target coordinate to the cleaning robot, so that the cleaning robot moves to the cleaning position according to the target coordinate and performs fixed-point cleaning on the cleaning position.
In addition, an embodiment of the present invention further provides a fixed point cleaning method based on a base station, where the method includes:
the base station determines the target coordinates of the cleaning position by using the cleaning position determining method, and sends the target coordinates to the cleaning robot, so that the cleaning robot moves to the cleaning position according to the target coordinates and performs fixed-point cleaning on the cleaning position.
In addition, an embodiment of the present invention further provides an intelligent cleaning system, which is characterized in that the intelligent cleaning system includes the terminal device as described above;
as shown in fig. 10, if the terminal device is a cleaning robot, the intelligent cleaning system further includes a handheld terminal interacting with the cleaning robot; the handheld terminal sends a work instruction to the cleaning robot, and sends the collected cleaning position related information and the collected starting position related information to the cleaning robot so as to move to a target coordinate and execute a cleaning task after the cleaning robot determines the target coordinate;
as shown in fig. 11, if the terminal device is a handheld terminal, the intelligent cleaning system further includes a cleaning robot and/or a base station interacting with the handheld terminal; after the handheld terminal determines the target coordinate, the handheld terminal sends the target coordinate to the cleaning robot and/or the base station; after the cleaning robot receives the target coordinates, moving to the target coordinates and executing a cleaning task; after the base station receives the target coordinate, the target coordinate is sent to a cleaning robot so that the cleaning robot moves to the target coordinate and performs a cleaning task;
as shown in fig. 12, if the terminal device is a base station, the intelligent cleaning system further includes a cleaning robot and a handheld terminal interacting with the base station; and the handheld terminal sends a working instruction to the base station and sends the collected cleaning position related information and the collected starting position related information to the base station, so that the base station sends the target coordinate to the cleaning robot after determining the target coordinate, and the cleaning robot moves to the target coordinate and executes a cleaning task after receiving the target coordinate.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in this embodiment may refer to the cleaning position determining method provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or a part contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (14)

1. A cleaning position determining method, characterized by comprising:
when a working instruction is received, acquiring cleaning position related information and initial position related information related to a reference coordinate system;
determining a reference coordinate of a cleaning position in the reference coordinate system according to the cleaning position related information;
determining a starting coordinate of a starting position under the reference coordinate system according to the cleaning position related information and the starting position related information;
and determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate.
2. The method of claim 1, wherein the reference coordinate system is a coordinate system established by taking a projection point of a first reference point on a handheld terminal on the ground as an origin, the cleaning position related information comprises a first linear distance, a ground inclination angle and a geographical direction angle, the first linear distance is a distance between the first reference point and a cleaning position, the ground inclination angle is an included angle formed by a connecting line between the first reference point and the cleaning position and the ground, and the geographical direction angle is an included angle formed by a connecting line between the projection point of the first reference point on the ground and the cleaning position and a geographical arctic plane; the determining a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information includes:
determining a second linear distance according to the first linear distance and the ground inclination angle, wherein the second linear distance is the distance between the projection point of the first reference point on the ground and the cleaning position;
determining a first reference coordinate value and a second reference coordinate value of the cleaning position under the reference coordinate system according to the second straight-line distance and the geographic direction angle;
and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
3. The method of claim 1, wherein the reference coordinate system is a coordinate system established with a projected point of a first reference point on the handheld terminal on the ground as an origin, the cleaning position related information includes a first straight line distance, a ground inclination angle, the first straight line distance is a distance between the first reference point and the cleaning position, the included angle formed by a connecting line between the first reference point and the cleaning position and the ground is the inclined angle of the ground, the start position-related information includes a first start distance, a second start distance, and a device distance, the first starting distance is the distance between the first reference point and a first device reference point on the first device, the second starting distance is a distance between the first reference point and a second device reference point on a second device, the device distance is a distance between the first device reference point and the second device reference point; the determining of the start coordinate of the start position under the reference coordinate system according to the cleaning position related information and the start position related information includes:
determining the ground clearance of the first reference point according to the first straight line distance and the ground inclination angle;
determining a first initial coordinate value and a second initial coordinate value according to the ground clearance, the first initial distance, the second initial distance and the equipment distance;
and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
4. The method according to claim 1, wherein the reference coordinate system is a coordinate system established by taking a first reference point on a handheld terminal as an origin, the cleaning position related information comprises a first linear distance and a ground inclination angle, the first linear distance is a distance between the first reference point and a cleaning position, and the ground inclination angle is an included angle formed by a connecting line between the first reference point and the cleaning position and a ground surface; the determining a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information includes:
taking a first preset value as a first reference coordinate value of the cleaning position under the reference coordinate system;
determining a second reference coordinate value of the cleaning position in the reference coordinate system according to the first linear distance and the ground inclination angle;
and determining the reference coordinate of the cleaning position in the reference coordinate system according to the first reference coordinate value and the second reference coordinate value.
5. The method of claim 1, wherein the reference coordinate system is a coordinate system established with a first reference point on a handheld terminal as an origin, the cleaning position related information includes a first linear distance and a ground inclination angle, the first linear distance is a distance between the first reference point and a cleaning position, the ground inclination angle is an included angle formed by a connecting line between the first reference point and the cleaning position and a ground surface, the starting position related information includes a phase difference and a second linear distance, and the second linear distance is a distance between the first reference point and an equipment reference point on a target equipment; the determining of the start coordinate of the start position under the reference coordinate system according to the cleaning position related information and the start position related information includes:
determining an azimuth angle between the handheld terminal and target equipment according to the phase difference, the wavelength of a preset pulse signal and the second straight line distance, wherein the azimuth angle is an included angle between the first straight line and the second straight line, the first straight line is a straight line where a first reference point and a second reference point on the handheld terminal are located, and the second straight line is a straight line where the first reference point on the handheld terminal and an equipment reference point on the target equipment are located;
determining a first initial coordinate value of an initial position under the reference coordinate system according to the azimuth angle and the second linear distance;
determining a second initial coordinate value of an initial position under the reference coordinate system according to the azimuth angle, the inclination angle to the ground, the first linear distance and the second linear distance;
and determining the initial coordinate of the initial position under the reference coordinate system according to the first initial coordinate value and the second initial coordinate value.
6. The method of claim 5, wherein determining the azimuth angle between the handheld terminal and the target device according to the phase difference, the wavelength of the preset pulse signal and the second straight-line distance comprises:
determining a distance difference according to the phase difference and the wavelength of a preset pulse signal, wherein the distance difference is a difference value between the second straight-line distance and a third straight-line distance, and the third straight-line distance is a distance between the second reference point and the equipment reference point;
and determining an azimuth angle according to the distance difference, the first straight-line distance and the distance between the first reference point and the second reference point.
7. The method of any one of claims 1-6, wherein said determining target coordinates of the cleaning location in a target coordinate system based on the reference coordinates and the start coordinates comprises:
determining a first target coordinate value of the cleaning position under a target coordinate system according to a first reference coordinate value of the reference coordinate and a first starting coordinate value of the starting coordinate;
determining a second target coordinate value of the cleaning position under a target coordinate system according to a second reference coordinate value of the reference coordinate and a second initial coordinate value of the initial coordinate;
and determining the target coordinate of the cleaning position under a target coordinate system according to the first target coordinate value and the second target coordinate value.
8. A cleaning position determining apparatus, characterized in that the cleaning position determining apparatus comprises:
the position information acquisition module is used for acquiring cleaning position related information and initial position related information related to a reference coordinate system when a working instruction is received;
a reference coordinate determination module for determining a reference coordinate of the cleaning position in the reference coordinate system according to the cleaning position related information;
the initial coordinate determination module is used for determining an initial coordinate of an initial position in the reference coordinate system according to the cleaning position related information and the initial position related information;
and the target coordinate determination module is used for determining the target coordinate of the cleaning position in a target coordinate system according to the reference coordinate and the starting coordinate.
9. A terminal device, characterized in that the terminal device comprises a memory and a processor, the memory storing a computer program which, when run on the processor, performs the cleaning position determination method according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, implements the cleaning position determination method according to any one of claims 1 to 7.
11. A method for spot cleaning based on a cleaning robot, the method comprising:
the cleaning robot determines target coordinates of a cleaning position using the cleaning position determining method according to any one of claims 1 to 7, and moves to the cleaning position according to the target coordinates to perform spot cleaning on the cleaning position.
12. A fixed-point cleaning method based on a handheld terminal is characterized by comprising the following steps:
the handheld terminal determines target coordinates of a cleaning position by using the cleaning position determining method according to any one of claims 1 to 7, and transmits the target coordinates to the cleaning robot, so that the cleaning robot moves to the cleaning position according to the target coordinates and performs fixed-point cleaning on the cleaning position.
13. A method for base station based site specific cleaning, the method comprising:
the base station determines target coordinates of a cleaning position using the cleaning position determining method according to any one of claims 1 to 7, and transmits the target coordinates to the cleaning robot so that the cleaning robot moves to the cleaning position according to the target coordinates and performs spot cleaning on the cleaning position.
14. An intelligent cleaning system, characterized in that the intelligent cleaning system comprises a terminal device according to claim 9;
if the terminal equipment is a cleaning robot, the intelligent cleaning system further comprises a handheld terminal interacting with the cleaning robot; the handheld terminal sends a work instruction to the cleaning robot, and sends the collected cleaning position related information and the collected starting position related information to the cleaning robot so as to move to a target coordinate and execute a cleaning task after the cleaning robot determines the target coordinate;
if the terminal equipment is a handheld terminal, the intelligent cleaning system further comprises a cleaning robot and/or a base station which interacts with the handheld terminal; after the handheld terminal determines the target coordinate, the handheld terminal sends the target coordinate to the cleaning robot and/or the base station; after the cleaning robot receives the target coordinates, moving to the target coordinates and executing a cleaning task; after the base station receives the target coordinate, the target coordinate is sent to a cleaning robot so that the cleaning robot moves to the target coordinate and performs a cleaning task;
if the terminal equipment is a base station, the intelligent cleaning system further comprises a cleaning robot and a handheld terminal, wherein the cleaning robot and the handheld terminal are interacted with the base station; and the handheld terminal sends a working instruction to the base station and sends the collected cleaning position related information and the collected starting position related information to the base station, so that the base station sends the target coordinate to the cleaning robot after determining the target coordinate, and the cleaning robot moves to the target coordinate and executes a cleaning task after receiving the target coordinate.
CN202210419053.1A 2022-04-21 2022-04-21 Cleaning position determining method and device, terminal equipment and intelligent cleaning system Active CN114521843B (en)

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