CN114587191A - Partitioned sweeping method and device for sweeper, computer equipment and storage medium - Google Patents
Partitioned sweeping method and device for sweeper, computer equipment and storage medium Download PDFInfo
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- CN114587191A CN114587191A CN202210093747.0A CN202210093747A CN114587191A CN 114587191 A CN114587191 A CN 114587191A CN 202210093747 A CN202210093747 A CN 202210093747A CN 114587191 A CN114587191 A CN 114587191A
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- A—HUMAN NECESSITIES
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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Abstract
The application discloses a method and a device for sweeping a floor sweeper in a partitioned mode, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring a cleaning range sent by a user, wherein the cleaning range is used for limiting the working range of the sweeper; acquire floor material information, floor material information includes stereoplasm material information and soft material information, and this application is through above-mentioned method, comes to mark off the corresponding region of cleaning to cleaning the scope through obtaining floor state information, and clean in the region use with floor state information inclusively the mode that cleans in order that floor material information matches cleans has realized can matching different sequences of cleaning according to the floor state intelligence that cleans the floor, has promoted the effect and the work efficiency of cleaning of machine of sweeping the floor.
Description
Technical Field
The invention relates to the field of floor sweepers, in particular to a floor sweeper partition sweeping method, a floor sweeping device, computer equipment and a storage medium.
Background
The sweeper is gradually popularized in the market at present, wherein a full coverage rate algorithm aiming at a sweeping range is a key in a sweeper algorithm technology, the sweeping efficiency and the sweeping degree of the sweeper are directly influenced, the user experience is very critical, the intelligent partition algorithm is a strategy which is gradually created in recent years, and partition sweeping is carried out according to rooms, so that a better sweeping effect is achieved. However, the household environment is complex and changeable, the best coverage effect cannot be achieved only by partitioning the room, and when the state of the floor in the cleaning range changes, the existing sweeper is difficult to match a better cleaning sequence according to the state of the floor, so that the cleaning effect of the sweeper is poor and the cleaning efficiency is reduced.
Disclosure of Invention
The application aims to provide a method and a device for partitioned cleaning of a sweeper, computer equipment and a storage medium, and aims to solve the problem that the sweeper cannot conduct partitioned cleaning according to the state of a floor in the prior art.
In order to realize the purpose, the invention adopts the technical scheme that:
the application provides a zone sweeping method of a sweeper, which comprises the following steps:
acquiring a sweeping range, wherein the sweeping range is used for limiting the working range of the sweeper;
acquiring floor state information of the cleaning range;
dividing the cleaning range according to the floor state information to form a cleaning area;
sequencing the cleaning sequence of the cleaning area according to the floor state information;
and cleaning the cleaning area according to the cleaning sequence.
Further, after the cleaning of the cleaning area according to the cleaning sequence, the method further includes:
and after cleaning of all the cleaning areas is completed, the cleaning range and the floor state information are saved.
Further, the floor state information includes floor material information, and the floor material information at least includes hard material information and soft material information;
the sorting the cleaning sequence of the cleaning area according to the floor state information includes:
acquiring hard cleaning areas corresponding to hard material information and soft cleaning areas corresponding to soft material information in the floor state information;
and planning a cleaning sequence of the sweeper based on the positions of the soft cleaning areas and the hard cleaning areas, wherein the soft cleaning areas are cleaned firstly, and then the hard cleaning areas are cleaned.
Further, a method of cleaning the soft cleaning region includes:
acquiring a first cleaning route matched with the soft material information;
sweeping the soft sweeping area for the first time along the first sweeping route;
acquiring a second cleaning route matched with the soft material information;
and cleaning the soft cleaning area for the second time along the second cleaning route.
Further, the shape of the soft cleaning region is a rectangle, and the first cleaning of the soft cleaning region along the first cleaning route includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is located at the original point of the rectangular coordinate system, if so, enabling the sweeper to run towards the second long edge in a straight line;
when the sweeper reaches the second long edge, the sweeper rotates 90 degrees clockwise and travels linearly along the second long edge for a first preset distance, and then the sweeper rotates 90 degrees clockwise and travels linearly, so that the sweeper returns to the X axis;
the sweeper rotates 90 degrees anticlockwise and linearly travels a first preset distance along the X axis;
and judging whether the sweeper contacts the second short side or not, if so, judging that the first-stage sweeping of the first sweeping route is finished by the sweeper, executing the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper travels towards the second long side in a straight line.
Further, performing a second phase of sweeping of the first sweeping route includes:
judging whether the sweeper is located at an intersection of the first long side and the second short side, if so, enabling the sweeper to run linearly towards the Y axis;
when the sweeper reaches the Y axis, the sweeper rotates 90 degrees clockwise and travels linearly along the Y axis for a first preset distance, and then the sweeper rotates 90 degrees clockwise and travels linearly, so that the sweeper returns to the second short edge;
the sweeper rotates 90 degrees anticlockwise and linearly runs for a first preset distance along the second short side;
and judging whether the sweeper contacts the second long edge, if so, judging that the second-stage sweeping of the first sweeping route is finished by the sweeper, and if not, turning to the step that the sweeper travels towards the Y-axis straight line.
Further, the shape of the soft cleaning region is a rectangle, and the first cleaning of the soft cleaning region along the first cleaning route includes:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is located at the origin of the rectangular coordinate system, if so, enabling the sweeper to run towards the second long-edge straight line, and when the sweeper reaches the second long-edge straight line, enabling the sweeper to turn around in situ and run straight and return to the X axis;
after the sweeper returns to the X axis, the sweeper rotates 90 degrees anticlockwise and linearly travels a second preset distance along the X axis;
and judging whether the sweeper contacts the second short side or not, if so, judging that the first-stage sweeping of the first sweeping route is finished by the sweeper, executing the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper travels towards the second long side in a straight line.
Further, performing a second phase of sweeping of the first sweeping route includes:
judging whether the sweeper is located at an intersection of the second short side and the second long side, if so, enabling the sweeper to run linearly towards the Y axis;
when the sweeper reaches the Y axis, the sweeper turns around in situ and runs linearly to return to the second short side;
when the sweeper returns to the second short side, the sweeper rotates clockwise for 90 degrees and linearly travels a second preset distance along the second short side;
and judging whether the sweeper contacts the X axis, if so, judging that the second-stage sweeping of the first sweeping route is completed by the sweeper, and if not, turning to the step that the sweeper drives towards the Y axis in a straight line.
Further, the soft cleaning region is provided with a first side, a second side, a third side and a fourth side in correspondence, wherein the first side is opposite to the second side, the third side is opposite to the fourth side, the first side is taken as an X-axis, and the third side is taken as a Y-axis;
establishing a rectangular coordinate system in the cleaning area according to the X axis and the Y axis;
the sweeper runs to the intersection point of the second side and the fourth side from the origin of the rectangular coordinate system in a straight line;
the sweeper rotates clockwise by 135 degrees, and after the sweeper linearly travels a third preset distance along the fourth side, the sweeper rotates clockwise by 45 degrees and linearly travels to the X axis;
after the sweeper rotates 135 degrees anticlockwise along the X axis and runs linearly along the X axis for the third preset distance, the sweeper rotates 45 degrees anticlockwise along the X axis and runs linearly to the fourth side;
judging whether the sweeper reaches an intersection point of the fourth edge and the X axis, if so, judging that the first-stage sweeping of the second sweeping route is finished by the sweeper, executing the second-stage sweeping of the second sweeping route, if not, turning to the sweeper to rotate clockwise by 135 degrees, and after linearly driving along the fourth edge for a third preset distance, rotating clockwise by 45 degrees and linearly driving to the X axis.
Further, the performing the second phase sweeping of the second sweeping route includes:
the sweeper linearly runs from the intersection point of the fourth edge and the X axis to the intersection point of the second edge and the fourth edge, rotates 90 degrees anticlockwise along the Y axis direction, linearly runs for a third preset distance along the second edge, rotates 45 degrees anticlockwise and linearly runs to the Y axis;
the sweeper rotates clockwise 135 degrees along the Y axis, and after the sweeper linearly runs for the third preset distance along the Y axis, the sweeper rotates clockwise 45 degrees along the Y axis and linearly runs to the second edge;
and judging whether the sweeper reaches the intersection of the second side and the third side, if so, judging that the second-stage sweeping of the second sweeping route is finished by the sweeper, and if not, turning to the step of rotating 45 degrees anticlockwise and linearly driving to the Y axis after linearly driving along the second side for a third preset distance.
The application also provides a quick-witted subregion cleaning device of sweeping floor, includes:
the sweeping range acquiring unit is used for acquiring a sweeping range, and the sweeping range is used for limiting the working range of the sweeper;
the information acquisition unit is used for acquiring floor state information of the cleaning range, and the floor state information comprises floor material information;
the dividing unit is used for dividing the cleaning range according to the floor state information to form a cleaning area;
the sorting unit is used for sorting the cleaning sequence of the cleaning area according to the floor state information;
and the cleaning unit is used for cleaning the cleaning area according to the cleaning sequence.
The present application also provides a storage medium, which is a computer-readable storage medium, on which a computer program is stored, which when executed, implements the sweeper zoning cleaning method as described above.
The application also provides a computer device, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the sweeper partition sweeping method.
The invention has the beneficial effects that: this application comes to mark off the region that cleans that corresponds to cleaning the scope through acquireing floor state information, and clean in the region use with floor state information is interior the mode that cleans in the order that floor material information matches cleans has realized can matching different sequences that clean according to the floor state intelligence that cleans the floor, has promoted the effect and the work efficiency of cleaning of machine of sweeping the floor.
Drawings
Fig. 1 is a flowchart of a method of a zoned sweeping method of a sweeper of the present application;
fig. 2 is a schematic structural diagram of the partitioned sweeping device of the sweeper of the present application;
FIG. 3 is a first phase sweeping circuit of the first sweeping circuit of an embodiment of the present application;
FIG. 4 is a schematic diagram of a second phase cleaning route of the first cleaning route according to an embodiment of the present application;
FIG. 5 is a first stage sweeping circuit of the first sweeping circuit of an embodiment of the present application;
FIG. 6 is a schematic diagram of a second phase cleaning route of the first cleaning route according to an embodiment of the present application;
FIG. 7 is a schematic view of a first phase cleaning route of a second cleaning route according to an embodiment of the present application;
FIG. 8 is a second stage sweeping route schematic of a second sweeping route according to an embodiment of the present application;
FIG. 9 is a block diagram of an embodiment of a storage medium according to the present application;
FIG. 10 is a block diagram of an embodiment of a computer device of the present application;
the number designations in the figures are: 1-cleaning range acquisition unit, 2-information acquisition unit, 3-division unit, 4-sorting unit, 5-cleaning unit, 100-storage medium, 200-computer program, 300-computer device.
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.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
Referring to fig. 1, the present invention provides a zoned sweeping method of a sweeper, including:
s1, acquiring a sweeping range, wherein the sweeping range is used for limiting the working range of the sweeper;
s2, acquiring floor state information of the cleaning range;
s3, dividing the cleaning range according to the floor state information to form a cleaning area;
s4, sequencing the cleaning sequence of the cleaning area according to the floor state information;
and S5, cleaning the cleaning area according to the cleaning sequence.
As described in step S1, the sweeper acquires a picture of a range to be swept through a built-in laser radar and a built-in vision sensor, and sets a sweeping range of the work according to the picture, and the sweeper automatically sweeps within the sweeping range.
As described in step S2, the sweeper acquires a picture of a range to be cleaned through a built-in laser radar and a vision sensor, and determines floor status information of the cleaning range according to picture information of the ground acquired by the vision sensor, where the floor status information includes floor material information, and the floor material information includes hard material information and soft material information;
it is to be understood that the type of the floor state information is not limited to the floor material information, and the floor state information may further include dirt information or humidity information, which is not limited in this application.
As described in the above step S3, the sweeper divides the sweeping range according to the floor material information, specifically: recording the range of the hard material information of the floor as a hard cleaning area, and recording the range of the soft material information of the floor as a soft cleaning area;
as described in the step S4, the sweeper sequences the cleaning sequence of the cleaning area according to the floor status information, specifically, the sweeper connects the soft cleaning area in the cleaning range according to a rule of a first-near rule and a second-far rule to generate a cleaning route of a soft cleaning area, and then the sweeper connects the hard cleaning area in the cleaning range according to a rule of a first-near rule and a second-far rule to generate a cleaning route of a hard cleaning area, so as to generate a cleaning sequence for cleaning the soft cleaning area first and then cleaning the hard cleaning area;
it is understood that the cleaning sequence of each area can be set by the user, and the application is not limited thereto.
As described in step S5, the sweeper first performs the cleaning once along the cleaning route of the soft cleaning area in the above embodiment, and then performs the cleaning together along the cleaning route of the hard cleaning area in the above embodiment, so as to perform the cleaning of the cleaning range according to the cleaning sequence generated in the above embodiment, thereby preventing the driving wheels of the sweeper from being contaminated when the hard cleaning area is cleaned, and thus preventing the secondary contamination when the soft cleaning area is cleaned.
According to the method, the cleaning range is divided into the corresponding cleaning areas by acquiring the floor state information, the cleaning areas are internally used, the floor material information contained in the floor state information is matched with the cleaning sequence, the cleaning sequence can be intelligently matched with different cleaning sequences according to the floor state of the cleaning floor, and the cleaning effect and the working efficiency of the sweeper are improved.
In one embodiment, after sweeping the sweeping area according to the sweeping sequence, the method further includes:
and S6, after cleaning of all the cleaning areas is finished, the cleaning range and the floor state information are stored.
As described in step S6, after the sweeper cleans the cleaning area according to the cleaning sequence, the cleaning range and the floor state information are saved for direct loading and use when the sweeper cleans the same cleaning area next time.
In one embodiment, the floor state information includes floor material information, the floor material information at least includes hard material information and soft material information, and the step S4 includes:
s41, acquiring hard cleaning areas corresponding to hard material information in the floor state information and soft cleaning areas corresponding to soft material information, and planning a cleaning sequence of the sweeper based on the positions of the soft cleaning areas and the hard cleaning areas, wherein the soft cleaning areas are cleaned firstly and then the hard cleaning areas are cleaned.
As described in the step S41, the hard cleaning area information may be a cleaning area corresponding to a wooden floor, the soft material information may be a cleaning area corresponding to a cloth floor, the sweeper acquires the hard cleaning area corresponding to the hard material information and each soft cleaning area corresponding to the soft material information, the sweeper connects each soft cleaning area within the cleaning area to generate a cleaning route of the soft cleaning area, the sweeper connects each hard cleaning area within the cleaning area to generate a cleaning route of the hard cleaning area, the sweeper cleans the hard cleaning areas along the cleaning route of the soft cleaning area, and cleans the hard cleaning areas according to the cleaning route of the hard cleaning area, so as to generate a cleaning sequence of cleaning the soft cleaning area and then cleaning the hard cleaning areas, and then the sweeper cleans along with the sequence.
It can be understood that, when the information included in the floor status information is dirty information, the sweeper can generate a sweeping route for sweeping the dirty sweeping area first and then sweeping the dirty sweeping area according to the dirty sweeping area and the distance position of the clean sweeping area in the sweeping area, and start the sweeper to sweep along the sweeping route.
In addition, when the information included in the floor status information is humidity information, the sweeper can generate a sweeping route for sweeping the dry sweeping area first and then sweeping the wet sweeping area according to the distance positions of the wet sweeping area and the dry sweeping area in the sweeping area, and start the sweeper to sweep along the sweeping route.
In one embodiment, the method of sweeping the soft sweeping zone comprises:
s42, acquiring a first cleaning route matched with the soft material information, cleaning the soft cleaning area for the first time along the first cleaning route, acquiring a second cleaning route matched with the soft material information, and cleaning the soft cleaning area for the second time along the second cleaning route.
As shown in the step S42, when the sweeper acquires the first cleaning route matched with the soft material information, and performs a first cleaning in the soft cleaning area along with the first cleaning route, and after the cleaning work of the first cleaning route is completed, the sweeper acquires the second cleaning route matched with the hard material information, and performs a second cleaning in the soft cleaning area along with the second cleaning route, so that the sweeper completes the first cleaning in the soft cleaning area according to the first cleaning route and then completes the second cleaning in the soft cleaning area according to the second cleaning route, thereby controlling the sweeper to perform two times of cleaning in the soft cleaning area, and improving the cleaning effect of the sweeper on the soft cleaning area.
Referring to fig. 3, in one embodiment, the soft-clean zone is rectangular in shape, and the first cleaning of the soft-clean zone following the first cleaning route includes:
s43, the soft sweeping area is correspondingly provided with a first long edge, a second long edge, a first short edge and a second short edge, the first long edge is marked as an X axis, the first short edge is marked as a Y axis, a rectangular coordinate system is established in the soft sweeping area according to the X axis and the Y axis, whether the sweeper is located at the original point of the rectangular coordinate system is judged, if yes, the sweeper moves towards the second long edge to run linearly, when the sweeper reaches the second long edge, the sweeper rotates 90 degrees clockwise and runs linearly along the second long edge for a first preset distance, then the sweeper rotates 90 degrees clockwise and runs linearly to return to the X axis, the sweeper rotates 90 degrees counterclockwise and runs linearly along the X axis for a first preset distance, whether the sweeper contacts the second short edge is judged, and if the first long side of the second long side of the.
As described in the foregoing step S43, preferably, if the first preset distance may be 30 centimeters, the sweeper acquires a first long side, a second long side, a first short side, and a second short side of the soft sweeping area, and records the first long side as an X-axis and the first short side as a Y-axis, and establishes a rectangular coordinate system in the sweeping area according to the X-axis and the Y-axis, when the sweeper is located at an origin of the rectangular coordinate system, the sweeper rotates 90 degrees clockwise and travels 30 centimeters linearly along the second long side, then the sweeper rotates 90 degrees clockwise and travels linearly, so as to return to the X-axis, then the sweeper rotates 90 degrees counterclockwise and travels 30 centimeters linearly along the X-axis, and determines whether the sweeper contacts the second short side, if so, the sweeper determines to complete the first-stage sweeping of the first sweeping route, executing second-stage cleaning of the first cleaning route, so as to control the sweeper to perform first-stage cleaning of the first cleaning route on the soft cleaning area; if not, turning to the step that the sweeper travels towards the second long side in a straight line,
it is to be understood that the length of the first preset distance may be set by a user, which is not limited in the present application.
Referring to fig. 4, in an embodiment, the performing the second phase cleaning of the first cleaning route includes:
s44, judging whether the sweeper is located on the first long side and the intersection point of the second short side, if so, the sweeper faces towards the Y-axis straight line, and when the sweeper reaches the Y axis, the sweeper rotates 90 degrees clockwise and travels a first preset distance along the Y-axis straight line, and then the sweeper rotates 90 degrees clockwise and travels straight line, so as to return to the second short side, the sweeper rotates 90 degrees anticlockwise and travels a first preset distance along the second short side straight line, and judges whether the sweeper contacts the second long side, if so, the sweeper judges to complete the second-stage sweeping of the first sweeping route, and if not, the sweeper faces towards the step of the Y-axis straight line traveling.
As described in the above step S44, preferably, if the first preset distance may be 30 cm, the sweeper determines whether the current position of the sweeper is located at an intersection of the first long side and the second short side, if so, the sweeper travels straight toward the Y axis, and when the sweeper reaches the Y axis, the sweeper rotates 90 degrees clockwise and travels straight along the Y axis for 30 cm, and then the sweeper rotates 90 degrees clockwise and travels straight to return to the second short side, and then the sweeper rotates 90 degrees counterclockwise and travels straight along the second short side for 30 cm, and determines whether the sweeper contacts the second long side, if so, the sweeper determines to complete the second-stage sweeping of the first sweeping route, so as to control the sweeper to perform the second stage of the first sweeping route on the soft area, and finishing the first time of sweeping the soft sweeping area by the sweeper along a first sweeping route, and if not, turning to the step that the sweeper travels towards the Y axis in a straight line.
It is understood that the length of the first preset distance may be set by a user, which is not limited in this application.
Referring to fig. 5, in an embodiment, if the shape of the soft cleaning zone is rectangular, the first cleaning of the soft cleaning zone along the first cleaning route includes:
s45, correspondingly arranging a first long edge, a second long edge, a first short edge and a second short edge in the soft sweeping area, marking the first long edge as an X axis, marking the first short edge as a Y axis, establishing a rectangular coordinate system in the soft sweeping area according to the X axis and the Y axis, judging whether the sweeper is located at the origin of the rectangular coordinate system, if so, enabling the sweeper to linearly run towards the second long edge, and when the sweeper reaches the second long edge, enabling the sweeper to turn around in place and linearly run back to the X axis; when the sweeper returns to the X axis, the sweeper rotates 90 degrees anticlockwise and travels a second preset distance along the X axis linearly, whether the sweeper contacts the second short edge is judged, if yes, the sweeper judges that the first-stage sweeping of the first sweeping route is finished, the second-stage sweeping of the first sweeping route is executed, and if not, the sweeper turns to the step that the sweeper travels linearly towards the second long edge,
as described in the foregoing step S45, preferably, if the second preset distance may be 20 cm, the sweeper acquires a first long side, a second long side, a first short side, and a second short side of the soft cleaning area, and sets the first long side as an X-axis and the first short side as a Y-axis, and establishes a rectangular coordinate system in the cleaning area according to the X-axis and the Y-axis.
Judging whether the sweeper is located at the origin of the rectangular coordinate system, if so, enabling the sweeper to run towards the second long edge in a straight line, when the sweeper reaches the second long edge in a straight line, turning around the sweeper in situ and running straight to return to the X axis, when the sweeper returns to the X axis, enabling the sweeper to rotate 90 degrees anticlockwise and run 20 centimeters along the X axis in a straight line, judging whether the sweeper contacts the second short edge, if so, judging that the sweeper finishes the first-stage sweeping of the first sweeping route, and executing the second-stage sweeping of the first sweeping route, so that the sweeper is controlled to carry out the first-stage sweeping of the first sweeping route on the soft sweeping area; if not, turning to the step that the sweeper travels towards the second long side in a straight line.
It is understood that the length of the second preset distance may be set by a user, which is not limited in this application.
Referring to fig. 6, in an embodiment, the performing the second phase sweeping of the first sweeping route includes:
s46, judging whether the sweeper is located at the intersection of the second short edge and the second long edge, if so, enabling the sweeper to face towards the Y-axis straight line, and if so, enabling the sweeper to turn around in situ and go straight to return to the second short edge, and if so, enabling the sweeper to return to the second short edge, rotating 90 degrees clockwise and driving the second short edge straight line to a preset distance, judging whether the sweeper contacts the X axis, if so, enabling the sweeper to judge to complete the second-stage sweeping of the first sweeping route, and if not, turning to the sweeper to face towards the step of the Y-axis straight line driving.
As described in the above step S46, preferably, the second preset distance may be 20 cm, and it is determined whether the sweeper is located at an intersection between the second short side and the second long side, if yes, the sweeper travels straight along the Y axis, when the sweeper reaches the Y axis, the sweeper turns around in situ and travels straight back to the second short side, and after the sweeper returns to the second short side, the sweeper rotates 90 degrees clockwise and travels straight 20 cm along the second short side, and it is determined whether the sweeper contacts the X axis, if yes, the sweeper determines to complete the second stage of the first cleaning route, so as to control the sweeper to perform the second stage of the first cleaning route on the soft cleaning area, and complete the first cleaning of the soft cleaning area by the sweeper following the first cleaning route, if not, turning to the step that the sweeper travels towards the Y axis in a straight line.
It is understood that the length of the second preset distance may be set by a user, which is not limited in this application.
Referring to fig. 7, in one embodiment, the shape of the soft cleaning zone is square, and the secondary cleaning of the soft cleaning zone following the second cleaning route includes:
s47, wherein the soft cleaning region has a first side, a second side, a third side and a fourth side corresponding to each other, wherein the first side is opposite to the second side, the third side is opposite to the fourth side, the first side is defined as X-axis, and the third side is defined as Y-axis; establishing a rectangular coordinate system in the cleaning area according to the X axis and the Y axis; the sweeper linearly runs from the origin of the rectangular coordinate system to the intersection of the second side and the fourth side; the sweeper rotates clockwise by 135 degrees, and after the sweeper linearly travels a third preset distance along the fourth side, the sweeper rotates clockwise by 45 degrees and linearly travels to the X axis; after the sweeper rotates 135 degrees anticlockwise along the X axis and runs linearly along the X axis for the third preset distance, the sweeper rotates 45 degrees anticlockwise along the X axis and runs linearly to the fourth side; judging whether the sweeper reaches an intersection point of the fourth edge and the X axis, if so, judging that the first-stage sweeping of the second sweeping route is finished by the sweeper, executing the second-stage sweeping of the second sweeping route, if not, turning to the sweeper to rotate clockwise by 135 degrees, and after linearly driving along the fourth edge for a third preset distance, rotating clockwise by 45 degrees and linearly driving to the X axis.
As described in the step S47, preferably, the third preset distance may be 15 cm, the soft cleaning area is provided with a first side, a second side, a third side and a fourth side, the sweeper marks the first side as an X-axis and the third side as a Y-axis, a rectangular coordinate system is established in the cleaning area according to the X-axis and the Y-axis, then the sweeper linearly travels from an origin of the rectangular coordinate system to an intersection of the second side and the fourth side, the sweeper rotates clockwise by 135 degrees, and after traveling linearly by 15 cm along the fourth side, the sweeper rotates clockwise by 45 degrees and linearly travels to the X-axis; the sweeper rotates 135 degrees anticlockwise along the X axis and travels 15 centimeters linearly along the X axis, rotates 45 degrees anticlockwise along the X axis and travels linearly to the fourth edge, whether the sweeper reaches the intersection of the fourth edge and the X axis is judged, if yes, the sweeper judges that the first-stage sweeping of the second sweeping route is completed, and executes the second-stage sweeping of the second sweeping route, so that the sweeper is controlled to conduct the first-stage sweeping of the second sweeping route on the soft sweeping area, if not, the sweeper rotates 135 degrees clockwise, and travels 15 centimeters linearly along the fourth edge, rotates 45 degrees clockwise and travels linearly to the X axis.
It is understood that the length of the third preset distance may be set by a user, and the application is not limited thereto.
Furthermore, the soft cleaning area may be rectangular, an included angle between the X axis and a direction of a line segment from the origin of the coordinate system to an intersection of the second side and the fourth side is α, when the sweeper travels straight from the origin to the intersection of the second side and the fourth side, rotates clockwise (180- α) degrees, moves a third preset distance along the fourth side, rotates clockwise α degrees, moves to the X axis, rotates counterclockwise (180- α) degrees, moves a third preset distance along the X axis, and repeats the above process until the intersection of the X axis and the fourth side is cleaned.
Referring to fig. 8, in an embodiment, the performing the second phase sweeping of the second sweeping route includes:
s48, the sweeper linearly runs from the intersection point of the fourth edge and the X axis to the intersection point of the second edge and the fourth edge, rotates 90 degrees anticlockwise along the Y axis direction, linearly runs for a third preset distance along the second edge, rotates 45 degrees anticlockwise and linearly runs to the Y axis; the sweeper rotates clockwise 135 degrees along the Y axis, and after the sweeper linearly runs for the third preset distance along the Y axis, the sweeper rotates clockwise 45 degrees along the Y axis and linearly runs to the second edge; and judging whether the sweeper reaches the intersection of the second side and the third side, if so, judging that the second-stage sweeping of the second sweeping route is finished by the sweeper, and if not, turning to the step of rotating 45 degrees anticlockwise and linearly driving to the Y axis after linearly driving along the second side for a third preset distance.
As described in the above step S48, preferably, the third preset distance may be 15 cm, the sweeper travels straight from an intersection of the fourth edge and the X-axis to an intersection of the Y-axis and the second edge, the sweeper rotates 90 degrees counterclockwise along the Y-axis, and after traveling straight 15 cm along the second edge, the sweeper rotates 45 degrees counterclockwise and travels straight on the Y-axis; the sweeper is along Y axle clockwise turning 135 degrees, the sweeper is along after Y axle straight line traveles 15 centimetres, along Y axle clockwise turning 45 degrees to the straight line is gone to the second edge, judges whether the sweeper reachs the junction of second edge and third edge, if, then the sweeper judges to accomplish the second stage of second cleaning route is cleaned, thereby realizes control the sweeper is right the soft region of cleaning carries out the second stage of second cleaning route and cleans, if not, then turn to along after the third preset distance is gone to second edge straight line, anticlockwise turning 45 degrees and straight line travel to the epaxial step of Y.
Further, the shape of the soft cleaning area may also be a rectangle, an included angle between the direction of a line segment from the origin of the coordinate system to the intersection of the second side and the fourth side and the X axis is α, the sweeper travels straight from the intersection of the fourth side and the X axis to the intersection of the second side and the fourth side, the sweeper rotates 90 degrees counterclockwise along the Y axis, and after traveling straight along the second side for a third preset distance, rotates α degrees counterclockwise and travels straight on the Y axis; the sweeper rotates clockwise (180-alpha) degrees along the Y axis, after the sweeper linearly travels the third preset distance along the Y axis, the sweeper rotates clockwise alpha degrees along the Y axis, and the process is repeated until the intersection point of the Y axis and the second side is swept.
It is understood that the length of the third preset distance may be set by a user, and the application is not limited thereto.
With reference to fig. 2, further, the present application also provides a partitioned sweeping device of a sweeper, including:
the sweeping range acquiring unit 1 is used for acquiring a sweeping range, and the sweeping range is used for limiting the working range of the sweeper;
the information acquisition unit 2 is used for acquiring floor state information of the cleaning range, wherein the floor state information comprises floor material information;
the dividing unit 3 is used for dividing the cleaning range according to the floor state information to form a cleaning area;
the sequencing unit 4 is used for sequencing the cleaning sequence of the cleaning area according to the floor state information;
and a cleaning unit 5 for cleaning the cleaning region according to the cleaning sequence.
The above units are for executing the above partitioned sweeping device of the sweeper, and are not described one by one.
Referring to fig. 9, the present application further provides a storage medium 100, in which a computer program 200 is stored in the storage medium 100, and when the computer program runs on a computer, the computer is caused to execute the sweeper zoning sweeping method described in the above embodiment.
Referring to fig. 10, the present application also provides a computer device 300 containing instructions, which when run on the computer device 300, causes the computer device 300 to execute the sweeper zoning cleaning method described above through a processor disposed therein.
By combining the above embodiments, the application has the following greatest beneficial effects: the cleaning range is divided into the corresponding cleaning areas by acquiring the floor state information, and the cleaning areas are cleaned by using the cleaning sequence matched with the floor material information contained in the floor state information, so that different cleaning sequences can be intelligently matched according to the floor state of the cleaned floor, and the cleaning effect and the working efficiency of the sweeper are improved.
Those skilled in the art will appreciate that the method of operation of the smart device described herein and the devices referred to above for performing one or more of the methods described herein. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs or applications that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPRs 0M (Erasable Programmable Read-Only memories), EEPR0M (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or light cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, readable media includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
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 (10)
1. A zoned sweeping method of a sweeper is characterized by comprising the following steps:
acquiring a sweeping range, wherein the sweeping range is used for limiting the working range of the sweeper;
acquiring floor state information of the cleaning range;
dividing the cleaning range according to the floor state information to form a cleaning area;
sequencing the cleaning sequence of the cleaning area according to the floor state information;
and cleaning the cleaning area according to the cleaning sequence.
2. The method of claim 1, wherein the floor status information comprises floor material information, the floor material information at least comprises hard material information and soft material information;
the sorting the cleaning sequence of the cleaning area according to the floor state information includes:
acquiring hard cleaning areas corresponding to hard material information and soft cleaning areas corresponding to soft material information in the floor state information;
and planning a cleaning sequence of the sweeper based on the positions of the soft cleaning areas and the hard cleaning areas, wherein the soft cleaning areas are cleaned firstly, and then the hard cleaning areas are cleaned.
3. The zoned sweeper cleaning method of claim 2, wherein the method of cleaning the soft sweeping zone comprises:
acquiring a first cleaning route matched with the soft material information;
sweeping the soft sweeping area for the first time along the first sweeping route;
acquiring a second cleaning route matched with the soft material information;
and cleaning the soft cleaning area for the second time along the second cleaning route.
4. The zoned sweeper cleaning method of claim 3, wherein the soft sweeping zone is rectangular in shape, and the first sweeping of the soft sweeping zone along the first sweeping path comprises:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is located at the original point of the rectangular coordinate system, if so, enabling the sweeper to run towards the second long edge in a straight line;
when the sweeper reaches the second long edge, the sweeper rotates 90 degrees clockwise and travels linearly along the second long edge for a first preset distance, and then the sweeper rotates 90 degrees clockwise and travels linearly, so that the sweeper returns to the X axis;
the sweeper rotates 90 degrees anticlockwise and linearly travels a first preset distance along the X axis;
judging whether the sweeper contacts the second short side or not, if so, judging that the first-stage sweeping of the first sweeping route is finished by the sweeper, executing second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper travels towards the second long side in a straight line;
wherein the performing a second phase of the first sweeping route includes:
judging whether the sweeper is located at an intersection of the first long side and the second short side, if so, enabling the sweeper to run linearly towards the Y axis;
when the sweeper reaches the Y axis, the sweeper rotates 90 degrees clockwise and travels linearly along the Y axis for a first preset distance, and then the sweeper rotates 90 degrees clockwise and travels linearly, so that the sweeper returns to the second short edge;
the sweeper rotates 90 degrees anticlockwise and linearly runs for a first preset distance along the second short side;
and judging whether the sweeper contacts the second long edge, if so, judging that the second-stage sweeping of the first sweeping route is finished by the sweeper, and if not, turning to the step that the sweeper travels towards the Y-axis straight line.
5. The zoned sweeper cleaning method of claim 3, wherein the soft sweeping zone is rectangular in shape, and the first sweeping of the soft sweeping zone along the first sweeping path comprises:
the soft cleaning area is correspondingly provided with a first long side, a second long side, a first short side and a second short side, the first long side is marked as an X axis, and the first short side is marked as a Y axis;
establishing a rectangular coordinate system in the soft cleaning area according to the X axis and the Y axis;
judging whether the sweeper is located at the original point of the rectangular coordinate system, if so, enabling the sweeper to linearly run towards the second long edge, and when the sweeper reaches the second long edge, enabling the sweeper to turn around in situ and linearly run back to the X axis;
after the sweeper returns to the X axis, the sweeper rotates 90 degrees anticlockwise and linearly travels a second preset distance along the X axis;
and judging whether the sweeper contacts the second short side or not, if so, judging that the first-stage sweeping of the first sweeping route is finished by the sweeper, executing the second-stage sweeping of the first sweeping route, and if not, turning to the step that the sweeper travels towards the second long side in a straight line.
Wherein the performing a second phase of the first sweeping route includes:
judging whether the sweeper is located at an intersection of the second short side and the second long side, if so, enabling the sweeper to run linearly towards the Y axis;
when the sweeper reaches the Y axis, the sweeper turns around in situ and runs linearly to return to the second short side;
after the sweeper returns to the second short side, the sweeper rotates clockwise 90 degrees and travels linearly along the second short side for a second preset distance;
and judging whether the sweeper contacts the X axis, if so, judging that the second-stage sweeping of the first sweeping route is completed by the sweeper, and if not, turning to the step that the sweeper drives towards the Y axis in a straight line.
6. The zoned sweeper cleaning method of claim 3, wherein the soft sweeping zone is square in shape, and the secondary sweeping of the soft sweeping zone along the second sweeping route comprises:
the soft cleaning area is correspondingly provided with a first edge, a second edge, a third edge and a fourth edge, wherein the first edge is opposite to the second edge, the third edge is opposite to the fourth edge, the first edge is marked as an X axis, and the third edge is marked as a Y axis;
establishing a rectangular coordinate system in the cleaning area according to the X axis and the Y axis;
the sweeper runs to the intersection point of the second side and the fourth side from the origin of the rectangular coordinate system in a straight line;
the sweeper rotates clockwise by 135 degrees, and after the sweeper linearly travels a third preset distance along the fourth side, the sweeper rotates clockwise by 45 degrees and linearly travels to the X axis;
after the sweeper rotates 135 degrees anticlockwise along the X axis and runs linearly along the X axis for the third preset distance, the sweeper rotates 45 degrees anticlockwise along the X axis and runs linearly to the fourth side;
judging whether the sweeper reaches an intersection point of the fourth edge and the X axis, if so, judging that the first-stage sweeping of the second sweeping route is finished by the sweeper, executing the second-stage sweeping of the second sweeping route, if not, turning to the sweeper to rotate clockwise by 135 degrees, and after linearly driving along the fourth edge for a third preset distance, rotating clockwise by 45 degrees and linearly driving to the X axis.
7. The zoned sweeper cleaning method of claim 6, wherein performing the second phase of the second sweeping pass comprises:
the sweeper linearly runs from the intersection of the fourth edge and the X axis to the intersection of the second edge and the fourth edge, rotates 90 degrees anticlockwise along the Y axis direction, linearly runs for a third preset distance along the second edge, rotates 45 degrees anticlockwise and linearly runs to the Y axis;
the sweeper rotates clockwise 135 degrees along the Y axis, and after the sweeper linearly runs for the third preset distance along the Y axis, the sweeper rotates clockwise 45 degrees along the Y axis and linearly runs to the second edge;
and judging whether the sweeper reaches the intersection of the second side and the third side, if so, judging that the second-stage sweeping of the second sweeping route is finished by the sweeper, and if not, turning to the step of rotating 45 degrees anticlockwise and linearly driving to the Y axis after linearly driving along the second side for a third preset distance.
8. The utility model provides a quick-witted subregion cleaning device of sweeping floor which characterized in that includes:
the sweeping range acquiring unit is used for acquiring a sweeping range, and the sweeping range is used for limiting the working range of the sweeper;
the information acquisition unit is used for acquiring the floor state information of the cleaning range, and the floor state information comprises floor material information;
the dividing unit is used for dividing the cleaning range according to the floor state information to form a cleaning area;
the sorting unit is used for sorting the cleaning sequence of the cleaning area according to the floor state information;
and the cleaning unit is used for cleaning the cleaning area according to the cleaning sequence.
9. A storage medium, characterized in that it is a computer-readable storage medium, on which a computer program is stored, which when executed implements the sweeper zone sweeping method according to any one of claims 1 to 7.
10. Computer equipment, characterized in that it comprises a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the sweeper zoning sweeping method according to any of claims 1-7 when executing the computer program.
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