CN115429157A - Cleaning range determining method and device, cleaning robot and storage medium - Google Patents
Cleaning range determining method and device, cleaning robot and storage medium Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 116
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- 238000012545 processing Methods 0.000 claims abstract description 61
- 230000008569 process Effects 0.000 claims description 12
- 125000004122 cyclic group Chemical group 0.000 claims description 9
- 238000010408 sweeping Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 4
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The invention discloses a method and a device for determining a cleaning range, a cleaning robot and a storage medium. The method for determining the cleaning range comprises the following steps: acquiring sub-maps of all sub-areas in an area to be cleaned and splicing the sub-maps into a total map; respectively drawing an external rectangular frame on each sub map on the total map and carrying out first correction treatment to ensure that the external rectangular frames corresponding to any two adjacent sub maps have intersection points; acquiring a plurality of edge contour line segments on the edge of the circumscribed rectangle frame after the first correction processing; performing second correction processing on the plurality of edge contour line segments to enable the plurality of edge contour line segments to be positioned on the sides of the circumscribed rectangle frame before the first correction processing; and sequentially connecting the edge contour line segments subjected to the second correction processing to form a closed edge contour line, and determining the edge contour line as a cleaning range. The cleaning method and the cleaning device can determine the cleaning range of the area to be cleaned, improve the intelligence of the cleaning robot and improve the user experience.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning range determining method and device, a cleaning robot and a computer readable storage medium.
Background
With the rapid development of sensor technology and control technology and the urgent need of human production and life, various intelligent devices with specific functions and purposes are continuously rushed into the life of people, such as cleaning robots with the functions of sweeping, sucking, dragging, washing and the like.
With the continuous improvement of the living standard of people, the living area is larger and is limited by the limitation of hardware at the present stage, the larger the battery capacity is, the higher the cost is, and a balance point needs to be found among the battery capacity, the cleaning area and the manufacturing cost. For a cleaning robot, a common operation mode at present is that the robot is continuously sweeping, and when the remaining power reaches a certain threshold, for example, 20%, the charging is performed again. If the recharging is successful, the cleaning is continued after the battery is fully charged; and if the recharging is unsuccessful, stopping the standby state. This approach does not allow dynamic adjustment based on the possible swept area and battery capacity, and the user experience is to be improved.
Therefore, it is desirable to provide a scheme for determining a cleaning range of an area to be cleaned based on a map scanned and acquired by an existing cleaning robot, predicting a cleaning area in advance, and intelligently allocating the remaining power of the cleaning robot, so that when the remaining power is not enough to perform comprehensive cleaning, the cleaning robot is timely recharged or a user is warned to make a better arrangement, thereby improving the intelligence of the cleaning robot. In order to implement the above scheme, how to determine the sweeping range of the cleaning region to predict the sweeping area in advance is a problem to be solved first.
Disclosure of Invention
In view of the above, the present invention provides a cleaning range determining method, apparatus, cleaning robot and computer readable storage medium to solve the problem of how to determine the cleaning range of an area to be cleaned to predict the cleaning area in advance.
In order to solve the above-described problem, a first aspect of the present invention provides a cleaning range determination method, including:
acquiring sub-maps of all sub-areas in an area to be cleaned, and splicing all the sub-maps into a total map corresponding to the area to be cleaned;
drawing a circumscribed rectangular frame on each sub-map on the total map respectively, and performing first correction processing on the circumscribed rectangular frames to enable the circumscribed rectangular frames corresponding to any two adjacent sub-maps to have an intersection point;
acquiring a plurality of edge contour line segments on the edge of the circumscribed rectangular frame after the first correction processing;
performing second correction processing on the plurality of edge contour line segments to enable the plurality of edge contour line segments to be positioned on the sides of the circumscribed rectangle frame before the first correction processing;
and sequentially connecting a plurality of edge contour line segments subjected to the second correction processing to form a closed edge contour line, and determining an area surrounded by the closed edge contour line as a cleaning range.
In a preferred embodiment, the obtaining a plurality of edge contour line segments on the edge of the circumscribed rectangle frame after the first correction processing includes:
determining an initial scanning point: selecting any one external rectangular frame, and selecting any one point on the side of the external rectangular frame, which is not intersected with the rest external rectangular frames, as an initial scanning point;
scanning to obtain a first edge contour line segment: scanning along the edge of the current external rectangular frame and clockwise or anticlockwise by taking the initial scanning point as a first starting point until the vertex of the current external rectangular frame or the intersection point of the current external rectangular frame and another external rectangular frame appears, interrupting the scanning to form a first end point, and obtaining a first edge contour line segment between the first starting point and the first end point;
scanning to obtain a second edge contour line segment: scanning to form a second end point by taking the first end point as a second start point and referring to a mode of scanning to obtain a first edge contour line segment, and obtaining a second edge contour line segment between the second start point and the second end point; if the first end point is the vertex of the current circumscribed rectangular frame, continuing to use the circumscribed rectangular frame as the current circumscribed rectangular frame; if the first end point is the intersection point of the current external rectangular frame and the other external rectangular frame, taking the other external rectangular frame as the current external rectangular frame;
and (3) acquiring the rest edge contour line segments by cyclic scanning: the end point of the previous scanning is the starting point of the next scanning, the circular scanning is performed in a mode of obtaining a second edge contour line segment by referring to the scanning, one edge contour line segment is formed between the starting point and the end point of each scanning, and the scanning is terminated until the initial scanning point appears after the scanning, so that a plurality of edge contour line segments are obtained;
if the scanning is carried out along the clockwise direction of the current circumscribed rectangular frame when the first edge contour line segment is obtained by scanning, each scanning for obtaining the second edge contour line segment by scanning and obtaining the rest edge contour line segments by cyclic scanning is carried out along the clockwise direction of the current circumscribed rectangular frame; if the scanning is performed along the counterclockwise direction of the current circumscribed rectangle frame when the first edge contour line segment is obtained by scanning, each scanning for obtaining the second edge contour line segment by scanning and obtaining the rest edge contour line segments by cyclic scanning is performed along the counterclockwise direction of the current circumscribed rectangle frame.
In a preferred scheme, the following points are selected as initial scanning points: a lower left corner vertex of a circumscribed rectangular frame positioned below the left on the general map; or, the top left corner vertex of the circumscribed rectangular frame positioned at the upper left on the general map; or, the top of the lower right corner of the circumscribed rectangle frame positioned at the lower right on the total map; or, the top right corner vertex of the circumscribed rectangle frame positioned at the upper right on the general map.
In a preferred embodiment, the performing a first correction process on the circumscribed rectangle frame includes: performing the first correction processing on part of the circumscribed rectangle frame or all the circumscribed rectangle frames to enable the circumscribed rectangle frames corresponding to any two adjacent sub-maps to have intersection points; the first correction processing is to move or enlarge the circumscribed rectangular frame.
In a preferred embodiment, the performing a second correction process on the plurality of edge contour line segments includes: for any edge contour line segment, judging whether the edge of the circumscribed rectangle frame where the edge is located has position change in the first correction treatment: if yes, performing second correction processing on any edge contour line segment, and correcting any edge contour line segment to be positioned on the side of the corresponding circumscribed rectangular frame before the first correction processing is performed; if not, the second correction processing is not carried out on any edge contour line segment.
In a preferred scheme, the first correction processing is performed on the circumscribed rectangle frame, so that the circumscribed rectangle frames corresponding to any two adjacent sub-maps have intersection points and edges are not on the same straight line.
In order to solve the above-described problem, a second aspect of the present invention provides a cleaning range determination device including:
the map acquisition module is configured to acquire sub-maps of all sub-areas in an area to be cleaned and splice all the sub-maps into a total map corresponding to the area to be cleaned;
the map preprocessing module is configured to draw an external rectangular frame on each sub-map on the total map respectively, and perform first correction processing on the external rectangular frame so that the external rectangular frames corresponding to any two adjacent sub-maps have intersection points;
the contour line segment acquisition module is configured to acquire a plurality of edge contour line segments on the side of the circumscribed rectangle frame after the first correction processing, and perform second correction processing on the plurality of edge contour line segments so that the plurality of edge contour line segments are all positioned on the side of the circumscribed rectangle frame before the first correction processing;
and the cleaning range determining module is configured to sequentially connect the plurality of edge contour line segments subjected to the second correction processing to form a closed edge contour line, and determine an area surrounded by the closed edge contour line as a cleaning range.
In order to solve the above technical problem, a third aspect of the present invention is to provide a cleaning robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the cleaning range determining method as described above when executing the program.
In a preferred aspect, the cleaning robot further includes a cleaning management unit configured to: predicting a required cleaning area based on the determined cleaning range, acquiring residual electric quantity information of the cleaning robot, and evaluating whether the residual electric quantity can comprehensively clean the required cleaning area; and if the residual electric quantity is not enough for carrying out comprehensive cleaning, a signal is fed back to the processor to prompt that the cleaning robot needs to be recharged and the charging amount is supplemented and a warning signal is sent to a user.
In order to solve the above technical problem, a fourth aspect of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which when executed by a processor, implements the steps of the determination method of the cleaning range as described above.
According to the cleaning range determining method and device, the cleaning robot and the computer readable storage medium provided by the embodiment of the invention, on the basis of the map scanned and obtained by the existing cleaning robot, the circumscribed rectangle frame is drawn on the sub-maps of all the sub-areas, then the edge contour line segment of the cleaning range is obtained on the basis of the circumscribed rectangle frame, the cleaning range of the area to be cleaned is determined on the basis of the edge contour line segment, and the cleaning area is predicted in advance. From this can carry out dynamic adjustment according to the area of cleaning possible and battery capacity, can combine the residual capacity of machine to carry out intelligent distribution, when residual capacity is not enough to clean comprehensively, in time carry out the backfill to cleaning machines people or carry out the early warning to the user, the suggestion user makes better arrangement, has promoted cleaning machines people's intelligence, has also improved user experience and has felt.
Drawings
FIG. 1 is a flowchart illustration of a method of determining a sweep range in an embodiment of the present invention;
FIGS. 2 a-2 d are graphical illustrations of a process for determining a sweep range in an exemplary embodiment of the invention;
fig. 3 is a block diagram of a cleaning range determination device in the embodiment of the present invention;
fig. 4 is a block diagram of a cleaning robot according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in the drawings and described in accordance with the drawings are exemplary only, and the invention is not limited to these embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
Fig. 1 is a flowchart illustration of a cleaning range determination method provided in an embodiment of the present application. The cleaning range determining method is applied to a terminal device such as a cleaning robot, and is mainly used for determining the cleaning range of an area to be cleaned and predicting the cleaning area in advance.
Referring to fig. 1, a method for determining a cleaning range according to an embodiment of the present application includes the following steps:
and acquiring sub-maps of all sub-areas in the area to be cleaned, and splicing all the sub-maps into a total map corresponding to the area to be cleaned.
The existing cleaning robot generally comprises a camera, a laser radar and other image signal acquisition modules, the cleaning robot is controlled to move in an area to be cleaned, sub-maps of all sub-areas are gradually scanned and obtained, and then all the sub-maps are spliced into a total map corresponding to the area to be cleaned.
As a specific case, as shown in fig. 2a, the area to be cleaned includes 4 sub-areas, and the correspondingly obtained 4 sub-maps are a sub-map A1, a sub-map A2, a sub-map A3, and a sub-map A4, respectively.
And respectively drawing an external rectangular frame on each sub-map on the total map, and performing first correction processing on the external rectangular frame to enable the external rectangular frames corresponding to any two adjacent sub-maps to have intersection points.
Due to the scanning characteristic, the sub-maps obtained through scanning of the cleaning robot are usually irregular, and the range of each sub-area can be better covered by drawing the circumscribed rectangular frames on each sub-map respectively, so that the accuracy of the finally determined cleaning range is improved.
In a specific scheme, the first modification process performed on the circumscribed rectangle frame may be: and carrying out first correction processing on part of the circumscribed rectangle frame or all the circumscribed rectangle frames so as to enable the circumscribed rectangle frames corresponding to any two adjacent sub-maps to have intersection points. The first correction process may be to move or enlarge the corresponding circumscribed rectangular frame.
Preferably, in this embodiment, the first correction processing is performed on the circumscribed rectangle frame, so that the circumscribed rectangle frames corresponding to any two adjacent sub-maps have intersection points and edges are not on the same straight line. That is, two external rectangular frames corresponding to any two adjacent sub-maps have mutually crossed parts, and the sides of the two external rectangular frames are not on the same straight line (the sides are not mutually overlapped), so that the number of intersection points of the two external rectangular frames is reduced, and in the process of acquiring the edge contour line segment in the subsequent scanning process, when the intersection points of the two external rectangular frames are determined, the calculation amount can be greatly reduced, and the intersection points of the two external rectangular frames can be determined more quickly.
As a specific example, as shown in fig. 2B, a rectangular frame is respectively circumscribed to 4 sub-maps on the total map, a circumscribed rectangular frame B1 corresponds to the sub-map A1, a circumscribed rectangular frame B2 corresponds to the sub-map A2, a circumscribed rectangular frame B3 corresponds to the sub-map A3, and a circumscribed rectangular frame B4 corresponds to the sub-map A4.
And performing first correction processing on the circumscribed rectangular frames B1 to B4, so that the circumscribed rectangular frames corresponding to any two adjacent sub-maps have intersection points and the sides are not on the same straight line. For example, the circumscribed rectangular frame B2 that is adjacent to the circumscribed rectangular frame B1, the circumscribed rectangular frame B2 and the circumscribed rectangular frame B1 have portions that intersect with each other, and any one side of the circumscribed rectangular frame B2 and any one side of the circumscribed rectangular frame B1 are not on the same straight line; the circumscribed rectangular frame B3 is adjacent to the circumscribed rectangular frame B1, the circumscribed rectangular frame B3 and the circumscribed rectangular frame B1 have portions that intersect with each other, and any one side of the circumscribed rectangular frame B3 and any one side of the circumscribed rectangular frame B1 are not on the same straight line.
And acquiring a plurality of edge contour line segments on the edge of the circumscribed rectangle frame after the first correction processing.
Preferably, in this embodiment, a plurality of edge contour line segments are obtained on the side of the circumscribed rectangle frame after the first correction processing according to the following steps:
determining an initial scanning point: and selecting any one of the external rectangular frames, and selecting any one point on the non-intersected edge of one external rectangular frame and the rest external rectangular frames as an initial scanning point.
Scanning to obtain a first edge contour line segment: and scanning clockwise or anticlockwise along the edge of the current circumscribed rectangular frame by taking one circumscribed rectangular frame as the current circumscribed rectangular frame and taking the initial scanning point as a first starting point until the vertex of the current circumscribed rectangular frame or the intersection point of the current circumscribed rectangular frame and the other circumscribed rectangular frame appears, interrupting the scanning to form a first end point, and obtaining a first edge contour line segment between the first starting point and the first end point.
Scanning to obtain a second edge contour line segment: scanning to form a second end point by taking the first end point as a second start point and referring to a mode of scanning to obtain a first edge contour line segment, and obtaining a second edge contour line segment between the second start point and the second end point; if the first end point is the vertex of the current circumscribed rectangular frame, continuing to use one circumscribed rectangular frame as the current circumscribed rectangular frame; and if the first end point is the intersection point of the current external rectangular frame and the other external rectangular frame, taking the other external rectangular frame as the current external rectangular frame.
And (3) acquiring the rest edge contour line segments by cyclic scanning: and circularly scanning in a mode of acquiring a second edge contour line segment by referring to scanning when the end point of the previous scanning is the start point of the next scanning, respectively forming an edge contour line segment between the start point and the end point of each scanning, and terminating the scanning until the initial scanning point appears during the scanning, thereby obtaining a plurality of edge contour line segments.
If the scanning is carried out along the clockwise direction of the current circumscribed rectangular frame when the first edge contour line segment is obtained by scanning, each scanning for obtaining the second edge contour line segment by scanning and obtaining the rest edge contour line segments by cyclic scanning is carried out along the clockwise direction of the current circumscribed rectangular frame; if the scanning is performed along the counterclockwise direction of the current circumscribed rectangle frame when the first edge contour line segment is obtained by scanning, each scanning for obtaining the second edge contour line segment by scanning and obtaining the rest edge contour line segments by cyclic scanning is performed along the counterclockwise direction of the current circumscribed rectangle frame.
The following describes the steps of obtaining a plurality of edge contour line segments on the sides of the circumscribed rectangle frame after the first correction processing with reference to fig. 2 c.
(1) And selecting a vertex A at the lower left corner of an external rectangular frame B1 positioned at the lower left on the total map as an initial scanning point.
(2) And taking the external rectangular frame B1 as the current external rectangular frame, taking the vertex A as a first starting point, scanning along the edge of the current external rectangular frame B1 in the anticlockwise direction until the vertex B of the current external rectangular frame B1 appears, interrupting the scanning to form a first end point, and obtaining a first edge contour line segment AB between the first starting point and the first end point.
(3) And taking the first end point (namely the vertex B) as the second starting point, and continuing to take the external rectangular frame B1 as the current external rectangular frame because the first end point is the vertex of the external rectangular frame B1. And scanning along the edge of the current circumscribed rectangular frame B1 in the anticlockwise direction by taking the vertex B as a second starting point until an intersection point C of the current circumscribed rectangular frame B1 and another circumscribed rectangular frame B2 appears, interrupting the scanning to form a second end point, and obtaining a second edge contour line segment BC between the second starting point and the second end point.
(4) And taking the second end point (namely the intersection point C) as a third starting point, and taking the other circumscribed rectangular frame B2 as the current circumscribed rectangular frame because the second end point is the intersection point of the circumscribed rectangular frame B1 and the other circumscribed rectangular frame B2. And scanning along the edge of the current circumscribed rectangular frame B2 in the anticlockwise direction by taking the intersection point C as a third starting point until the vertex D of the current circumscribed rectangular frame appears, interrupting the scanning to form a third end point, and obtaining a third edge contour line segment CD between the third starting point and the third end point.
(5) And taking the third end point (namely the vertex D) as the fourth starting point, and continuing to take the circumscribed rectangular frame B2 as the current circumscribed rectangular frame because the third end point is the vertex of the circumscribed rectangular frame B2. And scanning along the edge of the current circumscribed rectangular frame B2 in the anticlockwise direction by taking the vertex D as a fourth starting point until an intersection point E of the current circumscribed rectangular frame B2 and another circumscribed rectangular frame B3 appears, interrupting the scanning to form a fourth end point, and obtaining a fourth edge contour line segment DE between the fourth starting point and the fourth end point.
(6) And with reference to the scanning process, sequentially scanning to obtain edge contour line segments EF, FG, GH, HI, IJ, JK, KL and LA by taking the end point of the previous scanning as the starting point of the next scanning, forming a closed-loop scanning process when scanning till an initial scanning point A appears, and terminating the scanning at the moment to obtain a plurality of edge contour line segments.
In some other preferred embodiments, for example, referring to fig. 2c, the vertex J at the upper left corner of the circumscribed rectangular frame B4 located at the upper left on the general map may be selected as the initial scanning point, the vertex D at the lower right corner of the circumscribed rectangular frame B2 located at the lower right on the general map may be selected as the initial scanning point, and the vertex I at the upper right corner of the circumscribed rectangular frame B4 located at the upper right on the general map may be selected. It will be readily appreciated that other points, such as any point on the line segment AB,
and performing second correction processing on the plurality of edge contour line segments to enable the plurality of edge contour line segments to be positioned on the sides of the circumscribed rectangle frame before the first correction processing.
Here, the second correction process may be understood as a reverse correction to the first correction process. Specifically, for any edge contour line segment, whether the edge of the circumscribed rectangular frame where the edge is located has a position change in the first correction processing is determined: if so, performing second correction processing on the edge contour line segment to correct the edge contour line segment to the edge of the corresponding circumscribed rectangular frame before the first correction processing is performed; if not, the second correction processing is not carried out on the edge contour line segment.
And sequentially connecting the plurality of edge contour line segments after the second correction processing to form a closed edge contour line, and determining an area surrounded by the closed edge contour line as a cleaning range.
As shown in fig. 2d, the plurality of edge contour line segments after the second correction processing are sequentially connected to form a closed edge contour line X, and the region surrounded by the edge contour line X is the cleaning range determined in the specific case.
According to the method for determining the cleaning range, on the basis of the map scanned and acquired by the existing cleaning robot, the circumscribed rectangle frame is drawn on the sub-map of each sub-region, then the edge contour line segment of the cleaning range is acquired on the basis of the circumscribed rectangle frame, and the cleaning range of the region to be cleaned is determined on the basis of the edge contour line segment, so that the cleaning area can be predicted in advance. And then can carry out dynamic adjustment according to the area of cleaning possible and battery capacity, can combine the residual capacity of machine to carry out intelligent distribution, when residual capacity is not enough to clean comprehensively, in time carry out the recharge to cleaning machines people or carry out the early warning to the user, the suggestion user makes better arrangement, has promoted cleaning machines people's intelligence, has also improved user experience and has felt.
Based on the method for determining the cleaning range provided by the above embodiment, the embodiment of the present application further provides a device for determining the cleaning range, and as shown in fig. 3, the device includes a map obtaining module 1, a map preprocessing module 2, an outline segment obtaining module 3, and a cleaning range determining module 4.
The map acquisition module 1 is configured to acquire sub-maps of each sub-area in the area to be cleaned, and splice all the sub-maps into a total map corresponding to the area to be cleaned.
The map preprocessing module 2 is configured to draw an external rectangular frame on each sub-map on the total map, and perform first correction processing on the external rectangular frame, so that the external rectangular frames corresponding to any two adjacent sub-maps have an intersection point.
The outline segment obtaining module 3 is configured to obtain a plurality of edge outline segments on the edge of the circumscribed rectangle frame after the first correction processing, and perform second correction processing on the plurality of edge outline segments, so that the plurality of edge outline segments are all located on the edge of the circumscribed rectangle frame before the first correction processing.
The cleaning range determining module 4 is configured to sequentially connect the plurality of edge contour line segments after the second correction processing to form a closed edge contour line, and determine an area surrounded by the closed edge contour line as a cleaning range.
Based on the method for determining the cleaning range provided in the above embodiment, the embodiment of the present application further provides a cleaning robot, as shown in fig. 4, the cleaning robot 100 includes: the system comprises a processor 10, a memory 20, an input device 30 and an output device 40, wherein a GPU is arranged in the processor 10, the number of the processors 10 can be one or more, and one processor 10 is taken as an example in FIG. 4. The processor 10, the memory 20, the input device 30, and the output device 40 in the cleaning robot 100 may be connected by a bus or other means.
The memory 20, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules. The processor 10 executes software programs, instructions and modules stored in the memory 20 so as to execute various functional applications of the device and data processing, namely, to realize the steps of the cleaning range determination method provided in the foregoing embodiment of the present application. The input device 30 is used to receive image data, input numeric or character information, and generate key signal inputs related to user settings and function control of the apparatus. The output device 40 may include a display device such as a display screen, for example, for displaying images.
In this embodiment, as shown in fig. 4, the cleaning robot 100 further includes a cleaning management unit 50, and the cleaning management unit 50 is configured to: the required cleaning area is predicted based on the determined cleaning range, and the remaining power information of the cleaning robot 100 is acquired to evaluate whether the remaining power can perform a comprehensive cleaning of the required cleaning area. Wherein, if the remaining power is not sufficient for the overall cleaning, a signal is fed back to the processor 10 to prompt that the cleaning robot 100 needs to be recharged and a warning signal is sent to the user.
Based on the determination method of the cleaning range provided in the above embodiment, the embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the determination method of the cleaning range provided in the foregoing embodiment of the present application. The computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to magnetic, optical, and semiconductor memory, among others.
It should be noted that the above-mentioned embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A method for determining a sweeping range, comprising:
acquiring sub-maps of all sub-areas in an area to be cleaned, and splicing all the sub-maps into a total map corresponding to the area to be cleaned;
drawing a circumscribed rectangular frame on each sub-map on the total map respectively, and performing first correction processing on the circumscribed rectangular frames to enable the circumscribed rectangular frames corresponding to any two adjacent sub-maps to have an intersection point;
acquiring a plurality of edge contour line segments on the edge of the circumscribed rectangle frame after the first correction processing;
performing second correction processing on the plurality of edge contour line segments to enable the plurality of edge contour line segments to be positioned on the sides of the circumscribed rectangle frame before the first correction processing;
and sequentially connecting a plurality of edge contour line segments subjected to the second correction processing to form a closed edge contour line, and determining an area surrounded by the closed edge contour line as a cleaning range.
2. The method for determining the sweeping area according to claim 1, wherein the obtaining a plurality of edge contour line segments on the side of the circumscribed rectangle frame after the first correction processing includes:
determining an initial scanning point: selecting any one external rectangular frame, and selecting any one point on the side of the external rectangular frame, which is not intersected with the rest external rectangular frames, as an initial scanning point;
scanning to obtain a first edge contour line segment: scanning along the edge of the current external rectangular frame and clockwise or anticlockwise by taking the initial scanning point as a first starting point until the vertex of the current external rectangular frame or the intersection point of the current external rectangular frame and another external rectangular frame appears, interrupting the scanning to form a first end point, and obtaining a first edge contour line segment between the first starting point and the first end point;
scanning to obtain a second edge contour line segment: scanning to form a second end point by taking the first end point as a second start point and referring to a mode of scanning to obtain a first edge contour line segment, and obtaining a second edge contour line segment between the second start point and the second end point; if the first end point is the vertex of the current circumscribed rectangular frame, continuing to use the circumscribed rectangular frame as the current circumscribed rectangular frame; if the first end point is the intersection point of the current external rectangular frame and the other external rectangular frame, taking the other external rectangular frame as the current external rectangular frame;
and (3) acquiring the rest edge contour line segments by cyclic scanning: the end point of the previous scanning is the starting point of the next scanning, the circular scanning is performed in a mode of obtaining a second edge contour line segment by referring to the scanning, one edge contour line segment is formed between the starting point and the end point of each scanning, and the scanning is terminated until the initial scanning point appears after the scanning, so that a plurality of edge contour line segments are obtained;
if the scanning is carried out along the clockwise direction of the current circumscribed rectangular frame when the first edge contour line segment is obtained by scanning, each scanning for obtaining the second edge contour line segment by scanning and obtaining the rest edge contour line segments by cyclic scanning is carried out along the clockwise direction of the current circumscribed rectangular frame; if the scanning is performed along the counterclockwise direction of the current circumscribed rectangle frame when the first edge contour line segment is obtained by scanning, each scanning for obtaining the second edge contour line segment by scanning and obtaining the rest edge contour line segments by cyclic scanning is performed along the counterclockwise direction of the current circumscribed rectangle frame.
3. The method of determining the sweep range according to claim 2, characterized in that the following points are selected as the initial scanning points:
a lower left corner vertex of a circumscribed rectangular frame positioned below the left on the general map; or, alternatively, the number of the first and second,
the top point of the upper left corner of a circumscribed rectangular frame positioned above the left side on the general map; or it is that,
a lower right corner vertex of a circumscribed rectangular frame positioned at the lower right on the general map; or, alternatively, the number of the first and second,
and the vertex of the upper right corner of the circumscribed rectangular frame positioned at the upper right on the general map.
4. The method for determining the cleaning range according to claim 2, wherein the first correction processing performed on the circumscribed rectangular frame includes:
performing the first correction processing on part of the circumscribed rectangular frames or all the circumscribed rectangular frames to enable the circumscribed rectangular frames corresponding to any two adjacent sub-maps to have intersection points; the first correction processing is to move or enlarge the circumscribed rectangular frame.
5. The method for determining the cleaning range according to claim 4, wherein the second correction processing for the plurality of edge contour line segments includes:
for any edge contour line segment, judging whether the edge of the circumscribed rectangle frame where the edge is located has position change in the first correction treatment: if so, performing second correction processing on any edge contour line segment, and correcting any edge contour line segment to the edge of the corresponding circumscribed rectangular frame before the first correction processing; if not, the second correction processing is not carried out on any edge contour line segment.
6. The method for determining the cleaning range according to any one of claims 1 to 5, wherein the circumscribed rectangle frame is subjected to a first correction process, so that the circumscribed rectangles corresponding to any two adjacent sub-maps have an intersection point and edges thereof are not on the same straight line.
7. A sweeping range determining apparatus, comprising:
the map acquisition module is configured to acquire sub-maps of all sub-areas in an area to be cleaned and splice all the sub-maps into a total map corresponding to the area to be cleaned;
the map preprocessing module is configured to draw an external rectangular frame on each sub-map on the total map respectively, and perform first correction processing on the external rectangular frame so that the external rectangular frames corresponding to any two adjacent sub-maps have intersection points;
the contour line segment acquisition module is configured to acquire a plurality of edge contour line segments on the side of the circumscribed rectangle frame after the first correction processing, and perform second correction processing on the plurality of edge contour line segments so that the plurality of edge contour line segments are all positioned on the side of the circumscribed rectangle frame before the first correction processing;
and the cleaning range determining module is configured to sequentially connect the plurality of edge contour line segments subjected to the second correction processing to form a closed edge contour line, and determine an area surrounded by the closed edge contour line as a cleaning range.
8. A cleaning robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program carries out the steps of the method for determining a cleaning range according to any of claims 1-6.
9. The cleaning robot of claim 8, further comprising a sweep management unit configured to: predicting a required cleaning area based on the determined cleaning range, acquiring residual electric quantity information of the cleaning robot, and evaluating whether the residual electric quantity can comprehensively clean the required cleaning area; and if the residual electric quantity is not enough for carrying out comprehensive cleaning, a signal is fed back to the processor to prompt that the cleaning robot needs to be recharged for charging and send a warning signal to a user.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when being executed by a processor, carries out the steps of the method of determining a cleaning range according to any one of claims 1 to 6.
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