CN106983454B - Sweeping robot sweeping method and sweeping robot - Google Patents

Sweeping robot sweeping method and sweeping robot Download PDF

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Publication number
CN106983454B
CN106983454B CN201710335624.2A CN201710335624A CN106983454B CN 106983454 B CN106983454 B CN 106983454B CN 201710335624 A CN201710335624 A CN 201710335624A CN 106983454 B CN106983454 B CN 106983454B
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obstacle
cleaning
position information
sweeping
area
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CN106983454A (en
Inventor
成悦
褚跃跃
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Beijing Xiaomi Mobile Software Co Ltd
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Beijing Xiaomi Mobile Software Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The disclosure relates to a sweeping robot and a sweeping method thereof, wherein the sweeping method comprises the following steps: and carrying out maximum area cleaning treatment on the area to be cleaned. And cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again. And sending a prompt message to the terminal. According to the method, the obstacle in the cleaning processing process can be determined again, so that the user can move away the obstacle according to the prompt message, the cleaning robot can be guaranteed to clean the position of the obstacle, and the user experience is improved.

Description

Sweeping robot sweeping method and sweeping robot
Technical Field
The disclosure relates to an intelligent home technology, in particular to a sweeping robot and a sweeping method thereof.
Background
Nowadays, the smart home technology brings great convenience to the life of people. With the continuous development of science and technology, people have higher requirements on the intelligence of intelligent homes.
The sweeping robot is a typical representative in the intelligent home technology. It is well known to more users. It is an intelligent house that can carry out the automatic dust absorption to ground. The intelligent floor cleaning system can detect factors such as room size, furniture placement and ground cleanliness, and formulate a reasonable cleaning route by means of a built-in program, and has certain intelligence.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a sweeping robot and a sweeping method thereof. The technical scheme is as follows:
according to a first aspect of the embodiments of the present disclosure, there is provided a sweeping robot sweeping method, including:
carrying out maximum area cleaning treatment on the area to be cleaned;
cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area when the sweeping robot encounters the secondary cleaning treatment process;
and sending a prompt message to the terminal, wherein the prompt message comprises the position information of the obstacle.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: according to the method, the obstacle in the process of cleaning again can be determined, so that the user can move away the obstacle according to the prompt message, for example, the user can move away the obstacle such as a floor stool in the center of a living room through the method, the sweeping robot can be ensured to clean the position of the obstacle, and the user experience is improved.
Optionally, the method further comprises: and drawing a first cleaning travel map in the maximum area cleaning treatment process.
Based on this, one alternative is: cleaning treatment is carried out on the area to be cleaned again, and the position information of the obstacle in the process of cleaning treatment again is determined, wherein the method comprises the following steps: and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
Another alternative is: cleaning treatment is carried out on the area to be cleaned again, and the position information of the obstacle in the process of cleaning treatment again is determined, wherein the method comprises the following steps: cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again; comparing the first cleaning progress map with the second cleaning progress map, and acquiring a comparison result; and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
The position information of the barrier can be effectively determined through the two optional modes, so that the user can move away the barrier according to the prompt message, the sweeping robot can be guaranteed to sweep the position of the barrier, and the user experience is further improved.
Optionally, the method further comprises: when the sweeping robot meets an obstacle, next position information of the obstacle is determined in the first sweeping progress map, and sweeping processing is continuously carried out on an area corresponding to the next position information. Wherein the next position information is the next position information of the obstacle on the cleaning travel route.
Optionally, sending a prompt message to the terminal includes: counting the historical sending times of the prompt message corresponding to the barrier; and when the historical sending times of the prompt message corresponding to the obstacle are less than or equal to a preset threshold value, sending the prompt message to the terminal.
That is, when the number of times of the historical transmission of the prompt message corresponding to the obstacle is greater than the preset threshold, it indicates that the user has not moved the obstacle even if the user receives the prompt message through the terminal. In this case, the cleaning robot does not send the prompt message corresponding to the obstacle for each subsequent cleaning process of the area to be cleaned. So as to avoid bringing unnecessary trouble to the user; meanwhile, unnecessary power consumption of the sweeping robot can be reduced.
Optionally, the method further comprises: receiving an update message sent by a terminal, wherein the update message comprises: the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle; and deleting the position information of the long-term obstacle in the cleaning progress map according to the update message so as to update the cleaning progress map.
In this way, the sweeping robot does not need to record the position information of the long-term obstacle every time and send a prompt message. So as to avoid bringing unnecessary trouble to the user; meanwhile, unnecessary power consumption of the sweeping robot can be reduced. Thereby improving the user experience.
Optionally, the prompting message is used to prompt the user to move the obstacle.
Embodiments of the present invention will be described below to provide a cleaning robot, where the portions correspond to the first aspect and the optional manners of the first aspect, and the corresponding technical effects are the same, and are not described herein again.
According to a second aspect of the embodiments of the present disclosure, there is provided a sweeping robot, including: the first processing module is configured to carry out maximum area cleaning processing on the area to be cleaned; the second processing module is configured to perform cleaning processing on the area to be cleaned again and determine position information of the obstacle in the cleaning processing process again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area when the sweeping robot encounters the secondary cleaning treatment process; a sending module configured to send a prompt message to the terminal, the prompt message including location information of the obstacle.
Optionally, the method further comprises: a third processing module configured to draw the first sweeping travel map in the maximum area sweeping processing.
Optionally, the second processing module is specifically configured to: and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
Optionally, the second processing module is specifically configured to: cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again; comparing the first cleaning progress map with the second cleaning progress map, and acquiring a comparison result; and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
Optionally, the method further comprises: the fourth processing module is configured to determine next position information of the obstacle in the first cleaning progress map and continue to perform cleaning processing on an area corresponding to the next position information when the sweeping robot encounters the obstacle; wherein the next position information is the next position information of the obstacle on the cleaning travel route.
Optionally, the method further comprises: the counting module is configured to count the historical sending times of the prompt messages corresponding to the obstacles; and the sending module is specifically configured to send the prompt message to the terminal when the historical sending times of the prompt message corresponding to the obstacle are less than or equal to a preset threshold value.
Optionally, the method further comprises: a receiving module configured to receive an update message sent by a terminal, the update message including: the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle; an update module configured to delete the position information of the long-term obstacle in the cleaning travel map according to the update message to update the cleaning travel map.
Optionally, the prompting message is used to prompt the user to move the obstacle.
According to a third aspect of the embodiments of the present disclosure, there is provided a sweeping robot, including:
a processor and a transmitter;
a memory for storing executable instructions of the processor;
wherein the processor is configured to:
carrying out maximum area cleaning treatment on the area to be cleaned;
cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area when the sweeping robot encounters the secondary cleaning treatment process;
a transmitter configured to transmit a prompt message including position information of the obstacle to the terminal.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: a sweeping robot sweeping method and a sweeping robot are provided, the method comprises the following steps: and carrying out maximum area cleaning treatment on the area to be cleaned, and drawing a cleaning progress map. And cleaning the area to be cleaned again, and recording the position information of the obstacle in the process of cleaning again. And sending a prompt message to the terminal. The user can move away the obstacles according to the prompt message, for example, the user can move the obstacles such as a floor stool in the center of the living room through the method, so that the sweeping robot can be ensured to sweep the positions of the obstacles, and the user experience is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flow chart illustrating a sweeping robot sweeping method according to an exemplary embodiment;
fig. 2 is a schematic view of an application scenario of a sweeping robot sweeping method according to an exemplary embodiment;
FIG. 3 is a schematic view of a sweeping travel map shown in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram of an interface shown in accordance with an exemplary embodiment;
FIG. 5 is a schematic view of a sweeping travel map shown in accordance with another exemplary embodiment;
FIG. 6 is a comparative schematic diagram illustrating a sweeping travel map according to an exemplary embodiment;
FIG. 7 is a flow chart illustrating a method of sweeping by a sweeping robot in accordance with another exemplary embodiment;
FIG. 8 is a flow chart illustrating a sweeping robot sweeping method according to yet another exemplary embodiment;
figure 9 is a block diagram of a sweeping robot shown in accordance with an exemplary embodiment;
figure 10 is a block diagram of a sweeping robot according to another exemplary embodiment;
figure 11 is a block diagram of a sweeping robot according to yet another exemplary embodiment;
figure 12 is a block diagram of a sweeping robot according to yet another exemplary embodiment;
figure 13 is a block diagram of a sweeping robot according to yet another exemplary embodiment;
figure 14 is a block diagram of a sweeping robot shown in accordance with an exemplary embodiment;
fig. 15 is a block diagram illustrating a sweeping robot in accordance with another exemplary embodiment.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a flowchart illustrating a cleaning method of a cleaning robot according to an exemplary embodiment, which is illustrated in the embodiment by applying the cleaning method to the cleaning robot. Fig. 2 is a schematic view of an application scenario of a cleaning method of a cleaning robot according to an exemplary embodiment, and as shown in fig. 2, the cleaning robot may be in communication connection with a terminal through a cloud. Or, the sweeping robot can be in communication connection with the terminal without the cloud. The sweeping robot can adopt a mobile communication network (including 2 Generation (G), 3G, 4G and 5G networks) or a Wireless Fidelity (WIFI) communication mode. The sweeping method of the sweeping robot comprises the following steps:
in step S101: and carrying out maximum area cleaning treatment on the area to be cleaned.
In the embodiment of the present disclosure, the maximum area cleaning treatment of the area to be cleaned refers to: when the area to be cleaned has no non-fixedly placed obstacles, the sweeping robot carries out cleaning treatment on the area to be cleaned. The non-fixedly placed obstacles can be stools which are randomly placed by users, toys which are randomly discarded by children and the like. Whereas furniture in a room may be understood as a fixedly placed obstacle. Fig. 3 is a schematic diagram of a sweeping progress map according to an exemplary embodiment, and as shown in fig. 3, when a line exists on a square box, it indicates that the sweeping robot passes through an area corresponding to the square box, and based on this, the line shown in fig. 3 is an entire progress track of the sweeping robot.
In step S102: cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again;
the obstacle is an obstacle which is encountered by the sweeping robot in the process of cleaning again and is cleaned relative to the maximum area. The sweeping robot can record the position information of the barrier in the process of cleaning the area to be cleaned again; after the cleaning process is performed again on the area to be cleaned, the position information of the obstacle may be determined by comparing the cleaning travel maps of the two times of cleaning.
In step S103: and sending a prompt message to the terminal, wherein the prompt message comprises the position information of the obstacle.
The prompting message includes location information of the obstacle. Optionally, the prompting message is used to prompt the user to move the obstacle. Fig. 4 is a schematic interface diagram illustrating an exemplary embodiment, and as shown in fig. 4, the terminal displays the prompt message to prompt the user to move away from the obstacle, where the area enclosed by the circle is the area where the obstacle is located.
The embodiment of the disclosure provides a sweeping robot sweeping method, which includes: and carrying out maximum area cleaning treatment on the area to be cleaned. And cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again. And sending a prompt message to the terminal. According to the method, the obstacle in the process of cleaning again can be determined, so that the user can move away the obstacle according to the prompt message, for example, the user can move away the obstacle such as a floor stool in the center of a living room through the method, the sweeping robot can be ensured to clean the position of the obstacle, and the user experience is improved.
Wherein the method further comprises: and drawing a first cleaning travel map in the maximum area cleaning treatment process. Based on this, step S102 includes two alternatives:
the first alternative is: and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
Specifically, fig. 5 is a schematic diagram of a cleaning travel map according to another exemplary embodiment, as shown in fig. 5, the sweeping robot performs cleaning processing according to the cleaning travel map, and when an infrared sensor in the sweeping robot detects an obstacle, the sweeping robot bypasses the obstacle, and records position information of the obstacle in the cleaning travel map. As shown in fig. 5, the position enclosed by the box is the area where the obstacle is located.
The second alternative is: cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again; comparing the first cleaning progress map with the second cleaning progress map, and acquiring a comparison result; and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
Specifically, fig. 6 is a comparative schematic diagram illustrating a sweeping travel map according to an exemplary embodiment, where the left side is a first sweeping travel map and the right side is a second sweeping travel map, as shown in fig. 6. The position information of the obstacle in the process of the re-cleaning process can be determined by the comparison. As shown in fig. 6, the position in the square frame circle in the second cleaning travel map on the right side is the area where the obstacle is located.
Optionally, the method further comprises: when the sweeping robot meets an obstacle, next position information of the obstacle is determined in the sweeping progress map, and the sweeping processing is continuously carried out on an area corresponding to the next position information. And the next position information is the next position information of the obstacle on the cleaning travel route. As shown in fig. 5, the sweeping robot bypasses the obstacle and continues to perform the cleaning process on the area corresponding to the next position information according to the cleaning route.
Considering that the user does not want to remove the obstacle sometimes, but the sweeping robot sends a prompt message every time the sweeping robot detects the obstacle, on one hand, unnecessary trouble is brought to the user; on the other hand, unnecessary power consumption of the sweeping robot is caused. The disclosed embodiments take the following alternative approaches to address this technical problem.
Specifically, fig. 7 is a flowchart illustrating a cleaning method of a cleaning robot according to another exemplary embodiment, and as shown in fig. 7, the method includes:
in step S701: carrying out maximum area cleaning treatment on the area to be cleaned;
in step S702: cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again;
steps S701 to S702 are the same as steps S101 to S102, and are not described herein again.
In step S703: counting the historical sending times of the prompt message corresponding to the barrier;
in step S704: judging whether the historical sending times of the prompt message corresponding to the obstacle is larger than a preset threshold value or not; if the historical sending times of the prompt message corresponding to the obstacle is greater than a preset threshold, executing step S705; otherwise, executing step S706;
in step S705: next, not sending a prompt message corresponding to the barrier in each cleaning treatment of the area to be cleaned;
with reference to step S703 to step S705: the preset threshold value can be set to 5, 10 or 20, etc., and the user can set the preset threshold value according to own will. When the historical sending times of the prompt message corresponding to the obstacle are larger than the preset threshold value, the fact that the user does not move the obstacle even if the user receives the prompt message through the terminal is indicated. In this case, the cleaning robot does not send the prompt message corresponding to the obstacle for each subsequent cleaning process of the area to be cleaned. So as to avoid bringing unnecessary trouble to the user; meanwhile, unnecessary power consumption of the sweeping robot can be reduced.
Consider that sometimes the user may not move the obstacle many times because it is too busy, but does not indicate that the user does not want to move the obstacle. Therefore, the user can clear the historical sending times of the prompt message corresponding to the obstacle. Therefore, the sweeping robot can count the sending times of the prompt message corresponding to the obstacle again. Based on this, the user can receive the prompt message again to improve the user experience.
In step S706: and sending a prompt message to the terminal.
The following description is made with reference to steps S703, S704, and step S706: and when the historical sending times of the prompt messages corresponding to the same obstacle are smaller than or equal to a preset threshold value, the sweeping robot sends the prompt messages to the terminal under the condition. To improve the user experience.
Optionally, fig. 8 is a flowchart illustrating a cleaning method of a cleaning robot according to still another exemplary embodiment, as shown in fig. 8, the method further includes:
in step S801: receiving an update message sent by a terminal;
the update message includes: and the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle. For example: and when the terminal determines that the sending times of the prompt messages corresponding to the obstacles are larger than a preset threshold value according to the position information of the obstacles and the historical sending times of the prompt messages corresponding to the obstacles, the terminal marks the obstacles as long-term obstacles. And the position information of the long-term obstacle is carried into an updating message so as to send the updating message to the sweeping robot.
In step S802: deleting the position information of the long-term obstacle in the cleaning progress map according to the update message to update the cleaning progress map.
And after receiving the update message, the sweeping robot deletes the position information of the long-term obstacles in the sweeping progress map according to the update message so as to update the sweeping progress map. Namely, the long-term obstacle is considered to be equivalent to a fixedly placed obstacle, and the area where the obstacle is located is not cleaned by the sweeping robot. Therefore, the sweeping robot can carry out sweeping treatment according to the updated sweeping travelling map so as to avoid the area where the obstacle is located. To improve the user experience.
The sequence of any step from step S801 to step S802 to step S101 to step S103 is not limited in this disclosure.
In this way, the sweeping robot does not need to record the position information of the long-term obstacle every time and send a prompt message. So as to avoid bringing unnecessary trouble to the user; meanwhile, unnecessary power consumption of the sweeping robot can be reduced. Thereby improving the user experience.
Figure 9 is a block diagram illustrating a sweeping robot in accordance with an exemplary embodiment. As shown in fig. 9, the sweeping robot includes:
the first processing module 901 is configured to perform maximum area cleaning processing on a region to be cleaned.
A second processing module 902, configured to perform cleaning processing again on the area to be cleaned, and determine position information of the obstacle in the cleaning processing process again; the obstacle is an obstacle which is encountered by the sweeping robot in the process of cleaning again and is cleaned relative to the maximum area.
A sending module 903 configured to send a prompt message to the terminal, the prompt message including location information of the obstacle.
Optionally, the prompt message is used to prompt the user to move the obstacle.
Fig. 10 is a block diagram illustrating a sweeping robot in accordance with another exemplary embodiment. As shown in fig. 10, optionally, the sweeping robot further includes: a third processing module 904 configured to map a first sweeping travel map during a maximum area sweeping process.
Optionally, the second processing module 902 is specifically configured to: and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
Optionally, the second processing module 902 is specifically configured to: cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again; comparing the first cleaning progress map with the second cleaning progress map, and acquiring a comparison result; and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
Fig. 11 is a block diagram illustrating a sweeping robot in accordance with yet another exemplary embodiment. As shown in fig. 11, optionally, the sweeping robot further includes: a fourth processing module 905, configured to determine, when the sweeping robot encounters an obstacle, next position information of the obstacle in the first sweeping progress map, and continue to perform sweeping processing on an area corresponding to the next position information; wherein the next position information is the next position information of the obstacle on the cleaning travel route.
Fig. 12 is a block diagram illustrating a sweeping robot in accordance with yet another exemplary embodiment. As shown in fig. 12, optionally, the sweeping robot further includes: a counting module 906 configured to count the historical sending times of the prompt message corresponding to the obstacle; the sending module 903 is specifically configured to send a prompt message to the terminal when the historical sending times of the prompt message corresponding to the obstacle is less than or equal to a preset threshold.
Fig. 13 is a block diagram illustrating a sweeping robot in accordance with yet another exemplary embodiment. As shown in fig. 13, optionally, the sweeping robot further includes: a receiving module 907 configured to receive an update message sent by the terminal, where the update message includes: the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle; an update module 908 configured to delete the position information of the long-term obstacle in the sweeping progress map according to the update message to update the sweeping progress map.
The embodiment of the present disclosure provides a sweeping robot, wherein the sweeping robot is configured to perform the steps corresponding to the above method embodiments, and the corresponding content and effect are not described herein again.
Figure 14 is a block diagram illustrating a sweeping robot in accordance with an exemplary embodiment. As shown in fig. 14, the sweeping robot includes: a processor 1401, a transmitter 1402 and a memory 1403 for storing executable instructions of said processor 1401; wherein the processor 1401 is configured to: carrying out maximum area cleaning treatment on the area to be cleaned; cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area encountered by the sweeping robot in the secondary cleaning treatment process; the transmitter 1402 is configured to transmit a prompt message including location information of the obstacle to a terminal.
Optionally, the processor 1401 is further configured to draw a first sweeping travel map during the maximum area sweeping process.
Optionally, the processor 1401 is specifically configured to: and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
Optionally, the processor 1401 is specifically configured to: cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again; comparing the first cleaning progress map with the second cleaning progress map, and acquiring a comparison result; and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
Optionally, the processor 1401 is further configured to, when the sweeping robot encounters an obstacle, determine next position information of the obstacle in the first sweeping progress map, and continue to perform sweeping processing on an area corresponding to the next position information; wherein the next position information is the next position information of the obstacle on the cleaning travel route.
Optionally, the processor 1401 is further configured to count a historical sending number of the prompting message corresponding to the obstacle; the transmitter 1402 is specifically configured to transmit the prompting message to the terminal when the historical transmission number of times of the prompting message corresponding to the obstacle is less than or equal to a preset threshold.
Further, fig. 15 is a block diagram illustrating a sweeping robot according to another exemplary embodiment. As shown in fig. 15, optionally, the sweeping robot further includes: a receiver 1404 configured to receive an update message sent by the terminal, the update message including: the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle; the processor 1401 is further configured to delete the position information of the long-term obstacle in the sweeping travel map according to the update message to update the sweeping travel map.
The embodiment of the present disclosure provides a sweeping robot, wherein the sweeping robot is configured to perform the steps corresponding to the above method embodiments, and the corresponding content and effect are not described herein again.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (13)

1. A sweeping method of a sweeping robot is characterized by comprising the following steps:
when the area to be cleaned is not provided with the non-fixedly placed obstacles, the area to be cleaned is cleaned in the largest area; drawing a first cleaning progress map in the maximum area cleaning process;
cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area encountered by the sweeping robot in the secondary cleaning treatment process;
sending a prompt message to a terminal, wherein the prompt message comprises the position information of the barrier;
the sending the prompt message to the terminal includes:
counting the historical sending times of the prompt message corresponding to the barrier;
when the historical sending times of the prompt messages corresponding to the obstacles are larger than a preset threshold value, clearing the historical sending times of the prompt messages corresponding to the obstacles, and continuously sending prompt messages to the terminal;
the method further comprises the following steps: when the sweeping robot meets the obstacle, determining next position information of the obstacle in the first sweeping progress map, and continuing to sweep an area corresponding to the next position information;
and the next position information is the next position information of the obstacle on the cleaning travel route.
2. The method according to claim 1, wherein the cleaning processing is performed again on the area to be cleaned, and the determining of the position information of the obstacle during the cleaning processing again comprises:
and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
3. The method according to claim 1, wherein the cleaning processing is performed again on the area to be cleaned, and the determining of the position information of the obstacle during the cleaning processing again comprises:
cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again;
comparing the first cleaning progress map with the second cleaning progress map, and obtaining a comparison result;
and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
4. The method according to any one of claims 1-3, wherein the sending the prompt message to the terminal comprises:
counting the historical sending times of the prompt message corresponding to the obstacle;
and when the historical sending times of the prompt message corresponding to the obstacle are smaller than or equal to a preset threshold value, sending the prompt message to the terminal.
5. The method of claim 4, further comprising:
receiving an update message sent by the terminal, wherein the update message comprises: the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle;
deleting the position information of the long-term obstacle in the cleaning progress map according to the update message to update the cleaning progress map.
6. A method according to any of claims 1-3, wherein the prompting message is used to prompt the user to move around the obstacle.
7. A sweeping robot is characterized by comprising:
the cleaning device comprises a first processing module, a second processing module and a control module, wherein the first processing module is configured to carry out maximum area cleaning processing on a region to be cleaned when the region to be cleaned is not provided with an obstacle which is not fixedly arranged;
a third processing module configured to draw a first sweeping travel map in the maximum area sweeping processing;
the second processing module is configured to perform cleaning processing on the area to be cleaned again and determine position information of an obstacle in the cleaning processing process again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area encountered by the sweeping robot in the secondary cleaning treatment process;
a sending module configured to send a prompt message to a terminal, the prompt message including location information of the obstacle;
the sending module configured to:
counting the historical sending times of the prompt message corresponding to the barrier;
when the historical sending times of the prompt messages corresponding to the obstacles are larger than a preset threshold value, clearing the historical sending times of the prompt messages corresponding to the obstacles, and continuously sending prompt messages to the terminal;
the robot of sweeping the floor still includes:
a fourth processing module, configured to determine, when the sweeping robot encounters the obstacle, next position information of the obstacle in the first sweeping progress map, and continue to perform sweeping processing on an area corresponding to the next position information;
and the next position information is the next position information of the obstacle on the cleaning travel route.
8. The sweeping robot of claim 7, wherein the second processing module is specifically configured to:
and cleaning the area to be cleaned again according to the first cleaning progress map, and recording the position information of the obstacle in the process of cleaning again.
9. The sweeping robot of claim 7, wherein the second processing module is specifically configured to:
cleaning the area to be cleaned again, and drawing a second cleaning progress map in the cleaning process again;
comparing the first cleaning progress map with the second cleaning progress map, and obtaining a comparison result;
and determining the position information of the obstacle in the process of cleaning again according to the comparison result.
10. A sweeping robot according to any one of claims 7-9, further comprising:
the counting module is configured to count the historical sending times of the prompt message corresponding to the obstacle;
the sending module is specifically configured to send the prompt message to the terminal when the historical sending times of the prompt message corresponding to the obstacle are less than or equal to a preset threshold.
11. The sweeping robot of claim 10, further comprising:
a receiving module configured to receive an update message sent by the terminal, where the update message includes: the terminal determines the position information of the long-term obstacle according to the position information of the obstacle and the historical sending times of the prompt message corresponding to the obstacle;
an update module configured to delete the position information of the long-term obstacle in the sweeping progress map according to the update message to update the sweeping progress map.
12. A sweeping robot according to any one of claims 7 to 9, wherein the prompting message is for prompting a user to move the obstacle.
13. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:
a processor and a transmitter;
a memory for storing executable instructions of the processor;
wherein the processor is configured to:
when the area to be cleaned is not provided with the non-fixedly placed obstacles, the area to be cleaned is cleaned in the largest area; drawing a first cleaning progress map in the maximum area cleaning process;
cleaning the area to be cleaned again, and determining the position information of the obstacle in the process of cleaning again; the obstacle is an obstacle in the cleaning treatment process relative to the maximum area encountered by the sweeping robot in the secondary cleaning treatment process;
the transmitter is configured to transmit a prompt message to a terminal, wherein the prompt message comprises position information of the obstacle;
the transmitter configured to:
counting the historical sending times of the prompt message corresponding to the barrier;
when the historical sending times of the prompt messages corresponding to the obstacles are larger than a preset threshold value, clearing the historical sending times of the prompt messages corresponding to the obstacles, and continuously sending prompt messages to the terminal;
the processor is configured to: when the sweeping robot meets the obstacle, determining next position information of the obstacle in the first sweeping progress map, and continuing to sweep an area corresponding to the next position information;
and the next position information is the next position information of the obstacle on the cleaning travel route.
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