CN111493756B - Supplementary sweeping method of sweeper, storage medium and sweeper - Google Patents
Supplementary sweeping method of sweeper, storage medium and sweeper Download PDFInfo
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- CN111493756B CN111493756B CN202010477130.XA CN202010477130A CN111493756B CN 111493756 B CN111493756 B CN 111493756B CN 202010477130 A CN202010477130 A CN 202010477130A CN 111493756 B CN111493756 B CN 111493756B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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 is suitable for the field of sweeper, and provides a sweeper complement sweeping method, a storage medium and a sweeper, wherein the sweeper complement sweeping method comprises the following steps: step S1, calculating an entrance boundary; step S2, selecting an entry boundary from the candidate boundaries; step S3, judging whether the selected entrance boundary can be reached, if so, entering a supplementary sweeping area corresponding to the entrance boundary for sweeping; if not, discarding and recording the entry boundary; step S4, calculating entry boundaries, and judging whether the candidate boundaries have entry boundaries which are not discarded; if yes, selecting the next entry boundary which is not discarded, and entering step S3; if not, go to step S5; step S5, judging whether an entry boundary with the abandon times smaller than a threshold exists in the candidate boundary; if yes, an entry boundary with the discarding number less than the threshold is selected, and the process proceeds to step S3. The supplementary sweeping method of the sweeper improves the sweeping efficiency and the sweeping reliability of the sweeper and avoids the existence of sweeping dead angles.
Description
Technical Field
The invention relates to the technical field of sweeper, in particular to a sweeper supplementary sweeping method, a storage medium and a sweeper.
Background
With the development of science and technology, robots are increasingly applied to daily life of people, for example, common floor sweeping machines are applied, so that the life of people becomes more comfortable and convenient.
In the prior art, after the sweeper finishes the first-wheel sweeping, when a supplementary sweeping area is calculated according to a grid map, the sweeper is controlled to enter the supplementary sweeping area through path planning so as to sweep the supplementary sweeping area. In the sweeping process of the sweeper, it is difficult to avoid the situation that dynamic obstacles (such as people, animals and the like) block the entrance of a supplementary sweeping area, so that the sweeper cannot enter the supplementary sweeping area temporarily. When the existing sweeper judges that the entrance boundary of the supplementary sweeping area cannot reach, the supplementary sweeping area is directly abandoned or the same entrance boundary of the supplementary sweeping area is repeatedly tried, and the supplementary sweeping area is directly abandoned, so that the supplementary sweeping area cannot be cleaned, dead angles are easily cleaned, and the cleaning reliability is poor; repeated attempts to sweep across an entrance boundary of the area can result in lengthy attempts, resulting in inefficient sweeping.
Disclosure of Invention
The invention provides a supplementary sweeping method of a sweeper, and aims to solve the problems that in the prior art, the sweeper is easy to have sweeping dead corners in the sweeping process, poor in sweeping reliability and low in sweeping efficiency.
The invention is realized in such a way, and provides a supplementary sweeping method of a sweeper, which comprises the following steps:
step S1, calculating the entrance boundaries of the complementary scanning area according to the grid map, and taking all the entrance boundaries as candidate boundaries;
step S2, selecting an entry boundary from the candidate boundaries according to entry boundary selection conditions;
step S3, judging whether the selected entrance boundary is reachable, if yes, entering a supplementary sweeping area corresponding to the entrance boundary for sweeping; if not, discarding and recording the entry boundary;
step S4, calculating the entrance boundary of the current compensation scanning area according to the grid map, and taking all the entrance boundaries as candidate boundaries; judging whether the candidate boundaries have an entry boundary which is not discarded; if yes, selecting the next entry boundary which is not discarded, and entering step S3; if not, go to step S5;
step S5, determining whether there is an entry boundary with a discard number smaller than a threshold in the candidate boundaries; if yes, selecting an entry boundary with the discarding frequency less than the threshold, and proceeding to the step S3; if not, the cleaning task is finished.
Preferably, after the step S1 of calculating the entrance boundary of the sweep-back region from the grid map, the method further includes:
a corresponding number of entries is determined between the two end points of each entry boundary according to an entry determination condition.
Preferably, in step S2, the selecting an entry boundary from the candidate boundaries according to an entry boundary selection condition includes:
judging the number of the entrance boundaries;
when the number of the inlet boundaries is one, selecting the inlet boundary;
and when the number of the inlet boundaries is more than two, selecting the inlet boundary closest to the sweeper.
Preferably, in step S3, the determining whether the selected entry boundary is reachable specifically includes:
when all the entries of the selected entry boundary are unreachable, judging that the selected entry boundary is unreachable; and when the selected entry boundary has an entry which can be reached, judging that the selected entry boundary can be reached.
Preferably, in step S3, before determining whether the selected entry boundary is reachable, the method further includes:
selecting an inlet closest to the sweeper from the selected inlet boundary;
and when the selected entry position is judged to be unreachable, abandoning the current entry and selecting the next entry closest to the sweeper, and repeating the steps until judging that the entry boundary has the reachable entry or judging that the entry of the entry boundary is unreachable.
Preferably, in step S4, it is determined whether there is an entry boundary that has not been discarded among the candidate boundaries; if so, selecting the inlet boundary which is not discarded and is closest to the sweeper.
Preferably, in step S5, it is determined whether an entry boundary whose number of rejections is smaller than a threshold exists in the candidate boundaries; if yes, selecting the entrance boundary with the discarding frequency less than the threshold value and the least discarding frequency.
Preferably, in step S5, when it is determined that an entry boundary with a discarding frequency smaller than a threshold exists in the candidate boundaries, the entry boundary closest to the sweeper with the discarding frequency smaller than the threshold and the smallest discarding frequency is selected.
The invention also provides a storage medium for storing program instructions, and the program instructions are used for controlling the sweeper to execute the sweeping supplementing method of the sweeper.
The invention also provides a sweeper, which comprises the storage medium.
According to the sweeper supplementary sweeping method provided by the invention, when the selected entrance boundary is judged to be reachable, the supplementary sweeping area corresponding to the entrance boundary is entered for sweeping, the entrance boundary is abandoned and recorded when the selected entrance boundary is judged to be unreachable, and then the next entrance boundary which is not abandoned is selected, so that when the selected entrance boundary is judged to be unreachable, the entrance boundary can be abandoned and recorded first, and other entrance boundaries which are not abandoned or abandoned for a time less than a threshold value are tried, therefore, the supplementary sweeping areas corresponding to other entrance boundaries can be swept preferentially, the sweeper is prevented from being tried repeatedly due to the fact that a dynamic barrier blocks a certain entrance boundary of the supplementary sweeping area, the entrance boundary is prevented from being tried to enter a certain entrance boundary for a long time, and the sweeping efficiency is improved; and after all the entrance boundaries are traversed, selecting the discarded entrance boundaries with the discarding times less than the threshold value, ensuring that all the supplementary sweeping areas are swept, ensuring that the sweeping of the sweeper is reliable, and avoiding the existence of sweeping dead angles.
Drawings
Fig. 1 is a flowchart of a supplementary sweeping method of a sweeper according to an embodiment of the present invention;
fig. 2 is a schematic distribution diagram of a first supplementary sweeping area in the supplementary sweeping method of the sweeper provided by the embodiment of the invention;
fig. 3 is a schematic distribution diagram of a second supplementary sweeping area in the supplementary sweeping method of the sweeper provided by the embodiment of the invention;
fig. 4 is a schematic distribution diagram of a third supplementary sweeping area in the supplementary sweeping method of the sweeper provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the supplementary sweeping method of the sweeper, when the selected entrance boundary is judged to be inaccessible, the entrance boundary can be abandoned and recorded, and other entrance boundaries which are not abandoned or are abandoned for a time less than the threshold are tried, so that supplementary sweeping areas corresponding to other entrance boundaries can be cleaned preferentially, repeated attempts of the sweeper due to the fact that a dynamic barrier blocks one entrance boundary of the supplementary sweeping area are avoided, and the sweeping efficiency is improved; after all the entrance boundaries are traversed, the abandoned entrance boundaries with the abandoning times smaller than the threshold value are selected, all the supplementary sweeping areas are guaranteed to be swept, the sweeping of the sweeper is reliable, and the dead angle of sweeping is avoided.
Referring to fig. 1, the present embodiment provides a supplementary sweeping method of a sweeper, including:
step S1, calculating the entrance boundaries of the complementary scanning area according to the grid map, and taking all the entrance boundaries as candidate boundaries;
the grid map is established by the sweeper according to the indoor environment in the sweeping process. After the first round of sweeping is completed, the sweeper calculates a swept area and an uncleaned area according to the grid map, wherein the uncleaned area is a supplementary sweeping area. And after calculating all the supplementary scanning areas, the sweeper calculates the entrance boundaries of all the supplementary scanning areas, and takes all the entrance boundaries as candidate boundaries. The number of the supplementary scanning areas can be one or more than two, and the number of the entrance boundaries corresponding to each supplementary scanning area can be one or more than two.
For example, when the calculated number of the complementary scanning areas is one and the complementary scanning areas correspond to an entry boundary, the entry boundary is taken as a candidate boundary; when the number of the complementary scanning areas is two, and each complementary scanning area corresponds to one entrance boundary, taking the two entrance boundaries as candidate boundaries; and when the number of the complementary scanning areas is three and each complementary scanning area corresponds to one entrance boundary, taking the three entrance boundaries as candidate boundaries.
In step S1, after calculating the entrance boundary of the sweep-back region from the grid map, the method further includes:
a corresponding number of entries is determined between the two end points of each entry boundary according to an entry determination condition.
Wherein, determining a corresponding number of entries between two end points of an entry boundary according to an entry determination condition comprises the steps of:
calculating the distance between two end points of each entrance boundary;
and determining the corresponding number of entrances according to the distance between the two end points of the entrance boundary and the required width of the entrance.
In step S1, the linear distance between the two end points of the entry boundary is calculated from the coordinate positions of the two end points of the entry boundary in the grid map, and the corresponding number of entries is determined from the required width of the entry and the distance between the two end points of the entry boundary. The width required by the inlet is determined according to the size of the sweeper body, the width required by the inlet is slightly larger than the diameter of the sweeper body, and the width required by the inlet can be set according to actual requirements. For example, if the required width of the entrance is 0.3m and the distance between two end points of the entrance boundary is 1m, three equally spaced entrances are defined between the two end points of the entrance boundary; for another example, if the required width of the entrance is 0.3m and the distance between the two end points of the entrance boundary is 1.5m, five equally spaced entrances are defined between the two end points of the entrance boundary.
Step S2, selecting an entrance boundary from the candidate boundaries according to an entrance boundary selection condition;
in the embodiment of the present invention, selecting an entry boundary from candidate boundaries according to an entry boundary selection condition specifically includes:
judging the number of the entrance boundaries;
when the number of the inlet boundaries is one, selecting the inlet boundary;
and when the number of the inlet boundaries is more than two, selecting the inlet boundary closest to the sweeper.
When one entrance boundary is judged, the entrance boundary is selected to enter a corresponding supplementary sweeping area from the entrance boundary for sweeping; when the number of the inlet boundaries is more than two, the inlet boundary closest to the sweeper is selected to preferentially sweep the supplementary sweeping area closest to the sweeper, and therefore sweeping efficiency is improved. In addition, when the number of the entry boundaries is more than two, one entry boundary may be randomly selected from the more than two entry boundaries.
The entrance boundary closest to the sweeper refers to the entrance boundary closest to the two end points of the entrance boundary. For example, the number of the entrance boundaries is three, and the corresponding entrance boundary with the end point closest to the sweeper is selected by calculating the linear distance between the end point of each entrance boundary and the sweeper.
Step S3, judging whether the selected entrance boundary is reachable, if yes, entering a supplementary sweeping area corresponding to the entrance boundary for sweeping; if not, discarding and recording the entry boundary;
in the embodiment of the present invention, in the step S3, the determining whether the selected entry boundary is reachable specifically includes:
when all the entries of the selected entry boundary are unreachable, judging that the selected entry boundary is unreachable; and when the selected entry boundary has an entry which can be reached, judging that the selected entry boundary can be reached.
Specifically, an inlet is selected from the selected inlet boundary as a sweeping starting point of the supplementary sweeping area; and when the selected entry position is judged to be unreachable, discarding the current entry and selecting the next entry. When all the entries of the selected entry boundary are unreachable, judging that the selected entry boundary is unreachable; and when the selected entry boundary has an entry which can be reached, judging that the selected entry boundary can be reached. Different inlets can be selected from the inlet boundary in sequence to try to enter the corresponding supplementary sweeping area for sweeping, the situation that the sweeper cannot sweep the supplementary sweeping area due to the fact that a dynamic barrier blocks a certain inlet of the supplementary sweeping area is avoided, the probability that the sweeper enters the supplementary sweeping area is greatly improved, the supplementary sweeping area is swept, sweeping is completed as far as possible, the sweeping reliability is good, and the dead angle is prevented from being swept.
As an embodiment of the present invention, before the step S3, before determining whether the selected entry boundary is reachable, the method further includes:
selecting an inlet closest to the sweeper from the selected inlet boundary;
and when the selected entry position is judged to be unreachable, abandoning the current entry and selecting the next entry closest to the sweeper, and repeating the steps until judging that the entry boundary has the reachable entry or judging that the entry of the entry boundary is unreachable.
In the embodiment, the inlet closest to the sweeper is preferentially selected as the sweeping starting point of the supplementary sweeping area, so that the moving distance of the sweeper to the inlet can be reduced, and the sweeping efficiency is improved; and when the selected entrance position is judged to be unreachable, the current entrance is abandoned and the next entrance closest to the sweeper is selected, so that each entrance of the entrance boundary is continuously tried, and the probability that the sweeper enters the corresponding supplementary sweeping area of the entrance boundary is improved.
In this embodiment, before the entrance of the entrance boundary is selected, the linear distance between the current sweeper and each entrance of the entrance boundary is calculated, the linear distance between the current sweeper and each entrance of the selected entrance boundary is compared, and the entrance closest to the sweeper is selected as the cleaning starting point of the supplementary sweeping area, so that the sweeper starts to sweep from the nearest entrance into the supplementary sweeping area, and thus the moving distance and the moving time of the sweeper entering the supplementary sweeping area can be reduced, and the cleaning efficiency of the sweeper is further improved.
In step S3, after selecting an entry as a sweeping start point of the sweep region from the selected entry boundary, the method further includes:
controlling the sweeper to move from the current position to the selected entrance position;
judging whether the sweeper can reach the entrance position; if yes, judging that the entrance position is accessible; if not, the entrance position is judged to be unreachable.
After an entrance is selected from the selected entrance boundaries as a cleaning starting point of a supplementary cleaning area, the sweeper is controlled to move from the current position to the selected entrance position, and whether an obstacle exists in the entrance position or a path between the sweeper and the entrance position is detected through a sensor on the sweeper so as to judge whether the sweeper can reach the entrance position. When a sensor on the sweeper detects the entrance position or a barrier exists in a path between the sweeper and the entrance position, the entrance position is judged to be unreachable. In addition, it is also possible to determine that the entrance position cannot be reached when the sweeper enters the entrance for a preset number of times and still cannot reach the entrance. For example, the preset times are set to be twice, the sweeper tries to enter the entrance position twice, and when the sweeper detects the entrance position twice or a barrier exists in a path between the sweeper and the entrance position, the entrance position is judged to be unreachable, so that the probability that the sweeper enters the supplementary sweeping area can be greatly increased, and the supplementary sweeping area is swept as far as possible.
Step S4, calculating the entrance boundary of the current compensation scanning area according to the grid map, and taking all the entrance boundaries as candidate boundaries; judging whether the candidate boundaries have an entry boundary which is not discarded; if yes, selecting the next entry boundary which is not discarded, and entering step S3; if not, go to step S5;
in step S4, the next entrance boundary that is not discarded is selected, so that the supplementary sweeping area corresponding to the other entrance boundaries can be preferentially swept, repeated attempts of the sweeper due to the fact that a dynamic obstacle blocks one entrance boundary of the supplementary sweeping area are avoided, and the sweeping efficiency is improved.
In step S4, it is determined whether there is an unreleased entry boundary in the candidate boundaries; if yes, when more than two undisplaced entrance boundaries exist in the candidate boundaries, selecting the undisplaced entrance boundary closest to the sweeper, so that the moving distance of the sweeper to the next entrance boundary can be reduced, and the sweeping efficiency is further improved; when only one undisputed entry boundary in the candidate boundaries is determined, the undisputed entry boundary is directly selected.
Step S5, judging whether an entry boundary with the abandon times smaller than a threshold exists in the candidate boundary; if yes, selecting an entry boundary with the discarding frequency less than the threshold, and proceeding to the step S3; if not, the cleaning task is finished.
In the step S5, by determining whether the discarding times of the entrance boundary is less than the threshold, the sweeper can repeatedly try to enter the discarded entrance boundary when the discarding times of the entrance boundary is less than the threshold, so as to ensure that all the supplementary sweeping areas are swept, avoid dead angles, greatly improve the probability of finishing the supplementary sweeping of the sweeper, and further improve the sweeping reliability.
In practical applications, the threshold value can be set according to actual needs. For example, the threshold may be set to 1, 2, 3, etc. Preferably, the threshold is greater than or equal to 2, so that the sweeper can try to enter each entrance boundary for more than two times, each supplementary sweeping area can be ensured to complete sweeping as much as possible, and dead angles in sweeping are further avoided. Preferably, the threshold value is equal to 3, so that the sweeping of each supplementary sweeping area can be completed as far as possible, the dead angle of sweeping is avoided, and the excessive waste of electric energy of the sweeper is also avoided.
As an embodiment of the present invention, in step S5, it is determined whether there is an entry boundary with a discard number smaller than a threshold value in the candidate boundaries; if yes, when more than two entrance boundaries with the abandon times smaller than the threshold value exist in the candidate boundaries, selecting the entrance boundary with the abandon times smaller than the threshold value and the abandon times being the smallest, and preferentially cleaning the cleaning area which is not abandoned or has the abandon times being the smallest through selecting the entrance boundary with the abandon times smaller than the threshold value and the abandon times being the smallest, so that the cleaning efficiency is improved; and when only one entry boundary with the discarding frequency smaller than the threshold value in the candidate boundaries is judged, directly selecting the entry boundary. In addition, when more than two entrance boundaries with the discarding times smaller than the threshold are determined to exist in the candidate boundaries, one entrance boundary can be randomly selected from the entrance boundaries with the discarding times smaller than the threshold.
As a preferred embodiment of the present invention, in step S5, when it is determined that an entry boundary with a discarding number smaller than the threshold exists in the candidate boundaries, the entry boundary closest to the sweeper with the discarding number smaller than the threshold and the discarding number the least is selected, so that the moving distance from the sweeper to the next entry boundary can be reduced, the sweeping efficiency is improved, and the supplementary sweeping area corresponding to the entry boundary with the least discarding number can be preferentially swept to preferentially sweep the supplementary sweeping area without obstacles.
In step S5, when it is determined that there is an entry boundary with a discard number smaller than the threshold in the candidate boundaries, and when it is determined that there is only one entry boundary, the entry boundary is selected; when judging that two entrance boundaries with the abandon times smaller than the threshold exist in the candidate boundaries and the abandon times of the two entrance boundaries are the same, selecting the entrance boundary closest to the sweeper; when judging that two entrance boundaries with the abandon times smaller than the threshold exist in the candidate boundaries and the abandon times of the two entrance boundaries are different, selecting the entrance boundary with the minimum abandon times and the nearest entrance boundary to the sweeper; when more than three entrance boundaries with the abandoning times smaller than the threshold value exist in the candidate boundaries and the abandoning times of all the entrance boundaries are the same, selecting the entrance boundary closest to the sweeper; and when more than three entrance boundaries with the abandon times smaller than the threshold exist in the candidate boundaries and the abandon times of all the entrance boundaries are different, selecting the entrance boundary with the minimum abandon times and the nearest entrance boundary to the sweeper.
To further explain the working process of the sweeping method of the sweeper provided by the embodiment of the invention, the following description is given in detail by way of example.
As shown in fig. 2, after the sweeper finishes the first-wheel sweeping, a supplementary sweeping area a is calculated according to the grid map, an entrance boundary corresponding to the supplementary sweeping area a is a, an entrance a1, an entrance a2 and an entrance a3 are determined between two end points of the entrance boundary a, and at the moment, the supplementary sweeping area and the entrance boundary are all one and the entrance boundary a is taken as a candidate boundary; and judging that the entry boundary is one, and selecting the entry boundary a.
The inlet a1 closest to the sweeper 10 is selected from the inlets a1, a2 and a3 as a sweeping starting point of the supplementary sweeping area a. When the position of the inlet a1 is judged to be unreachable, the inlet a1 is abandoned, and the inlet a2 is selected as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a2 is judged to be unreachable, the inlet a2 is abandoned, and the inlet a3 is selected as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a3 is judged to be unreachable, the inlet a1, the inlet a2 and the inlet a3 are judged to be unreachable, the inlet boundary a is judged to be unreachable, and the inlet boundary a is abandoned and recorded once.
Recalculating entry boundaries of all current supplementary scanning areas according to the current grid map, and taking all the entry boundaries as candidate boundaries; at this time, if the supplementary sweeping area A finishes sweeping, no supplementary sweeping area and no entrance boundary exist; if the supplementary scanning area A is not cleaned, the supplementary scanning area A is still the same as the supplementary scanning area A, the candidate boundary is still the entrance boundary a, and the entrance boundary which is not discarded is judged to exist.
Judging whether the abandoning times of the entrance boundary a is smaller than a threshold value, if the abandoning times of the entrance boundary a is larger than or equal to the threshold value, finishing the cleaning task; if the number of the abandonment times of the entrance boundary a is smaller than the threshold value, the entrance boundary a is selected again, and the steps are repeated to select the entrance a1, the entrance a2 and the entrance a3 in sequence to try to enter the supplementary sweeping area A, until the supplementary sweeping area A finishes sweeping or the abandonment times of the entrance boundary a is larger than the threshold value, and then the sweeping task is finished.
As shown in fig. 3, after the sweeper 10 finishes the first-wheel sweeping, a supplementary sweeping area a and a supplementary sweeping area B are calculated according to the grid map, an entrance boundary corresponding to the supplementary sweeping area a is a, an entrance boundary corresponding to the supplementary sweeping area B is B, an entrance a1, an entrance a2 and an entrance a3 are determined between two end points of the entrance boundary a, an entrance B1, an entrance B2 and an entrance B3 are determined between two end points of the entrance boundary B, and at this time, two supplementary sweeping areas and two entrance boundaries are used, and the entrance boundary a and the entrance boundary B are used as candidate boundaries.
Selecting an entrance boundary a closest to the sweeper 10 from the entrance boundaries a and b, and selecting an entrance a1 closest to the sweeper 10 from the entrances a1, a2 and a3 as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a1 is judged to be unreachable, the inlet a1 is abandoned, and the inlet a2 is selected as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a2 is judged to be unreachable, the inlet a2 is abandoned, and the inlet a3 is selected as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a3 is judged to be unreachable, the inlet a1, the inlet a2 and the inlet a3 are judged to be unreachable, the inlet boundary a is judged to be unreachable, and the inlet boundary a is abandoned and recorded once.
Recalculating entry boundaries of all current supplementary scanning areas according to the current grid map, and taking all the entry boundaries as candidate boundaries; if the supplementary scanning area A is completely cleaned, the supplementary scanning area is B at the moment, and the candidate boundary is an entrance boundary B; if the supplementary sweeping area A is not swept yet, the supplementary sweeping areas are A and B, the candidate boundaries are an entrance boundary a and an entrance boundary B, the candidate boundaries are judged to have an entrance boundary B which is not discarded, at this time, the entrance boundary B which is not discarded is selected, and an entrance B3 which is closest to the sweeper 10 is selected from an entrance B1, an entrance B2 and an entrance B3 to be the sweeping starting point of the supplementary sweeping area B.
When the position of the inlet B3 is judged to be unreachable, the inlet B3 is abandoned, the inlet B2 is selected as the cleaning starting point of the supplementary cleaning area B, when the selected inlet position is unreachable, the current inlet is abandoned, the next inlet is selected as the cleaning starting point of the supplementary cleaning area B, and the like; and when the entry b3, the entry b2 and the entry b1 are judged to be unreachable, and the entry boundary b is judged to be unreachable, discarding and recording the entry boundary b once.
Judging whether the abandoning times of the entrance boundary a and the entrance boundary b are smaller than a threshold value or not, if the abandoning times of the entrance boundary a and the entrance boundary b are larger than or equal to the threshold value, finishing the cleaning task; if the abandoning times of the entrance boundary a and the entrance boundary b are smaller than the threshold value, selecting the next entrance boundary a closest to the sweeper, and sequentially selecting an entrance a1, an entrance a2 and an entrance a3 to try to enter the supplementary sweeping area A; and selecting the entrance boundary B with the least abandon times again, and selecting the entrance B3, the entrance B2 and the entrance B1 in sequence to try to enter the supplementary sweeping area B, and continuously circulating the steps until the supplementary sweeping area A and the supplementary sweeping area B finish sweeping or the abandon times of the entrance boundary a and the entrance boundary B are greater than the threshold value, and finishing the sweeping task.
As shown in fig. 4, after the first-wheel sweeping is completed, the sweeper calculates a supplementary sweeping area a, a supplementary sweeping area B, and a supplementary sweeping area C according to the grid map, where an entrance boundary corresponding to the supplementary sweeping area a is a, an entrance boundary corresponding to the supplementary sweeping area B is B, and an entrance boundary corresponding to the supplementary sweeping area C is C, that is, three supplementary sweeping areas and three entrance boundaries. An entry a1, an entry a2, and an entry a3 are determined between both ends of an entry boundary a, an entry b1, an entry b2, and an entry b3 are determined between both ends of an entry boundary b, an entry c1, an entry c2, and an entry c3 are determined between both ends of an entry boundary c, and the entry boundary a, the entry boundary b, and the entry boundary c are set as candidate boundaries.
And selecting an inlet boundary a closest to the sweeper from the inlet boundaries a, b and c, and selecting an inlet a1 closest to the sweeper from the inlets a1, a2 and a3 as a sweeping starting point of the supplementary sweeping area A. When the position of the inlet a1 is judged to be unreachable, the inlet a1 is abandoned, and the inlet a2 is selected as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a2 is judged to be unreachable, the inlet a2 is abandoned, and the inlet a3 is selected as a sweeping starting point of the supplementary sweeping area A; when the position of the inlet a3 is judged to be unreachable, the representative judgment inlet a1, the inlet a2 and the inlet a3 are all unreachable, so that the inlet boundary a is judged to be unreachable, and the inlet boundary a is abandoned and recorded once.
Recalculating entry boundaries of all current supplementary scanning areas according to the current grid map, and taking all the entry boundaries as candidate boundaries; if the supplementary scanning area A is completely cleaned, judging that the supplementary scanning areas are B and C, and the candidate boundaries are B and C; if the supplementary sweeping area A is not cleaned, the supplementary sweeping areas are A, B and C, the candidate boundaries are an entrance boundary a, an entrance boundary b and an entrance boundary C, at this time, the entrance boundary b and the entrance boundary C which are not discarded are judged to exist in the candidate boundaries, and the entrance boundary b which is not discarded and is closest to the sweeper is selected.
The inlet B3 close to the sweeper is selected from the inlets B1, B2 and B3 as a sweeping starting point of the supplementary sweeping area B. When the position of the inlet B3 is judged to be unreachable, the inlet B3 is abandoned, and the inlet B2 is selected as a sweeping starting point of the supplementary sweeping area B; when the position of the selected inlet is not reachable, the current inlet is abandoned, and the next inlet is selected as the cleaning starting point of the supplementary cleaning area B, and the like; when the entry b1, the entry b2 and the entry b3 are all determined to be unreachable, and the entry boundary b is determined to be unreachable, the entry boundary b is discarded and recorded once.
Calculating the entrance boundaries of all the current supplementary scanning areas again according to the current grid map, and taking all the entrance boundaries as candidate boundaries; at this time, judging that the candidate boundaries have an undiscarded entrance boundary C, selecting the undiscarded next entrance boundary C, and selecting an entrance C1 closest to the sweeper from the entrances C1, C2 and C3 as a sweeping starting point of the supplementary sweeping area C; when the selected entrance position is not reachable, the current entrance is abandoned and the next entrance is selected as the cleaning starting point of the supplementary cleaning area C, and the rest is done in the same way; and if the selected entry c1, the selected entry c2 and the selected entry c3 of the entry boundary c are not reachable, judging that the entry boundary c is not reachable, and discarding and recording the entry boundary c.
Calculating the entrance boundary of the current complementary scanning area again according to the grid map, and taking all the entrance boundaries as candidate boundaries; judging whether the abandon times of the entry boundary a, the entry boundary b and the entry boundary c are less than a threshold value; if the abandoning times of the entrance boundary a, the entrance boundary b and the entrance boundary c are more than or equal to the threshold value, the cleaning task is finished; if the abandoning times of the entrance boundary a, the entrance boundary b and the entrance boundary c are smaller than the threshold value, selecting the next entrance boundary a closest to the sweeper, and trying to enter the supplementary sweeping area A again from the entrance a1, the entrance a2 and the entrance a 3; selecting the entrance boundary B which is the least frequently discarded and is closest to the sweeper again, and trying to enter the supplementary sweeping area B from the entrance B3, the entrance B2 and the entrance B1 again in sequence; and selecting the next entrance boundary C closest to the sweeper, and trying to enter the supplementary sweeping area C from the entrance C1, the entrance C2 and the entrance C3 again in sequence, and continuously circulating the steps until the supplementary sweeping area A, the supplementary sweeping area B and the supplementary sweeping area C finish sweeping or the abandoning times of the entrance boundary a, the entrance boundary B and the entrance boundary C are greater than the threshold value, so that the sweeping task is finished.
The embodiment of the invention also provides a storage medium for storing program instructions, and the program instructions are used for controlling the sweeper to execute the sweeping supplementing method of the sweeper. The storage medium may be ROM/RAM, magnetic disk, optical disk, etc.
The invention further provides a sweeper, which comprises the storage medium, wherein the storage medium is the storage medium in the embodiment. The sweeper is provided with the storage medium according to the embodiment, so that all supplementary sweeping areas of the sweeper are enabled to be swept as far as possible in the sweeping process, the sweeper is enabled to be reliable in sweeping, and the sweeping efficiency of the sweeper is greatly improved.
The sweeper back-sweeping method provided by the invention enters the back-sweeping area corresponding to the entrance boundary for sweeping when the selected entrance boundary is judged to be reachable, abandons and records the entrance boundary when the selected entrance boundary is judged to be unreachable, and selects the next entrance boundary which is not abandoned, so that the entrance boundary can be abandoned and recorded first when the selected entrance boundary is judged to be unreachable, and other entrance boundaries which are not abandoned or abandoned for a time less than a threshold value are tried, so that the back-sweeping areas corresponding to other entrance boundaries can be swept preferentially, repeated attempts of the sweeper due to the fact that a dynamic barrier blocks one entrance boundary of the back-sweeping area are avoided, and the sweeping efficiency is improved; after all the entrance boundaries are traversed, the abandoned entrance boundaries with the abandoning times smaller than the threshold value are selected, all the supplementary sweeping areas are guaranteed to be swept, the sweeping of the sweeper is reliable, and the dead angle of sweeping is avoided.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A supplementary sweeping method of a sweeper is characterized by comprising the following steps:
step S1, calculating the entrance boundaries of the complementary scanning area according to the grid map, and taking all the entrance boundaries as candidate boundaries;
step S2, selecting an entry boundary from the candidate boundaries according to entry boundary selection conditions;
step S3, judging whether the selected entrance boundary is reachable, if yes, entering a supplementary sweeping area corresponding to the entrance boundary for sweeping; if not, discarding and recording the entry boundary;
step S4, calculating the entrance boundary of the current compensation scanning area according to the grid map, and taking all the entrance boundaries as candidate boundaries; judging whether the candidate boundaries have an entry boundary which is not discarded; if yes, selecting the next entry boundary which is not discarded, and entering step S3; if not, go to step S5;
step S5, determining whether there is an entry boundary with a discard number smaller than a threshold in the candidate boundaries; if yes, selecting an entry boundary with the discarding frequency less than the threshold, and proceeding to the step S3; if not, the cleaning task is finished.
2. The sweeper back-scanning method of claim 1, wherein after calculating the entrance boundary of the back-scanning area according to the grid map in step S1, the method further comprises:
a corresponding number of entries is determined between the two end points of each entry boundary according to an entry determination condition.
3. The sweeper back-sweeping method of claim 1, wherein the step S2 of selecting an entry boundary from the candidate boundaries according to an entry boundary selection condition includes:
judging the number of the entrance boundaries;
when the number of the inlet boundaries is one, selecting the inlet boundary;
and when the number of the inlet boundaries is more than two, selecting the inlet boundary closest to the sweeper.
4. The sweeping method of a sweeper according to claim 2, wherein the step S3 of determining whether the selected entry boundary is reachable specifically includes:
when all the entries of the selected entry boundary are unreachable, judging that the selected entry boundary is unreachable; and when the selected entry boundary has an entry which can be reached, judging that the selected entry boundary can be reached.
5. The sweeper back-sweeping method of claim 1, wherein in step S3, before determining whether the selected entrance boundary is reachable, the method further comprises:
selecting an inlet closest to the sweeper from the selected inlet boundary;
and when the selected entry position is judged to be unreachable, abandoning the current entry and selecting the next entry closest to the sweeper, and repeating the steps until judging that the entry boundary has the reachable entry or judging that the entry of the entry boundary is unreachable.
6. The sweeper back-sweeping method of claim 1, wherein in step S4, it is determined whether there is an entry boundary that has not been discarded from the candidate boundaries; if so, selecting the inlet boundary which is not discarded and is closest to the sweeper.
7. The sweeper back-sweeping method of claim 1, wherein in step S5, it is determined whether there is an entry boundary with a discard number less than a threshold in the candidate boundaries; if yes, selecting the entrance boundary with the discarding frequency less than the threshold value and the least discarding frequency.
8. The method as claimed in claim 1, wherein in step S5, when it is determined that there is an entry boundary with a discard number smaller than the threshold in the candidate boundaries, the entry boundary closest to the sweeper with the discard number smaller than the threshold and the discard number the least is selected.
9. A storage medium storing program instructions for controlling a sweeper to perform the sweeper back-sweeping method of any one of claims 1-8.
10. A sweeper comprising a storage medium, wherein the storage medium is according to claim 9.
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| CN115153350A (en) * | 2022-07-14 | 2022-10-11 | 深圳拓邦股份有限公司 | Supplementary sweeping method and device of sweeping robot, storage medium and sweeping robot |
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