CN111693045A - Sweeping route generation method and device of sweeper - Google Patents
Sweeping route generation method and device of sweeper Download PDFInfo
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000010408 sweeping Methods 0.000 title claims abstract description 35
- 238000004140 cleaning Methods 0.000 claims abstract description 270
- 238000004891 communication Methods 0.000 claims description 18
- 230000002457 bidirectional effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012217 deletion Methods 0.000 claims description 6
- 230000037430 deletion Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000003190 augmentative effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 7
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- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a sweeping route generating method and device of a sweeper. The sweeping route generation method of the sweeper comprises the following steps: allocating a memory map for the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value and a first threshold value; calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold; and according to the offset, executing cleaning route generation operation in the memory map to obtain a coverage map. Based on the scheme provided by the invention, the generated cleaning route is finer, the cleaning efficiency is higher and the cleaning effect is better when the sweeper cleans according to the cleaning route, and in addition, the defects that the space environment is not completely cleaned and part of the area is omitted and not cleaned due to overlarge intervals among the cleaning routes can be avoided.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a sweeping route generating method and device of a sweeper.
Background
With the development of science and technology, machines which can replace people to work have been developed greatly, and are particularly applied to household appliances. In daily life, the floor of a room is generally cleaned manually, but with the popularization of various intelligent machines, the floor sweeping machine replacing manual cleaning is accepted and used by more and more families or enterprises. The sweeper can automatically finish the cleaning work on the ground in a room, so that a user can release the sweeper from the complicated cleaning work.
At present, when a cleaning route of a sweeper is planned, the cleaning route is generally planned according to integral multiples of a precision value of a grid, for example, the precision value of the grid is 5cm × 5cm, and when the cleaning route is planned, the distance between the cleaning routes is generally 10cm or 15cm, so that the planned cleaning route has the problems of low cleaning efficiency, poor cleaning effect and the like of the sweeper due to improper distance between the cleaning routes.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide a sweeping route generating method and apparatus of a sweeper that overcomes or at least partially solves the above problems.
According to an aspect of the present invention, there is provided a sweeping route generating method of a sweeper, including:
allocating a memory map for the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value and a first threshold value;
calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold;
and according to the offset, executing cleaning route generation operation in the memory map to obtain a coverage map.
According to another aspect of the present invention, there is provided a sweeping route generating apparatus of a sweeper, including:
the distribution module is suitable for distributing a memory map for the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value and a first threshold value;
the calculation module is suitable for calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route interval, wherein the preset cleaning route interval is not an integral multiple of the first threshold;
and the execution module is suitable for executing the cleaning route generation operation in the memory map according to the offset to obtain the coverage map.
According to yet another aspect of the present invention, there is provided a computing device comprising: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the cleaning route generation method of the sweeper.
According to another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the sweeping route generating method of the sweeper.
According to the scheme provided by the invention, a memory map is allocated to the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value and a first threshold value; calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold; and according to the offset, executing cleaning route generation operation in the memory map to obtain a coverage map. Based on the scheme provided by the invention, the generated cleaning route is finer, the cleaning efficiency is higher and the cleaning effect is better when the sweeper cleans according to the cleaning route, and in addition, the defects that the space environment is not completely cleaned and part of the area is omitted and not cleaned due to overlarge intervals among the cleaning routes can be avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow chart of a sweeping route generating method of a sweeper according to an embodiment of the invention;
fig. 2A shows a schematic flow chart of a sweeping route generating method of a sweeper according to another embodiment of the invention;
FIG. 2B is a schematic diagram of bi-directional dynamic detection of whether an obstacle exists in an extension line of a cleaning route;
fig. 3 is a schematic structural diagram of a sweeping route generating device of the sweeper according to one embodiment of the invention;
FIG. 4 shows a schematic structural diagram of a computing device according to one embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 is a schematic flow chart of a sweeping route generating method of a sweeper according to an embodiment of the invention. As shown in fig. 1, the method comprises the steps of:
step S100, a memory map is allocated to the sweeper in advance, wherein the memory map is divided into grids with an accuracy value of a first threshold value x the first threshold value.
Before a cleaning route is generated, a corresponding memory map needs to be allocated to the sweeper, the memory map is used for generating the cleaning route, the memory of a common sweeper is limited, for example, the memory of the sweeper is 640000 bytes, and the maximum memory occupied by the memory map of the sweeper is 640000 bytes.
In this embodiment, the memory map is divided into grids with precision values of the first threshold value x the first threshold value, that is, the memory map is composed of a plurality of such grids, for example, the memory map is divided into the grids of 5cmx5cm
Step S101, calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to a preset cleaning route interval, wherein the preset cleaning route interval is not an integral multiple of a first threshold.
In the prior art, the distance between two cleaning routes is an integral multiple of a first threshold, for example, the first threshold is 5cm, the distance between the cleaning routes is generally 10cm or 15cm, and when the sweeper cleans according to the cleaning route generated by the sweeper, the cleaning efficiency is low or a part of the area is omitted and is not cleaned.
In order to overcome the above problem, a person skilled in the art sets a cleaning route interval according to a cleaning experience, where the preset cleaning interval is a distance between two cleaning routes, and in this embodiment, the preset cleaning route interval is not an integral multiple of the first threshold, for example, when the first threshold is 5cm, the preset cleaning route interval may be set to 13cm, so that the cleaning efficiency of the sweeper is improved by setting the cleaning route interval in a fine manner, and the problem that a part of the area is missed and not cleaned is solved.
The sweeping direction of the sweeper indicates which direction the sweeper performs sweeping when sweeping the space environment, wherein the sweeping direction of the sweeper is divided into a horizontal sweeping direction or a vertical sweeping direction, and different sweeping directions determine that the generated sweeping routes are different.
The operation of generating the cleaning route is performed on the grids of the memory map, so before the cleaning route generating operation is performed, the offset of each grid corresponding to the cleaning route to be generated in the cleaning direction of the sweeper needs to be calculated according to the preset cleaning route interval. The offset amount here refers to a position of the cleaning route in the grid corresponding to the position of the cleaning route when the cleaning route is generated. Specifically, when calculating the offset of the cleaning route to be generated, the calculation may be performed by combining the previous cleaning route and the preset cleaning route distance.
The calculated offset will vary for different cleaning routes. For example, grid 3 may be offset by 3cm and grid 6 may be offset by 1cm, which is merely illustrative and not limiting.
And step S102, according to the offset, executing cleaning route generation operation in the memory map to obtain a coverage map.
After the offset is calculated, a cleaning route generation operation may be performed at a corresponding grid in the memory map according to the calculated offset, and after the cleaning route generation operation is completed, a corresponding coverage map may be obtained, where the coverage map records all the cleaning routes.
According to the method provided by the embodiment of the invention, the memory map is allocated to the sweeper in advance, wherein the memory map is divided into grids with the precision value being the first threshold value and the first threshold value; calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold; and according to the offset, executing cleaning route generation operation in the memory map to obtain a coverage map. Based on the scheme provided by the invention, the generated cleaning route is finer, the cleaning efficiency is higher and the cleaning effect is better when the sweeper cleans according to the cleaning route, and in addition, the defects that the space environment is not completely cleaned and part of the area is omitted and not cleaned due to overlarge intervals among the cleaning routes can be avoided.
Fig. 2A is a schematic flow chart of a sweeping route generating method of a sweeper according to another embodiment of the invention. As shown in fig. 2A, the method includes the steps of:
step S200, a memory map is allocated to the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value x a first threshold value.
Step S201, calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route interval, wherein the preset cleaning route interval is not an integral multiple of the first threshold.
Step S202, according to the offset, cleaning route generation operation is executed in the memory map, and a coverage map is obtained.
Steps S200 to S202 in the embodiment shown in fig. 2A are similar to steps S100 to S102 in the embodiment shown in fig. 1, and are not repeated here.
Step S203, detecting whether obstacles exist on the extension line of the cleaning route in a bidirectional dynamic mode from two ends of the cleaning route, and if not, executing step S204; if so, the method ends.
In actual life, when a cleaning route is planned, a dynamic obstacle may exist in a space environment corresponding to the cleaning route, and after the cleaning route is planned, the situation that the dynamic obstacle does not exist in the space environment occurs.
Fig. 2B is a schematic diagram illustrating bidirectional dynamic detection of whether an obstacle exists on an extension line of a cleaning route, where in fig. 2B, a solid line part is a generated cleaning route, and a dotted line part is an extension line of the cleaning route, and when detection is performed, whether an obstacle exists on the extension line of the cleaning route (i.e., the dotted line part in fig. 2B) is detected from both ends of the cleaning route in a direction of an arrow in fig. 2B.
Step S204, the cleaning route is dynamically expanded in two directions along the extension line of the cleaning route.
If the detection result shows that no obstacle exists on the extension line of the cleaning route, the obstacle can be considered to disappear, and the cleaning route should be dynamically adjusted at this moment so that the sweeper can perform cleaning treatment on the obstacle during cleaning, specifically, the cleaning route can be dynamically adjusted by adopting the following method: the cleaning path is dynamically expanded in two directions along the extension line of the cleaning path, and the dotted line in fig. 2B is expanded as a part of the cleaning path.
When the cleaning route is expanded in a bidirectional dynamic mode along the extension line of the cleaning route, whether the cleaning route is too close to an obstacle or too close to a forbidden zone during expansion can be ignored, and the cleaning route of the expanded part is detected after the subsequent method steps.
In step S205, the cleaning route of the corresponding portion of the cleaning route generated when the obstacle exists is deleted.
Since the cleaning route has been dynamically expanded in step S204 in a bidirectional manner along the extension line of the cleaning route, the sweeper will not perform cleaning according to the cleaning route generated when the obstacle exists during subsequent cleaning, and therefore, the cleaning route of the corresponding portion of the cleaning route generated when the obstacle exists needs to be deleted, which is described with reference to fig. 2B, and it can be considered that the arc portion in fig. 2B is deleted.
Step S206, detecting whether the distance between the cleaning route of the extension part and the barrier and/or the forbidden zone is less than or equal to a second threshold value, if so, executing step S207; if not, the method ends.
In order to avoid that the cleaning route of the extension part is too close to the obstacle or too close to the forbidden zone, so that the sweeper easily collides with the obstacle or easily walks into the forbidden zone during cleaning and influences the normal cleaning work of the sweeper, after the bidirectional dynamic extension of the cleaning route along the extension line of the cleaning route, the cleaning route of the extension part needs to be detected, specifically, whether the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to a second threshold value is detected, wherein the second threshold value is flexibly set according to actual experience.
If the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to the second threshold value, the cleaning route of the extension part is too close to the obstacle and/or the forbidden zone, and the sweeper is easy to collide with the obstacle or enter the forbidden zone during cleaning, so that the cleaning work of the sweeper is not facilitated; if the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is larger than the second threshold value, the sweeper can clean normally along the cleaning route of the extension part, and the condition that the sweeper collides with the obstacle or enters the forbidden zone cannot occur.
In step S207, the cleaning route of the extension portion is deleted.
If the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to the second threshold value, the cleaning route of the extension part is determined not to be suitable for the cleaning work of the sweeper, and at the moment, the cleaning route of the extension part needs to be deleted.
And step S208, splicing the remained cleaning routes after the deletion process by combining the obstacles and/or the forbidden zones.
After the cleaning route of the extension portion is deleted, in order to ensure that the cleaning work of the sweeper is smoothly performed, the remaining cleaning route after the deletion processing needs to be spliced by combining the obstacle and/or the forbidden zone, and the distance between the cleaning route and the obstacle and/or the forbidden zone can be considered during splicing processing, so that the spliced cleaning route is more beneficial to the cleaning work.
The execution sequence of steps S206 to S208 and S205 is not limited in this embodiment, for example, step S206 to S208 may be executed first, and then step S205 may be executed, step S205 may be executed first, and step S206 to step S208 may be executed, or step S206 to step S208 and step S205 may be executed at the same time.
In an optional implementation manner of the invention, when the cleaning route is dynamically expanded in two directions along the extension line of the cleaning route, the cleaning route can be dynamically expanded in two directions by combining with the obstacle or the forbidden zone, so that the condition that the cleaning route of the expanded part is too close to the obstacle or the forbidden zone can be avoided, and the defect that the sweeper easily collides with the obstacle or moves into the forbidden zone during cleaning is avoided, and the normal cleaning of the sweeper is influenced.
According to the method provided by the embodiment of the invention, the offset of each grid corresponding to each to-be-generated cleaning route in the cleaning direction of the sweeper is calculated for each to-be-generated cleaning route, the cleaning route generated according to the offset is finer, the sweeper is higher in cleaning efficiency and better in cleaning effect when cleaning is carried out according to the cleaning route, and in addition, the defects that the space environment is not completely cleaned and part of the area is omitted and not cleaned due to overlarge intervals among the cleaning routes can be avoided; after the cleaning route is generated, whether obstacles exist on an extension line of the cleaning route is dynamically detected in two directions from two ends of the cleaning route, if not, the cleaning route is dynamically adjusted, the sweeper is guaranteed to be capable of sweeping in place, and the defects that the sweeper does not timely sweep a corresponding area and the cleaning effect is poor and the user experience is poor are avoided.
Fig. 3 shows a schematic structural diagram of a sweeping route generating device of a sweeper according to an embodiment of the invention. As shown in fig. 3, the apparatus includes: an allocation module 300, a calculation module 301, an execution module 302.
The distribution module 300 is adapted to distribute a memory map for the sweeper in advance, wherein the memory map is divided into grids with precision values of a first threshold value and a first threshold value;
the calculation module 301 is adapted to calculate, according to a preset cleaning route pitch, an offset of each grid corresponding to a cleaning route to be generated in the cleaning direction of the sweeper, wherein the preset cleaning route pitch is not an integral multiple of the first threshold;
the execution module 302 is adapted to execute a cleaning route generation operation in the memory map according to the offset, so as to obtain the coverage map.
Optionally, the apparatus further comprises: the detection module 303 is suitable for dynamically detecting whether an obstacle exists on an extension line of the cleaning route from two ends of the cleaning route in a two-way manner;
the adjusting module 304 is adapted to dynamically adjust the cleaning route if no obstacle exists on the extension line of the cleaning route.
Optionally, the adjusting module 304 is further adapted to: carrying out bidirectional dynamic expansion on the cleaning route along an extension line of the cleaning route;
the cleaning route of the corresponding part in the cleaning route generated when the obstacle exists is deleted.
Optionally, the adjusting module 304 is further adapted to: detecting whether the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to a second threshold value;
if yes, the expanded cleaning route is dynamically adjusted.
Optionally, the adjusting module 304 is further adapted to: deleting the cleaning route of the expansion part;
and splicing the remaining cleaning routes after the deletion treatment by combining the barriers and/or the forbidden zones.
According to the device provided by the embodiment of the invention, the memory map is allocated to the sweeper in advance, wherein the memory map is divided into grids with the precision value being the first threshold value and the first threshold value; calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold; and according to the offset, executing cleaning route generation operation in the memory map to obtain a coverage map. Based on the scheme provided by the invention, the generated cleaning route is finer, the cleaning efficiency is higher and the cleaning effect is better when the sweeper cleans according to the cleaning route, and in addition, the defects that the space environment is not completely cleaned and part of the area is omitted and not cleaned due to overlarge intervals among the cleaning routes can be avoided.
The embodiment of the invention also provides a nonvolatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the sweeping route generating method of the sweeper in any method embodiment.
FIG. 4 shows a schematic structural diagram of a computing device according to one embodiment of the invention. The specific embodiments of the present invention are not intended to limit the specific implementations of computing devices.
As shown in fig. 4, the computing device may include: a processor (processor)402, a Communications Interface 404, a memory 406, and a Communications bus 408.
Wherein:
the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.
A communication interface 404 for communicating with network elements of other devices, such as clients or other servers.
The processor 402 is configured to execute the program 410, and may specifically execute the relevant steps in the embodiment of the cleaning route generation method of the sweeper.
In particular, program 410 may include program code comprising computer operating instructions.
The processor 402 may be a central processing unit CPU, or an application specific Integrated circuit asic, or one or more Integrated circuits configured to implement an embodiment of the present invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 406 for storing a program 410. Memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may be specifically configured to cause the processor 402 to execute the cleaning route generating method of the sweeper in any of the above-described method embodiments. For specific implementation of each step in the program 410, reference may be made to corresponding steps and corresponding descriptions in units in the cleaning route generation embodiment of the sweeper, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the sweeping route generating apparatus of the sweeper according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The invention discloses: A1. a sweeping route generating method of a sweeper comprises the following steps:
allocating a memory map for a sweeper in advance, wherein the memory map is divided into grids with precision values of a first threshold value and a first threshold value;
calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold;
and executing a cleaning route generation operation in the memory map according to the offset to obtain a coverage map.
A2. The method of a1, wherein after generating a sweep route, the method further comprises:
dynamically detecting whether an obstacle exists on an extension line of the cleaning route from two ends of the cleaning route in a bidirectional way;
if not, the cleaning route is dynamically adjusted.
A3. The method according to a2, wherein the dynamically adjusting the cleaning route further comprises:
carrying out bidirectional dynamic expansion on the cleaning route along an extension line of the cleaning route;
the cleaning route of the corresponding part in the cleaning route generated when the obstacle exists is deleted.
A4. The method according to a3, wherein after bidirectional dynamic expansion of the cleaning route along its extension, the method further comprises:
detecting whether the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to a second threshold value;
if yes, the expanded cleaning route is dynamically adjusted.
A5. The method of a4, wherein the dynamically adjusting the augmented cleaning route further comprises:
deleting the cleaning route of the expansion part;
and splicing the remaining cleaning routes after the deletion treatment by combining the barriers and/or the forbidden zones.
B6. A sweeping route generating device of a sweeper comprises:
the distribution module is suitable for distributing a memory map for the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value and a first threshold value;
the calculation module is suitable for calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route interval, wherein the preset cleaning route interval is not an integral multiple of the first threshold;
and the execution module is suitable for executing cleaning route generation operation in the memory map according to the offset to obtain a coverage map.
B7. The apparatus of B6, wherein the apparatus further comprises:
the detection module is suitable for dynamically detecting whether obstacles exist on the extension line of the cleaning route from two ends of the cleaning route in a bidirectional way;
and the adjusting module is suitable for dynamically adjusting the cleaning route if no obstacle exists on the extension line of the cleaning route.
B8. The apparatus of B7, wherein the adjustment module is further adapted to:
carrying out bidirectional dynamic expansion on the cleaning route along an extension line of the cleaning route;
the cleaning route of the corresponding part in the cleaning route generated when the obstacle exists is deleted.
B9. The apparatus of B8, wherein the adjustment module is further adapted to:
detecting whether the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to a second threshold value;
if yes, the expanded cleaning route is dynamically adjusted.
B10. The apparatus of B9, wherein the adjustment module is further adapted to:
deleting the cleaning route of the expansion part;
and splicing the remaining cleaning routes after the deletion treatment by combining the barriers and/or the forbidden zones.
C11. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the sweeping route generating method of the sweeper, as described in any one of A1-A5.
D12. A computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the sweeping route generating method of the sweeper as claimed in any one of a1-a 5.
Claims (10)
1. A sweeping route generating method of a sweeper comprises the following steps:
allocating a memory map for a sweeper in advance, wherein the memory map is divided into grids with precision values of a first threshold value and a first threshold value;
calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route distance, wherein the preset cleaning route distance is not an integral multiple of the first threshold;
and executing a cleaning route generation operation in the memory map according to the offset to obtain a coverage map.
2. The method of claim 1, wherein after generating the cleaning route, the method further comprises:
dynamically detecting whether an obstacle exists on an extension line of the cleaning route from two ends of the cleaning route in a bidirectional way;
if not, the cleaning route is dynamically adjusted.
3. The method of claim 2, wherein said dynamically adjusting the cleaning route further comprises:
carrying out bidirectional dynamic expansion on the cleaning route along an extension line of the cleaning route;
the cleaning route of the corresponding part in the cleaning route generated when the obstacle exists is deleted.
4. The method of claim 3, wherein after bi-directionally dynamically augmenting the cleaning path along its extension, the method further comprises:
detecting whether the distance between the cleaning route of the extension part and the obstacle and/or the forbidden zone is smaller than or equal to a second threshold value;
if yes, the expanded cleaning route is dynamically adjusted.
5. The method of claim 4, wherein the dynamically adjusting the augmented cleaning route further comprises:
deleting the cleaning route of the expansion part;
and splicing the remaining cleaning routes after the deletion treatment by combining the barriers and/or the forbidden zones.
6. A sweeping route generating device of a sweeper comprises:
the distribution module is suitable for distributing a memory map for the sweeper in advance, wherein the memory map is divided into grids with the precision value being a first threshold value and a first threshold value;
the calculation module is suitable for calculating the offset of each grid corresponding to the to-be-generated cleaning route in the cleaning direction of the sweeper according to the preset cleaning route interval, wherein the preset cleaning route interval is not an integral multiple of the first threshold;
and the execution module is suitable for executing cleaning route generation operation in the memory map according to the offset to obtain a coverage map.
7. The apparatus of claim 6, wherein the apparatus further comprises:
the detection module is suitable for dynamically detecting whether obstacles exist on the extension line of the cleaning route from two ends of the cleaning route in a bidirectional way;
and the adjusting module is suitable for dynamically adjusting the cleaning route if no obstacle exists on the extension line of the cleaning route.
8. The apparatus of claim 7, wherein the adjustment module is further adapted to:
carrying out bidirectional dynamic expansion on the cleaning route along an extension line of the cleaning route;
the cleaning route of the corresponding part in the cleaning route generated when the obstacle exists is deleted.
9. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the sweeping route generating method of the sweeper in any one of claims 1-5.
10. A computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the sweeping route generating method of the sweeper according to any one of claims 1-5.
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