CN111802962A - Robot cleaning method and device, robot and storage medium - Google Patents
Robot cleaning method and device, robot and storage medium Download PDFInfo
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- 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
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Abstract
The application is suitable for the technical field of robots, and provides a robot cleaning method, a device, a robot and a storage medium, wherein the robot cleaning method comprises the steps of determining the moving direction of the robot, carrying out similar bow cleaning on an area to be cleaned along the moving direction, the similar bow cleaning comprises radial cleaning and edgewise cleaning, the radial cleaning is carried out in the area along the longitudinal direction of the similar bow, the edgewise cleaning comprises axial edgewise cleaning, radial edgewise cleaning and tangential edgewise cleaning, the axial edgewise cleaning is carried out edgewise cleaning along the transverse direction of the similar bow, the radial edgewise cleaning is carried out edgewise cleaning along the longitudinal direction of the similar bow, the tangential edgewise cleaning is carried out edgewise cleaning along the tangential direction of the inner edge of the area to be cleaned, and the projection length of an edgewise cleaning path in the transverse direction of the similar bow does not exceed a first preset value. The cleaning device has the advantages that the total cleaning time can be saved, the cleaning efficiency is improved, long-distance edge cleaning can be avoided, and the cost is saved.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a method and an apparatus for cleaning a robot, and a storage medium.
Background
With the development of science and technology, robots for cleaning purposes have also gradually come into the homes of users to clean the floor surface instead of manually.
When the robot in the prior art cleans an area to be cleaned, the robot usually cleans along the edge and then cleans in a Chinese character 'ji', however, the method is time-consuming and long, the cleaning efficiency is not high, and in order to obtain a good edge effect, other sensors are often required to be additionally arranged to assist the robot to clean along the edge in a long distance, which increases the cost and is not beneficial to saving the cost.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In view of this, the embodiments of the present application provide a method and an apparatus for robot cleaning, a robot, and a storage medium, which not only can save the total cleaning time and improve the cleaning efficiency, but also can avoid long-distance edge cleaning, thereby saving the cost.
A first aspect of an embodiment of the present application provides a method of robotic cleaning, including:
determining the motion direction of the robot;
the method comprises the following steps of carrying out similar-bow cleaning on an area to be cleaned along the moving direction, wherein the similar-bow cleaning comprises radial cleaning and edgewise cleaning, the radial cleaning is carried out in the area along the longitudinal direction of the similar bow, the edgewise cleaning comprises axial edgewise cleaning, radial edgewise cleaning and tangential edgewise cleaning, the axial edgewise cleaning is carried out edgewise cleaning along the transverse direction of the similar bow, the radial edgewise cleaning is carried out edgewise cleaning along the longitudinal direction of the similar bow, the tangential edgewise cleaning is carried out edgewise cleaning along the tangential direction of the inner edge of the area to be cleaned, and the projection length of an edgewise cleaning path in the transverse direction of the similar bow does not exceed a first preset value.
In one embodiment, the bow-like cleaning of the area to be cleaned along the direction of motion comprises:
when the area to be cleaned is cleaned like a Chinese character 'ji' along the moving direction, if the area to be cleaned moves to the preset position of the inner edge of the area to be cleaned, the moving direction of the robot at the next moment is determined according to the cleaning conditions of the left side and the right side of the robot;
and cleaning the remaining area to be cleaned in the moving direction of the next moment.
In one embodiment, the determining the next-time movement direction of the robot according to the cleaning conditions of the left side and the right side of the robot comprises:
if the left side and the right side of the robot are both areas to be cleaned, taking a direction opposite to a previous area searching direction as a moving direction of the robot at the next moment, wherein the previous area searching direction is an initial area searching direction of the robot or an area searching direction when the radial cleaning which is closest to the current moment is finished;
if only one side of the left side and the right side of the robot is a cleaned area, taking the other side of the left side and the right side except the cleaned area as the motion direction of the robot at the next moment;
and if the left side and the right side of the robot are both cleaned areas, taking the transition direction as the moving direction of the robot at the next moment.
In one embodiment, before the transition direction is taken as the moving direction of the robot at the next moment, the method further comprises the following steps:
creating a backtracking list according to the position information of the remaining areas to be cleaned in the areas to be cleaned;
determining a target backtracking node according to the distance between the backtracking nodes in the backtracking list and the robot;
and determining the transition direction according to the position information of the robot and the target backtracking node.
In one embodiment, the bow-like cleaning of the area to be cleaned along the direction of motion further comprises:
the cleaning zone is cleaned radially in the direction of the current radial cleaning or, opposite to the direction of the current radial cleaning.
In one embodiment, the radial cleaning of the area to be cleaned along or in the direction of the current radial cleaning comprises:
when the area to be cleaned is cleaned like a Chinese character 'ji' along the moving direction, if a preset type of obstacle is detected, after the preset type of obstacle is cleaned along the preset direction, the area to be cleaned remained in the area to be cleaned is continuously cleaned along the current radial cleaning direction, the preset direction is used for indicating that a second position and a first position of the robot are both in the current radial cleaning direction, the first position is a position when the robot firstly approaches the preset type of obstacle, the second position is a position when the robot leaves the preset type of obstacle, the path length of axial edgewise cleaning with the first position as a starting point and the path length of axial edgewise cleaning with the second position as a starting point do not exceed a second preset value, and the current radial cleaning direction is the direction when the robot performs radial edgewise cleaning on the preset type of obstacle And (4) direction.
In one embodiment, the bow cleaning the area to be cleaned along the direction of motion further comprises:
if the area to be cleaned comprises an area of a preset type, carrying out bow-like cleaning on the area to be cleaned along the movement direction and the outer edge of the area of the preset type, so that the robot is far away from the area of the preset type.
The beneficial effects of the embodiment of the application are that: the moving direction of the robot is determined firstly, and then the area to be cleaned is cleaned like a Chinese character 'gong' along the moving direction, so that the total cleaning time can be saved, the cleaning efficiency is improved, long-distance edge cleaning can be avoided, and only short-distance axial edge cleaning, radial edge cleaning and tangential edge cleaning are performed, so that other sensors are not needed to be additionally arranged to assist the robot in performing long-distance edge cleaning, and the cost is saved; according to the embodiment of the application, when the area to be cleaned is cleaned like a Chinese character 'gong' along the moving direction, if the area to be cleaned moves to the preset position of the inner edge of the area to be cleaned, the moving direction of the robot at the next moment is determined according to the cleaning conditions of the left side and the right side of the robot, so that the remaining area to be cleaned in the area to be cleaned is cleaned along the moving direction at the next moment, repeated cleaning is avoided, and the cleaning efficiency is improved; this application embodiment also can treat along the direction of motion when cleaning the region and carry out type bow word cleanness, if detect the barrier of predetermineeing the type, then carry out the clean back along the limit along the direction of predetermineeing to the barrier of predetermineeing the type along predetermineeing, continue to treat along the current radial clear direction and clean the region and carry out radial cleanness, be favorable to guaranteeing that whole clean task who treats clean region goes on smoothly, have stronger ease for use and practicality.
A second aspect of an embodiment of the present application provides a device for robotic cleaning, comprising:
the motion direction determining module is used for determining the motion direction of the robot;
the cleaning module is used for cleaning an area to be cleaned along a moving direction in a similar bow mode, the similar bow mode cleaning comprises radial cleaning and edgewise cleaning, the radial cleaning is along the longitudinal direction of the similar bow mode cleaning in the area, the edgewise cleaning comprises axial edgewise cleaning, radial edgewise cleaning and tangential edgewise cleaning, the axial edgewise cleaning is along the transverse direction of the similar bow mode cleaning, the radial edgewise cleaning is along the longitudinal direction of the similar bow mode cleaning, the tangential edgewise cleaning is along the tangential direction of the inner edge of the area to be cleaned, and the projection length of the edgewise cleaning path in the transverse direction of the similar bow mode does not exceed a first preset value.
In one embodiment, the cleaning module specifically comprises:
the next-time movement direction determining submodule is used for determining the next-time movement direction of the robot according to the cleaning conditions of the left side and the right side of the robot if the robot moves to the preset position of the inner edge of the area to be cleaned when the area to be cleaned is subjected to similar Chinese character bow cleaning along the movement direction;
and the cleaning submodule is used for cleaning the residual area to be cleaned in the area to be cleaned along the moving direction of the next moment.
In one embodiment, the next-time motion direction determination submodule specifically includes:
the first determining subunit of the motion direction at the next moment is used for taking the direction opposite to the previous area searching direction as the motion direction of the robot at the next moment if the left side and the right side of the robot are both areas to be cleaned, wherein the previous area searching direction is the initial area searching direction of the robot or the area searching direction of the robot at the end of the closest radial cleaning at the current moment;
a second determining subunit of a movement direction at the next moment, configured to, if only one of the left and right sides of the robot is a cleaned area, use the other of the left and right sides, excluding the cleaned area, as the movement direction of the robot at the next moment;
and the third determining subunit is used for determining the motion direction of the robot at the next moment, and taking the transition direction as the motion direction of the robot at the next moment if the left side and the right side of the robot are both cleaned areas.
In one embodiment, the apparatus for robotic cleaning further comprises:
the backtracking list creating module is used for creating a backtracking list according to the position information of the remaining areas to be cleaned in the areas to be cleaned;
the target backtracking node determining module is used for determining a target backtracking node according to the distance between the non-backtracking node in the backtracking list and the robot;
and the transition direction determining module is used for determining the transition direction according to the position information of the robot and the target backtracking node.
In one embodiment, the apparatus for robotic cleaning further comprises:
the first control module is used for carrying out radial cleaning on the area to be cleaned along the current radial cleaning direction or the direction opposite to the current radial cleaning direction.
In one embodiment, the first control module is specifically configured to:
when the area to be cleaned is cleaned like a Chinese character 'ji' along the moving direction, if a preset type of obstacle is detected, after the preset type of obstacle is cleaned along the preset direction, the area to be cleaned remained in the area to be cleaned is continuously cleaned along the current radial cleaning direction, the preset direction is used for indicating that a second position and a first position of the robot are both in the current radial cleaning direction, the first position is a position when the robot firstly approaches the preset type of obstacle, the second position is a position when the robot leaves the preset type of obstacle, the path length of axial edgewise cleaning with the first position as a starting point and the path length of axial edgewise cleaning with the second position as a starting point do not exceed a second preset value, and the current radial cleaning direction is the direction when the robot performs radial edgewise cleaning on the preset type of obstacle And (4) direction.
In one embodiment, the apparatus for robotic cleaning further comprises:
and the second control module is used for performing similar-Chinese-character-type cleaning on the area to be cleaned along the movement direction and the outer edge of the area of the preset type if the area to be cleaned contains the area of the preset type, so that the robot is far away from the area of the preset type.
A third aspect of embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the first aspects.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a robot, causes the robot to perform the method of any one of the first aspects described above.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1-a is a schematic flow chart of a method for robot cleaning according to an embodiment of the present disclosure;
FIG. 1-b is a schematic view of a cleaning path provided in accordance with one embodiment of the present application;
fig. 1-c are schematic diagrams of a cleaning path when a region to be cleaned includes a region of a predetermined type according to a first embodiment of the present disclosure;
fig. 2-a is a schematic flow chart of a robot cleaning method according to a second embodiment of the present disclosure;
fig. 2-b is a schematic view of a cleaning path when the to-be-cleaned area includes both sides of the robot as an uncleaned area in a scenario provided by the second embodiment of the present application;
3-a is a schematic flow chart of a method for robot cleaning provided in the third embodiment of the present application;
fig. 3-b is a schematic diagram of a cleaning path when the area to be cleaned includes an obstacle of a preset type according to a third embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot cleaning device according to a fourth embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a robot according to a fifth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
It should be noted that, the descriptions of "first" and "second" in this embodiment are used to distinguish different regions, modules, and the like, and do not represent a sequential order, and the descriptions of "first" and "second" are not limited to be of different types.
The execution main body of the robot cleaning method can be an indoor cleaning robot capable of automatically completing ground cleaning by means of certain artificial intelligence, such as a sweeping robot, a mopping robot or a sweeping and mopping integrated robot.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
Example one
Fig. 1-a is a schematic flow chart of a method for robot cleaning according to an embodiment of the present disclosure, which may include the following steps:
s101: the direction of motion of the robot is determined.
The movement direction of the robot is the current movement direction of the robot, may be the initial movement direction of the robot after starting up, and may also be the movement direction of the robot moving to a certain moment after starting up, which may be determined according to the circumstances and is not limited herein.
In one embodiment, the direction of movement of the robot may be determined jointly from the information of the robot and the information of the area to be cleaned.
S102: and carrying out similar-Chinese character 'gong' cleaning on the area to be cleaned along the moving direction.
Wherein bow-like cleaning comprises radial cleaning within the zone, which is in-zone cleaning in the longitudinal direction of the bow-like, as in path 1 and path 5 in fig. 1-b, and edgewise cleaning of the zone edge; edgewise cleaning includes axial edgewise cleaning, radial edgewise cleaning, and tangential edgewise cleaning, the axial edgewise cleaning being edgewise cleaning in a bow-like transverse direction, such as path 4 in fig. 1-b; radial edgewise cleaning is edgewise cleaning in the longitudinal direction of the bow-like shape, path 3 in fig. 1-b; tangential edgewise cleaning is edgewise cleaning in a tangential direction to the inner edge of the area to be cleaned, as in path 2 in fig. 1-b. It should be understood that the direction of axial edgewise cleaning is perpendicular to the direction of radial edgewise cleaning in this application. In one embodiment, when radial cleaning within the area is performed, step S102 may include radial cleaning of the area to be cleaned in the current radial cleaning direction or, in a direction opposite to the current radial cleaning direction.
It should be noted that, in the present application, the projection length of the edgewise cleaning path in the transverse direction of the bow-like character does not exceed the first preset value, for example, does not exceed the maximum spacing distance of the bow-like character.
In addition, in order to avoid the situation that the robot repeats cleaning during the cleaning process, in an embodiment, the step S102 may specifically be:
if the area to be cleaned comprises the area of the preset type, carrying out bow-like cleaning on the area to be cleaned along the movement direction and the outer edge of the area of the preset type so as to enable the robot to be far away from the area of the preset type.
The preset type area is an area which is not suitable for the robot to enter, such as a cleaned area, an area where an obstacle is located or a forbidden area. Specifically, when the preset type of area is a cleaned area, the area may be an area cleaned by the robot performing steps S101 to S102, or an area cleaned by another robot than the robot performing steps S101 to S102, which is not limited herein.
To explain and explain a specific application scenario by way of example, as shown in fig. 1-c, if the area S to be cleaned includes the cleaned area S1, the similar-bow cleaning is performed on the other areas of the area S to be cleaned except for the cleaned area S1 in the X → Y → Z → U → V → W direction.
From top to bottom, this application embodiment is through confirming the direction of motion of robot earlier, then treat along the direction of motion that clean region carries out class bow word cleanness, not only can practice thrift clean total length, improve clean efficiency, can also avoid long distance edgewise cleanness to appear, only carry out short distance axial edgewise cleanness, radial edgewise cleanness and tangential edgewise cleanness, thereby need not to add other sensors and come the auxiliary robot to carry out long distance edgewise cleanness, be favorable to practicing thrift the cost, stronger ease for use and practicality have.
Example two
Fig. 2-a is a schematic flow chart of a method for robot cleaning according to an embodiment two of the present application, which is a detailed and descriptive illustration of step S102 in the embodiment one, and the method may include the following steps:
s201: the direction of motion of the robot is determined.
The step S201 is the same as the step S101 in the first embodiment, and the specific implementation process of the step S201 can be referred to the description of the step S101, which is not repeated herein.
S202: when the area to be cleaned is cleaned like a Chinese character 'gong' along the moving direction, if the robot moves to the preset position of the inner edge of the area to be cleaned, the moving direction of the robot at the next moment is determined according to the cleaning conditions of the left side and the right side of the robot, and the remaining area to be cleaned in the area to be cleaned is cleaned along the moving direction at the next moment.
When the area to be cleaned is an indoor floor, the inner edge of the area to be cleaned can be the junction of a wall and the floor; wherein the preset position may be a minimum safe distance at which the robot does not collide with the inner edge of the area to be cleaned; the left side and the right side of the robot are relative to the current moving direction, namely the left side and the right side of the robot are the left side and the right side of the moving direction of the robot; wherein the next time instant is relative to the current time instant; the remaining areas to be cleaned in the areas to be cleaned are other areas to be cleaned in the areas to be cleaned except for the current cleaned area; wherein the bow-like cleaning of the area to be cleaned in the direction of movement comprises a radial cleaning of the area to be cleaned in the direction of movement.
In one embodiment, the determining the moving direction of the robot at the next moment according to the cleaning conditions of the left and right sides of the robot in step S202 may include:
a1: and if the left side and the right side of the robot are the areas to be cleaned, taking the direction opposite to the searching direction of the previous area as the moving direction of the robot at the next moment.
The area searching direction refers to a direction along which a certain sub-area in the area to be cleaned is searched, is irrelevant to the moving direction of the robot, and is only relevant to the position of the robot and the position of each sub-area in the area to be cleaned.
The last area search direction is an initial area search direction of the robot or an area search direction at the end of the radial cleaning closest to the current time, and may be leftward (e.g., directly to the left, upward to the left, or downward to the left), rightward (e.g., directly to the right, upward to the right, or downward to the right), downward (e.g., directly to the bottom, downward to the left, or downward to the right), or upward (e.g., directly to the top, upward to the right, or upward to the left).
In one embodiment, step a1 may specifically be that when the area search direction at the end of the closest radial cleaning to the current time is the same as the initial area search direction (e.g., the first radial cleaning performed by the robot after the movement), the next-time movement direction may be determined according to the initial area search direction or the area search direction at the end of the closest radial cleaning to the current time, for example, if the initial area search direction or the area search direction at the end of the closest radial cleaning to the current time is to the left, the next-time movement direction is to the right. When the current area search direction is different from the area search direction at the end of the one radial cleaning closest to the current time, the next-time movement direction may be determined according to the area search direction at the end of the one radial cleaning closest to the current time, for example, if the initial area search direction is leftward and the area search direction at the end of the one radial cleaning closest to the current time is rightward, the next-time movement direction is leftward.
A2: if only one of the left and right sides of the robot is the cleaned area, the other side of the left and right sides except the cleaned area is used as the moving direction of the robot at the next moment.
When the left side of the robot is a cleaned area, the moving direction at the next moment is towards the right; when the right side of the robot is a cleaned area, the moving direction is towards the left at the next moment.
A3: and if the left side and the right side of the robot are both cleaned areas, taking the transition direction as the moving direction of the robot at the next moment.
The transition direction is the direction along which the robot moves from the current position to the target backtracking node, and the target backtracking node is a non-backtracking node in a backtracking list accessed by the robot at the next moment. In one embodiment, the target backtracking node may be a point on a cleaning path within an uncleaned area of the area to be cleaned.
It should be noted that, when the robot cannot clean a certain side area at a certain position in the area to be cleaned due to some objective reason, the left and right sides of the robot are considered as the cleaned area, such as the position G and the position H in fig. 2-b.
Before the direction of the transition path is taken as the moving direction of the robot at the next moment, the method further comprises the following steps:
b1: and creating a backtracking list according to the position information of the remaining areas to be cleaned in the areas to be cleaned.
The backtracking list can be created in the process of cleaning the area to be cleaned by the robot, for example, when the robot cleans one side of a certain position in the area to be cleaned, the position information of the other side can be added to the backtracking list in the form of nodes.
B2: and determining a target backtracking node according to the distance between the backtracking nodes in the backtracking list and the robot.
In one embodiment, the minimum distance between the non-backtracking nodes in the backtracking list and the robot may be found first, and then the non-backtracking nodes corresponding to the minimum distance may be used as the target backtracking nodes, where when there are a plurality of minimum distances, one of the minimum distances may be selected as the target minimum distance according to a preset rule or a random criterion. Specifically, when the minimum distance between the non-backtracking nodes and the robot in the backtracking list is found, the distances between all the non-backtracking nodes and the robot in the backtracking list can be calculated one by one, then all the calculated distances are reversely sorted, and finally the distance arranged at the head is used as the minimum distance.
B3: and determining the transition direction according to the position information of the robot and the target backtracking node.
Before the transition direction is determined, a transition path corresponding to the transition direction may be determined, specifically, an optimal transition path may be planned with the position of the robot as a starting point and the target backtracking node as an end point, and then a direction in which the transition path is located is taken as the transition direction. The optimal transition path may be a path that requires the robot to go forward or backward for the minimum number of times, may also be a path that requires the robot to turn for the minimum number of times, and may also be a path that requires the shortest moving distance when moving from the position of the robot to the destination backtracking node, which may be specific, and is not limited herein.
Taking a specific application scenario as an example for explanation and explanation, if the area to be cleaned is a polygonal area as shown in fig. 2-B, and the initial position of the robot is O, the initial area search direction is leftward, when the robot is radially cleaned from the initial position O to the preset position a on the inner edge of the area to be cleaned, since both the left and right sides of the robot are the areas to be cleaned at this time, axial edge cleaning is performed rightward, and when the robot leaves the preset position a, the rightward is taken as the area search direction when the robot is axially edge-cleaned from the preset position a to the position B. And because the robot is subjected to bow-like cleaning, when the robot is axially cleaned to the position B, the radial cleaning is continued to the position C, at the moment, the left side and the right side of the robot are both the areas to be cleaned again, so that the axial edgewise cleaning is carried out leftwards, and the leftwards is taken as the area searching direction when the robot is axially cleaned to the position D from the position C. To continue bow-like cleaning, when the robot is axially edgewise cleaned to position D, it is radially cleaned to a predetermined position a, at which time only the right side of the robot is the cleaned area, so it is left to continue axial edgewise cleaning and radial cleaning to position E. When the robot moves to the position E, the left side and the right side are the areas to be cleaned, so that the axial edgewise cleaning is carried out rightwards, and when the robot leaves the position E, the rightwards side is taken as the area searching direction from the position E to the position F, and then the subsequent axial edgewise cleaning, radial cleaning and tangential edgewise cleaning are continuously carried out until the robot returns to the position E. When the robot is moved again to position E, axial edgewise cleaning, radial cleaning and radial edgewise cleaning will continue to the left until moved to position G, since only the right side of the robot is the cleaned area. And when the robot moves to the position G, because the left side and the right side of the robot are both cleaned areas, the robot is transferred from the position F to the nearest non-backtracking node B, and the right side area where the non-backtracking node B is located is cleaned axially, radially and tangentially until the robot moves to the position H, and the cleaning of the whole area to be cleaned is finished.
It can be seen from the above that, this application embodiment two compares in embodiment one, can treat along the direction of motion and clean the region and carry out class bow word when clean, if move to the preset position of treating the regional inward flange of cleaning, then according to the clean condition of the robot left and right sides, confirm the next moment direction of motion of robot to treat that remaining treats the clean region in the clean region cleans along next moment direction of motion, be favorable to avoiding repeated clean and improve clear efficiency, have stronger ease for use and practicality.
EXAMPLE III
Fig. 3-a is a schematic flow chart of a method for robot cleaning according to a third embodiment of the present application, which is further detailed and described with respect to step S102 in the first embodiment, and the method may include the following steps:
s301: the direction of motion of the robot is determined.
The step S301 is the same as the step S101 in the first embodiment, and the specific implementation process may refer to the description of the step S101, which is not repeated herein.
S302: when the area to be cleaned is cleaned like a Chinese character 'gong' along the moving direction, if the obstacle of the preset type is detected, after the obstacle of the preset type is cleaned along the preset direction, the remaining area to be cleaned in the area to be cleaned is continuously cleaned along the current radial cleaning direction.
The preset direction is used for indicating that a second position and a first position of the robot are both in a current radial cleaning direction, the first position is a position (E 'in fig. 3-b) when the robot firstly approaches to a preset type of obstacle, the second position is a position (E' in fig. 3-b) when the robot leaves the preset type of obstacle, the path length of axial edgewise cleaning with the first position as a starting point and the path length of axial edgewise cleaning with the second position as a starting point do not exceed a second preset value, and the current radial cleaning direction is a direction in which the robot performs radial edgewise cleaning on the preset type of obstacle. It should be noted that, the direction of the axial edgewise cleaning with the first position as the starting point is opposite to the direction of the axial edgewise cleaning with the second position as the starting point, and the second preset value may be the maximum separation distance of the bow-like shape.
The preset type of barrier can be an outer right-angle barrier, that is, the outer edge of the barrier is right-angle, as shown in fig. 3-b as barrier at E; wherein the shape of the path along which the obstacle of the preset type is cleaned edgewise in the preset direction is approximately C-shaped.
Taking a specific application scenario as an example for explanation and explanation, if the area to be cleaned is a polygonal area as shown in fig. 3-b, and the initial position of the robot is O, the initial area search direction is leftward, when the robot is radially cleaned from the initial position O to the preset position a of the inner edge of the area to be cleaned, since both the left and right sides of the robot are the areas to be cleaned at this time, tangential edgewise cleaning is performed rightward, and when the robot leaves the preset position a, the rightward is taken as the area search direction when the robot is tangentially edgewise cleaned from the preset position a to the position a'. And because the bow-like cleaning is carried out, when the robot tangentially cleans to the position A ', the radial cleaning is continued to the position D, at the moment, the left side and the right side of the robot are both the areas to be cleaned again, so that the axial edgewise cleaning is carried out leftwards, and the leftwards is taken as the area searching direction when the robot leaves the position D and axially cleans to the position A' edgewise from the position D. To continue bow-like cleaning, when the robot is axially edgewise cleaned to position a ", the radial cleaning is to a preset position a, where only the right side of the robot is the cleaned area, so tangential edgewise cleaning, radial cleaning and axial edgewise cleaning will continue to the left to a first position E' of the outer right-angled obstacle. When the robot moves to the first position E ', the robot firstly cleans along the left axial direction for a certain distance from the first position E ', then cleans along the tangential direction for a certain distance, and finally cleans along the right axial direction for a second position E ' away from the outer right-angle type obstacle. When the robot is cleaned from the second position E' to the position B in the radial direction, the left side and the right side of the robot are both the areas to be cleaned, so that the robot is cleaned rightwards, and the rightwards is taken as the area searching direction when the robot leaves the position B and is cleaned from the position B to the position G. When the right area cleaning at the position B is completed, and the robot moves to the position B again from the position G, because only the right side of the robot is a cleaned area, axial edgewise cleaning, radial edgewise cleaning, tangential edgewise cleaning and radial edgewise cleaning are continued to the left until the robot moves to the position F. When the robot moves to the position F, the left side and the right side of the robot are both cleaned areas, at the moment, the robot is transferred from the position F to the non-backtracking node C with the nearest distance, so that the radial cleaning, the axial edgewise cleaning and the radial edgewise cleaning are continuously carried out on the right side area where the non-backtracking node C is located until the robot moves to the position H, when the robot moves to the position H, the left side and the right side of the robot are cleaned areas again, so that the robot is transferred from the position H to the non-backtracking node D with the nearest distance, and the cleaning of the whole area to be cleaned is finished when the right side area where the backtracking node D is located is continuously subjected to the axial edgewise cleaning, the radial cleaning, the tangential edgewise cleaning and the radial edgewise cleaning until the robot moves to the position I.
It can be seen from above that, this application embodiment three-phase compares in embodiment one, can treat along the direction of motion and clean the region and carry out class bow word when clean, if detect the barrier of predetermineeing the type, then carry out the clean back along the limit along predetermineeing the direction to the barrier of predetermineeing the type, follow current radial clear direction and continue to treat clean region and carry out radial cleanness, be favorable to guaranteeing that whole clean task who treats clean region goes on smoothly, have stronger ease for use and practicality.
Example four
Fig. 4 is a schematic structural diagram of a robot cleaning device according to a fourth embodiment of the present application, and only a part related to the fourth embodiment of the present application is shown for convenience of description.
The robot cleaning device can be a software unit, a hardware unit or a combination of software and hardware which are built in the robot, and can also be integrated into the robot as an independent pendant.
A device for robotic cleaning, comprising:
a movement direction determination module 41 for determining a movement direction of the robot;
In one embodiment, the cleaning module 42 specifically includes:
the next moment movement direction determining submodule is used for determining the next moment movement direction of the robot according to the cleaning conditions of the left side and the right side of the robot if the robot moves to the preset position of the inner edge of the area to be cleaned when the area to be cleaned is subjected to similar Chinese character bow cleaning along the movement direction;
and the cleaning submodule is used for cleaning the residual area to be cleaned in the area to be cleaned along the moving direction of the next moment.
In one embodiment, the next-time motion direction determination submodule specifically includes:
the first determining subunit is used for determining the movement direction of the robot at the next moment, if the left side and the right side of the robot are both areas to be cleaned, the direction opposite to the searching direction of the previous area is taken as the movement direction of the robot at the next moment, and the searching direction of the previous area is the initial area searching direction of the robot or the area searching direction of the robot at the end of the radial cleaning closest to the current moment;
the second determining subunit of the motion direction at the next moment is used for taking the other side of the left side and the right side except the cleaned area as the motion direction of the robot at the next moment if only one side of the left side and the right side of the robot is the cleaned area;
and the third determining subunit of the motion direction at the next moment is used for taking the transition direction as the motion direction of the robot at the next moment if the left side and the right side of the robot are both cleaned areas.
In one embodiment, the apparatus for robotic cleaning further comprises:
the backtracking list creating module is used for creating a backtracking list according to the position information of the remaining area to be cleaned in the area to be cleaned;
the target backtracking node determining module is used for determining a target backtracking node according to the distance between the non-backtracking node in the backtracking list and the robot;
and the transition direction determining module is used for determining the transition direction according to the position information of the robot and the target backtracking node.
In one embodiment, the apparatus for robotic cleaning further comprises:
the first control module is used for carrying out radial cleaning on the area to be cleaned along the current radial cleaning direction or the direction opposite to the current radial cleaning direction.
In one embodiment, the first control module is specifically configured to:
when the cleaning area is cleaned like Chinese character 'gong' along the moving direction, if the obstacle of the preset type is detected, after the obstacle of the preset type is cleaned along the preset direction, the remaining area to be cleaned in the area to be cleaned is continuously cleaned along the current radial cleaning direction, the preset direction is used for indicating that a second position and a first position of the robot are both in the current radial cleaning direction, the first position is a position when the robot firstly approaches the obstacle of the preset type, and the second position is a position when the robot leaves the obstacle of the preset type, and the path length of the axial edgewise cleaning taking the first position as a starting point and the path length of the axial edgewise cleaning taking the second position as a starting point do not exceed a second preset value, the current direction of radial cleaning is the direction in which the robot performs radial edgewise cleaning on a preset type of obstacle.
In one embodiment, the apparatus for robotic cleaning further comprises:
and the second control module is used for carrying out bow-shaped cleaning on the area to be cleaned along the movement direction and the outer edge of the area of the preset type if the area to be cleaned comprises the area of the preset type, so that the robot is far away from the area of the preset type.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a robot according to a fifth embodiment of the present application. As shown in fig. 5, the robot 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in the memory 51 and executable on the processor 50. The processor 50, when executing the computer program 52, implements the steps of the first to third embodiments of the method, such as the steps S101 to S102 shown in fig. 1. The processor 40, when executing the computer program 42, implements the functions of the various modules/units in the various device embodiments described above, such as the functions of the modules 41 to 42 shown in fig. 4.
Illustratively, the computer program 42 may be divided into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the robot 4. For example, the computer program 42 may be divided into a motion direction determination module and a cleaning module, each module having the following specific functions:
the motion direction determining module is used for determining the motion direction of the robot;
the cleaning module is used for cleaning an area to be cleaned along a movement direction in a similar bow shape, the similar bow shape cleaning comprises radial cleaning and edgewise cleaning, the radial cleaning is used for cleaning in the area along the longitudinal direction of the similar bow shape, the edgewise cleaning comprises axial edgewise cleaning, radial edgewise cleaning and tangential edgewise cleaning, the axial edgewise cleaning is used for cleaning along the transverse direction of the similar bow shape, the radial edgewise cleaning is used for cleaning along the longitudinal direction of the similar bow shape, the tangential edgewise cleaning is used for cleaning along the tangential direction of the inner edge of the area to be cleaned, and the projection length of an edgewise cleaning path' in the transverse direction of the similar bow shape does not exceed a first preset value.
The robot 5 may be an indoor cleaning robot, such as a sweeping robot, a mopping robot or a sweeping and mopping all-in-one machine. The robot may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a robot 5 and does not constitute a limitation of robot 5 and may include more or fewer components than shown, or some components in combination, or different components, e.g., robot 5 may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may also be an external storage device of the robot 5, such as a plug-in hard disk provided on the robot 5, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot 5. The memory 51 is used for storing computer programs and other programs and data required by the robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments described above may be implemented by a computer program, which is stored in a computer readable storage medium and used by a processor to implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of robotic cleaning, comprising:
determining the motion direction of the robot;
the method comprises the following steps of carrying out similar-bow cleaning on an area to be cleaned along the moving direction, wherein the similar-bow cleaning comprises radial cleaning and edgewise cleaning, the radial cleaning is carried out in the area along the longitudinal direction of the similar bow, the edgewise cleaning comprises axial edgewise cleaning, radial edgewise cleaning and tangential edgewise cleaning, the axial edgewise cleaning is carried out edgewise cleaning along the transverse direction of the similar bow, the radial edgewise cleaning is carried out edgewise cleaning along the longitudinal direction of the similar bow, the tangential edgewise cleaning is carried out edgewise cleaning along the tangential direction of the inner edge of the area to be cleaned, and the projection length of an edgewise cleaning path on the transverse direction of the similar bow does not exceed a first preset value.
2. The method of claim 1, wherein said bow-like cleaning of the area to be cleaned along said direction of motion comprises:
when the area to be cleaned is cleaned like a Chinese character 'ji' along the moving direction, if the area to be cleaned moves to the preset position of the inner edge of the area to be cleaned, the moving direction of the robot at the next moment is determined according to the cleaning conditions of the left side and the right side of the robot;
and cleaning the remaining area to be cleaned in the moving direction of the next moment.
3. The method of claim 2, wherein determining the next moment movement direction of the robot based on the cleaning of the left and right sides of the robot comprises:
if the left side and the right side of the robot are both areas to be cleaned, taking a direction opposite to a previous area searching direction as a moving direction of the robot at the next moment, wherein the previous area searching direction is an initial area searching direction of the robot or an area searching direction when the radial cleaning which is closest to the current moment is finished;
if only one side of the left side and the right side of the robot is a cleaned area, taking the other side of the left side and the right side except the cleaned area as the motion direction of the robot at the next moment;
and if the left side and the right side of the robot are both cleaned areas, taking the transition direction as the moving direction of the robot at the next moment.
4. The method of claim 3, further comprising, prior to taking a transition direction as a direction of motion for the robot at a next moment in time:
creating a backtracking list according to the position information of the remaining areas to be cleaned in the areas to be cleaned;
determining a target backtracking node according to the distance between the backtracking nodes in the backtracking list and the robot;
and determining the transition direction according to the position information of the robot and the target backtracking node.
5. The method of claim 1, wherein said bow-like cleaning of the area to be cleaned in the direction of motion further comprises:
the cleaning zone is cleaned radially in the direction of the current radial cleaning or, opposite to the direction of the current radial cleaning.
6. The method of claim 5, wherein the radial cleaning of the area to be cleaned in or with the current radial cleaning direction comprises:
when the area to be cleaned is cleaned like a Chinese character 'ji' along the moving direction, if a preset type of obstacle is detected, after the preset type of obstacle is cleaned along the preset direction, the area to be cleaned remained in the area to be cleaned is continuously cleaned along the current radial cleaning direction, the preset direction is used for indicating that a second position and a first position of the robot are both in the current radial cleaning direction, the first position is a position when the robot firstly approaches the preset type of obstacle, the second position is a position when the robot leaves the preset type of obstacle, the path length of axial edgewise cleaning with the first position as a starting point and the path length of axial edgewise cleaning with the second position as a starting point do not exceed a second preset value, and the current radial cleaning direction is the direction when the robot performs radial edgewise cleaning on the preset type of obstacle And (4) direction.
7. The method of any of claims 1 to 6, wherein said arcuate cleaning of the area to be cleaned in the direction of motion further comprises:
if the area to be cleaned comprises an area of a preset type, carrying out bow-like cleaning on the area to be cleaned along the movement direction and the outer edge of the area of the preset type, so that the robot is far away from the area of the preset type.
8. A device for robotic cleaning, comprising:
the motion direction determining module is used for determining the motion direction of the robot;
the cleaning module is used for cleaning an area to be cleaned along the movement direction in a similar bow mode, the similar bow cleaning comprises radial cleaning and edgewise cleaning, the radial cleaning is cleaning in the area along the longitudinal direction of the similar bow, the edgewise cleaning comprises axial edgewise cleaning, radial edgewise cleaning and tangential edgewise cleaning, the axial edgewise cleaning is edgewise cleaning along the transverse direction of the similar bow, the radial edgewise cleaning is edgewise cleaning along the longitudinal direction of the similar bow, and the projection length of the edgewise cleaning path in the transverse direction of the similar bow does not exceed a first preset value.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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Application publication date: 20201023 |