CN114224225B - Method for controlling robot cleaning and robot - Google Patents
Method for controlling robot cleaning and robot Download PDFInfo
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- CN114224225B CN114224225B CN202111350277.3A CN202111350277A CN114224225B CN 114224225 B CN114224225 B CN 114224225B CN 202111350277 A CN202111350277 A CN 202111350277A CN 114224225 B CN114224225 B CN 114224225B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a method for controlling robot cleaning and a robot, wherein the method for controlling robot cleaning comprises the following steps: determining an initial cleaning line of an area to be cleaned, and acquiring the cleaning length of the initial cleaning line of the area to be cleaned; based on the cleaning length of the initial cleaning line, carrying out area division on the area to be cleaned to obtain a sub-area to be cleaned; and controlling the robot to perform cleaning work on the subarea to be cleaned. According to the scheme, the dividing number of the cleaning areas can be reduced, and the cleaning efficiency is improved.
Description
Technical Field
The application relates to the technical field of automatic cleaning, in particular to a method for controlling robot cleaning and a robot.
Background
With the continuous increase in automation level of control, production, and the like, the cleaning control method is widely applied to various cleaning apparatuses. For example, in the smart home field, a cleaning control method is often used in a cleaning robot system.
However, in the working process of the cleaning device, the dividing manner of the cleaning area directly affects the dividing amount of the cleaning area, so that the cleaning efficiency is affected. For example, the division of the cleaning area is not suitable, which in turn requires continuous division of the cleaning area during the cleaning process; or after the cleaning device divides the cleaning area in operation, the previous path needs to be repeated continuously, so that the working efficiency is greatly reduced. In view of this, how to reduce the number of divisions of the cleaning area and to improve the cleaning efficiency is a problem to be solved.
Disclosure of Invention
The application mainly solves the technical problem of providing a method for controlling the cleaning of a robot and the robot, which can reduce the dividing number of cleaning areas and improve the cleaning efficiency.
To solve the above technical problem, a first aspect of the present application provides a method for controlling robot cleaning, including: determining an initial cleaning line of the to-be-cleaned area, and acquiring the cleaning length of the initial cleaning line of the to-be-cleaned area; based on the cleaning length of the initial cleaning line, carrying out area division on the area to be cleaned to obtain a sub-area to be cleaned; and controlling the robot to perform cleaning work on the subareas to be cleaned.
In order to solve the above technical problem, a second aspect of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method of controlling cleaning of the robot in the first aspect when executing the computer program.
The cleaning control method and the robot provided by the application have the following beneficial effects: after the initial cleaning line is determined, the cleaning area is obtained by combining the cleaning length of the initial cleaning line, and cleaning work is carried out based on the cleaning area, so that the area of the cleaning area can be maximized as much as possible in the sensing range based on the robot sensor in the process of dividing the cleaning area, and the reduction of the dividing number of the cleaning area is facilitated. In addition, as the dividing area of the cleaning area is as large as possible, frequent dividing of the cleaning area caused by too small dividing of the cleaning area is effectively avoided, so that time consumed for dividing the cleaning area in the cleaning process can be reduced as much as possible, and the overall time consumption of cleaning can be reduced.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for controlling robotic cleaning provided in the present application;
FIG. 2 is a schematic view of an initial cleaning row of one embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 3 is a schematic view of an initial cleaning row of another embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 4 is a schematic view of an initial cleaning row of a further embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 5 is a schematic view of a cleaning zone division of an embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 6 is a schematic view of a cleaning zone division of another embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 7 is a schematic view of a cleaning zone division of a further embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 8 is a flow chart of another embodiment of a method of controlling robotic cleaning provided in the present application;
FIG. 9 is a schematic cleaning view of an embodiment of a method of controlling robotic cleaning provided in the present application;
fig. 10 is a schematic view of a frame of an embodiment of the robot of the present application.
Detailed Description
The following describes embodiments of the present application in detail with reference to the drawings.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, interfaces, techniques, etc., in order to provide a thorough understanding of the present application.
The terms "system" and "network" are often used interchangeably herein. The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Further, "a plurality" herein means two or more than two.
Referring to fig. 1, fig. 1 is a flowchart illustrating an embodiment of a method for controlling robot cleaning according to the present application. Specifically, the method may include the steps of:
step S101: determining an initial cleaning line of the area to be cleaned, and acquiring the cleaning length of the initial cleaning line of the area to be cleaned.
In one implementation, determining the initial cleaning line of the area to be cleaned includes obtaining a first cleaning length of the first cleaning line of the area to be cleaned in a first direction and a second cleaning length of the second cleaning line of the area to be cleaned in a second direction, and determining the initial cleaning line of the area to be cleaned based on a first size relationship between the first cleaning length and the second cleaning length. The first measuring direction of the robot entering the area to be cleaned is a first direction, the measured length is a first cleaning length, the robot rotates after the first cleaning length is measured, the measuring direction after rotation is a second direction, and the measured length is a second cleaning length. A certain included angle is formed between the first direction and the second direction, namely the rotation angle of the robot, and when the area to be cleaned is in an irregular shape, the rotation angle of the robot can be 45 degrees, 50 degrees, 55 degrees and the like; when the area to be cleaned is in a regular shape, the rotation angle of the robot may be 90 degrees.
In one implementation scenario, there are two cases of a first magnitude relation between the first cleaning length and the second cleaning length, and if at least one of the first cleaning line length and the second cleaning line length is greater than a first preset value, determining an initial cleaning line of the area to be cleaned based on the smaller one of the first cleaning length and the second cleaning length; if the first cleaning length and the second cleaning length are not greater than the first preset value, determining an initial cleaning row of the area to be cleaned based on the larger one of the first cleaning length and the second cleaning length.
Referring to fig. 2, fig. 2 is a schematic diagram of an initial cleaning line in an embodiment of a method for controlling a robot cleaning according to the present application, as shown in fig. 2, the robot measures a first cleaning line at an area corner, measures a length of the first cleaning line to be 7 meters, measures a length of a second cleaning line to be 5 meters after the robot rotates 90 degrees, and determines the initial cleaning line according to one of the first cleaning line and the second cleaning line with a larger length, i.e., determines the first cleaning line with a length of 7 meters as the initial cleaning line when the first preset value is 7 meters.
Referring to fig. 3, fig. 3 is a schematic view of an initial cleaning line of another embodiment of a method for controlling a robot cleaning according to the present application, wherein the robot measures a length of a first cleaning line as 10 meters at an angular point of an area, a length of a second cleaning line as 5.5 meters, and when the first preset value is 7 meters, at least one of the first cleaning length and the second cleaning length is greater than the first preset value, the smaller one of the first cleaning line and the second cleaning line is set as the initial cleaning line, i.e., the second cleaning line with a length of 5.5 meters is determined as the initial cleaning line.
Referring to fig. 4, fig. 4 is a schematic view of an initial cleaning line of another embodiment of a method for controlling a robot cleaning according to the present application, wherein the robot measures a length of a first cleaning line as 10 meters at an angular point of an area, a length of a second cleaning line as 11 meters, and when the first preset value is 7 meters, the first cleaning length and the second cleaning length are both greater than the first preset value, and then the smaller one of the first cleaning line and the second cleaning line is set as the initial cleaning line, i.e. the first cleaning line with a length of 10 meters is determined as the initial cleaning line.
It can be seen that determining the initial cleaning row is one of the key steps in controlling the robot cleaning. By determining the initial cleaning row, the initial cleaning position and the end cleaning position in the cleaning work can be specifically positioned in the cleaning work, so that the cleaning work is more planned, and the rotation or movement of the robot in the cleaned area can be reduced, so that the cleaning work is more efficient.
Step S102: and carrying out regional division on the to-be-cleaned region based on the cleaning length of the initial cleaning line to obtain the to-be-cleaned sub-region.
In one implementation scenario, when cleaning a cleaning area, the division of the area to be cleaned is particularly important in order to make the cleaning efficiency more efficient. Reasonable division of the area to be cleaned reduces the division number of the cleaning areas, and the reduction of the division number of the cleaning areas enables the cleaning work to be more concise and efficient. After the cleaning area is determined, the starting position and the ending position of cleaning the cleaning area directly affect the cleaning work, and the reasonable setting of the starting position and the ending position in the cleaning area can reduce the rotation or the movement in the cleaned area.
In cleaning the cleaning region, the determination of the initial cleaning row can be as large as possible within a limited range, i.e. the initial cleaning row can be maximized within a range not exceeding the sensor perception, both to reduce the possible rotation during subsequent cleaning operations and to reduce the number of preliminary operations to the next cleaning region at the end of cleaning the region. For example: when a certain fixed cleaning area is divided into i blocks, determining that the numerical value of an initial cleaning line of each cleaning area is as large as possible within the sensing range of a sensor, wherein the initial cleaning line can reduce the rotation times of a robot in the area cleaning process as large as possible, and the initial cleaning line can reduce the preparation work required for entering the next cleaning area as large as possible, wherein the preparation work required for entering the next cleaning area refers to the process of dividing the area to be cleaned, and the robot can rotate x times in the cleaning process when the area to be cleaned is supposed to be divided i times; when dividing a certain fixed cleaning area into j blocks, determining the value of an initial cleaning line in each cleaning area to be any side, wherein the reduction of the value of the initial cleaning line can cause the increase of the rotation times in the cleaning process, and if j times of dividing the cleaning area are needed, the robot can rotate y times in the cleaning process; if i is smaller than j, y will be greater than x. It can be seen from this that the division of the cleaning area affects the efficiency of the cleaning operation, and that the arrangement of the initial cleaning rows for the cleaning area takes more time and thus affects the cleaning efficiency. By the mode, the initial cleaning rows are reasonably arranged when the cleaning areas are cleaned, unnecessary time waste in the cleaning process can be reduced, and cleaning efficiency is improved.
In one implementation scenario, the sub-area to be cleaned is obtained by dividing based on the cleaning length of the initial cleaning line, and the sub-area to be cleaned can be obtained by correspondingly matching with a preset dividing size according to a second size relationship between the cleaning length and a second preset value. Specifically, if the second size relation indicates that the cleaning length is not greater than a second preset value, dividing the cleaning length into subareas to be cleaned by adopting a first preset size; if the second size relation indicates that the cleaning length is greater than a second preset value, dividing the cleaning length into sub-areas to be cleaned by adopting a second preset size or a third preset size, and if the unclean length in the second direction is not greater than a measurement limit value, dividing the cleaning length into sub-areas to be cleaned by adopting the second preset size; if the unclean length in the second direction is greater than the measurement limit value, dividing the unclean length into subareas to be cleaned by adopting a second preset size or a third preset size.
The preset dimensions include a first preset length in the first direction, a second preset length in the second direction, the first preset length in the first direction being a length of the initial cleaning line, the first preset length in the first direction and the second preset length in the second direction being both a second preset length, the first preset length in the first direction and the second preset length in the second direction being measurement limit values of the robot, the first preset length in the first direction being measurement limit values of the robot, the second preset length in the second direction being an upper limit length of the robot at which the cleaning operation can be performed, for example, the second preset threshold value being 4.5 meters, the measurement limit value being 7 meters, the first being a square of 4.5×4.5 meters, the second preset size being a square of 7*7 meters, the third preset size being a rectangle of 7×cleaning limit values. The lengths of the second preset size and the third preset size in the bow direction (working direction) are larger than those of the first preset size in the bow direction. In one implementation scenario, the upper limit length of the robot capable of performing the cleaning operation may be the upper limit length limited by the cleaning space, or may be the upper limit length limited by the power of the robot itself, which is not limited herein.
In an implementation scenario, referring to fig. 5, fig. 5 is a schematic diagram illustrating a cleaning area division of an embodiment of a method for controlling robot cleaning according to the present application, wherein an initial cleaning action is 4.5 meters, and the robot measures a second preset length of 4 meters in a second direction, and the second preset length is not greater than the second preset value, and then the first preset size is adopted, and at this time, the first preset length in the first direction and the second preset length in the second direction of the first preset size are both 4.5 meters.
In another embodiment, referring to fig. 6, fig. 6 is a schematic view illustrating a cleaning area division of another embodiment of a method for controlling a robot to clean according to the present application, wherein a first preset value is set to 7 meters, a second preset value is set to 4.5 meters, an initial cleaning line length is set to 7 meters, a measurement result of a second preset length in a second direction of the robot is set to 4.5 meters, the second preset length in the second direction is not greater than a measurement limit value of the robot, and the second preset length is used for division, and at this time, the first preset length and the second preset length in the second direction of the second preset size are both set to 7 meters.
In another implementation scenario, referring to fig. 7, fig. 7 is a schematic view illustrating a cleaning area division of a further embodiment of the method for controlling robot cleaning according to the present application, wherein the first preset value is set to 7 meters, the second preset value is set to 4.5 meters, as shown in fig. 7, the length of an initial cleaning line is 7 meters, the second preset length of the robot is 11 meters in the second direction, the second preset length is greater than the measurement limit value of the robot in the second direction, and the third preset size is adopted for division, and at this time, the first preset length of the third preset size in the first direction is 7 meters, and the length of the second direction is 11 meters in the upper limit length where the robot can perform cleaning operation.
Therefore, the measurement limit value of the robot limits the partition length, and is favorable for relieving the problem that the accurate positioning and navigation cannot be realized in the cleaning process caused by the occurrence of dead zones due to overlong partition length. Therefore, the first preset threshold value and the second preset threshold value are set according to the ranging limit value of the robot sensor, the partition mode is determined, the areas are dynamically adjusted and divided, the number of the divided areas of a large room can be reduced, and the problem that the ranging range of the point robot cannot be matched with a map is avoided.
Step S103: and controlling the robot to perform cleaning work on the subareas to be cleaned.
The cleaning operations may include, but are not limited to: normal movement, rotational movement, reverse movement. In one implementation scenario, when no obstruction is present during cleaning, the robot may be controlled to move normally, i.e. forward, while cleaning is being performed. In another embodiment, the robot may be controlled to perform a rotational movement or a reverse movement when an obstacle occurs during the cleaning operation. Specifically, if the robot detects that there is an obstacle in front to select a rotation movement during the cleaning operation, the rotation movement may be continued to perform the cleaning operation, but in a specific case, the rotation movement operation of the robot may fail, for example, when the robot performs the cleaning operation to an area similar to a corner, the remaining area cannot enable the robot to perform the rotation operation successfully, at this time, the robot needs to perform a reversing movement, that is, the robot may reverse according to the previous cleaning route, the original route, the reversing moved area may perform the rotation movement, and the robot may continue to perform the cleaning operation after the rotation movement, which is not described herein.
In one implementation, when an obstacle is present during the robot cleaning process, a prompt message may also be output to prompt the robot that an obstacle is present during the cleaning process. The alert message may be output in the form of an acoustic signal, a photoelectric signal, etc., and is not limited herein. For example, when the old people use, the existence of the obstacle can be prompted through voice broadcasting, so that the situation that the robot hinders the normal life of the old people in the process of rotating or reversing movement is avoided; when young people use the device, the obstacle can be prompted by flashing the indicator light, and the device can be specifically set according to actual conditions.
According to the scheme, after the initial cleaning line is determined, the cleaning area is obtained by combining the cleaning length of the initial cleaning line, and cleaning work is performed based on the cleaning area, so that the area of the cleaning area can be maximized as much as possible in the process of dividing the cleaning area, and the reduction of the dividing number of the cleaning area is facilitated. In addition, as the dividing area of the cleaning area is as large as possible, too frequent dividing of the cleaning area caused by too small dividing of the cleaning area is effectively avoided, so that time consumed for dividing the cleaning area in the cleaning process can be reduced as much as possible, and the overall time consumption of cleaning can be reduced.
Referring to fig. 8, fig. 8 is a flowchart illustrating a method for controlling robot cleaning according to another embodiment of the present application. Specifically, the method may include the steps of:
step S201: the robot enters the area to be cleaned.
In one implementation scenario, the robot starts moving after a start command is issued, enters the area to be cleaned, and performs a preliminary work on the cleaning work. The front end or the upper end of the robot body is provided with a ranging sensor, and the measurement limit value of the robot is the measurement limit value of the ranging sensor. The ranging sensor may also enter a sleep state while the robot is in the sleep state, for example: the ranging sensor may have a small portion recessed into the robot body to avoid collision or abrasion of the ranging sensor by foreign objects when the robot enters a dormant state. When the robot enters the working state, the ranging sensor can automatically enter the working state, namely, the ranging sensor can effectively measure the direction of the robot to be measured.
Step S202: the lengths of the first cleaning row and the second cleaning row are obtained.
In one implementation, the cleaning of the cleaning area may be performed after the robot is ready for a preparation. In the cleaning process, an initial cleaning line is first required to be determined, the length of the first cleaning line in the first direction and the length of the second cleaning line in the second direction are measured by the robot, and in the process, the first direction can be the vertical direction or the horizontal direction of a certain point of a cleaning area, and the second direction can also be the vertical direction or the horizontal direction of the same place of the cleaning area. The first cleaning length and the second cleaning length are both measured lengths in the direction of the first cleaning line or the farthest measured distances, the initial cleaning line is determined according to the relation between the first cleaning line and the second cleaning line, and the determination of the initial cleaning line can perform cleaning work more efficiently.
In one specific real-time scenario, after the robot enters the area to be cleaned, the lengths of the first cleaning row and the second cleaning row are acquired at a corner of the area to be cleaned. The length of the first cleaning line and the second cleaning line is obtained, namely the length of the first cleaning line and the length of the second cleaning line are measured, the measurement of the cleaning length is obtained through a ranging sensor, the ranging sensor emits laser pulses in the target direction, the laser is scattered in all directions after being reflected by the target, part of the laser in the reflecting process returns to a receiver of the ranging sensor, the receiver of the ranging sensor receives the laser line number and then images the laser line number on a diode, and an optical sensor with an amplifying function is arranged inside the diode, so that an extremely weak optical signal can be detected, and the distance of a measurement target can be obtained by recording and calculating the time from the emission of the optical pulses to the return of the received optical signal after the optical signal is detected. After the length of the first cleaning line is measured in the first direction by the robot, the length of the second cleaning line is measured through rotation or movement, and then the lengths of the first cleaning line and the second cleaning line are obtained.
Step S203: judging whether the lengths of the first cleaning line and the second cleaning line are not greater than a first preset value, if not, executing step S204, otherwise executing step S205.
The first preset value may be set according to a measurement limit value of the robot, for example, when the length of the cleaning line is not greater than the first preset value, the length of the cleaning line may be considered to be within the measurement limit value of the robot at this time, and when the length of the cleaning line is greater than the first preset value, the length of the cleaning line may be considered to be beyond the measurement limit value of the robot at this time.
Step S204: an initial cleaning row is determined based on the one of the smaller cleaning lengths.
In one implementation, the initial cleaning row may be determined based on a first size relationship between the first cleaning length and the second cleaning length. For example, when at least one of the first cleaning line and the second cleaning line is greater than the first preset value, the cleaning line greater than the first preset value may be considered to have a length greater than the measurement limit value of the robot, and considering that if the cleaning line is too long, the robot may have a problem that it is difficult to locate the cleaning area because the robot does not obtain enough feature points during the cleaning process, therefore, when at least one of the first cleaning line and the second cleaning line has a length greater than the first preset value, the smaller one of the first cleaning line and the second cleaning line should be determined as the initial cleaning line, so that the situation that the robot is inaccurate in location and navigation due to the too long cleaning line length is reduced as much as possible, which is beneficial to improving the cleaning efficiency.
Optionally, in the present application, the measurement limit of the robot is 8 meters, and the first preset threshold is 7 meters, which is not limited in any way.
Step S205: the initial cleaning row is determined based on the one of the greater cleaning lengths.
In one implementation scenario, if neither the first cleaning length nor the second cleaning length is greater than the first preset value, then the initial cleaning row is determined based on the greater one of the first cleaning length and the second cleaning length. Specifically, when the lengths of the first cleaning line and the second cleaning line are not greater than the first preset value, the cleaning lengths of the first cleaning line and the second cleaning line can be considered to be within the measurement limit value of the robot, and in the cleaning process, the length of the first preset length in the first direction of the cleaning line does not affect the normal operation of the robot, and in this case, the longer the cleaning length is, the higher the cleaning work efficiency is.
In a specific implementation scenario, when the lengths of the first cleaning line and the second cleaning line are not greater than the first preset value, the initial cleaning line is determined according to the one with the greater cleaning length, so that the number of area divisions can be reduced as much as possible in a limited area, the rotation and the movement of the robot in the cleaning process are reduced, and the cleaning work efficiency is improved.
Step S206: the cleaning length of the initial cleaning row is determined.
During the cleaning operation, the determination of the length of the initial cleaning line directly affects the division of the cleaning area, which is one of the most critical problems. After the initial cleaning length is determined, the starting position and the ending position of the robot for cleaning can be controlled in the same direction, so that the efficiency of the robot in cleaning is improved, and convenience is provided for further dividing the cleaning area.
Step S207: judging whether the cleaning length is greater than a second preset value, if not, executing step S209, otherwise executing step S208.
In one implementation scenario, the second preset value may be set to a value smaller than the first preset value, where the setting of the second preset value is to improve cleaning efficiency, and may be set according to actual application needs. For example, when the robot is used in an area where space is relatively empty, the second preset value may be set to a larger value, and when the robot is used in a relatively narrow area, the second preset value may be set to a smaller value, which is not limited herein.
Optionally, the second preset threshold is 4.5 meters in the present application, which is not limited in any way.
Step S208: judging whether the unclean length in the second direction is greater than the measurement limit value, if not, executing step S210, otherwise executing step S211.
In one implementation scenario, if the cleaning length is greater than the second preset value, it may be considered that there are two cases, one is that the length of the first cleaning line and the second cleaning line is not greater than the robot measurement limit value, and when the length of the first cleaning line and the second cleaning line is not greater than the robot measurement limit value, the determination of the initial cleaning line is determined according to the longer one of the cleaning lines; the other is that the length of the first cleaning line or the second cleaning line is greater than the robot measurement limit value, when the length of the first cleaning line or the second cleaning line is greater than the robot measurement limit value, the determination of the initial cleaning line is determined according to the smaller one of the cleaning lines, the two cases are different for the division of the cleaning area, and the measurement of the uncleaned length in the second direction can determine the division size of the cleaning area.
Step S209: the cleaning area is divided according to a first preset size.
In one implementation, the preset dimensions include a first preset length in a first direction and a second preset length in a second direction, the first preset length in the first direction being the length in the direction of the initial cleaning row. Specifically, the first preset length in the first direction and the second preset length in the second direction of the first preset size are set according to the second preset value in the practical application, and it should be noted that the first preset length in the first direction and the second preset length in the second direction of the first preset size are smaller than the first preset value, specifically, may be set according to the practical application needs, and are not limited herein.
Step S210: the cleaning area is divided according to a second preset size.
In one implementation, if the second size relationship indicates that the cleaning length is greater than the second preset value, the cleaning area is divided by using the second preset size or the third preset size. When the initial cleaning line is greater than the second preset value and the uncleaned length in the second direction is not greater than the robot measurement limit value, it can be considered that the length of both the first cleaning line and the second cleaning line is not greater than the first limit value, and the cleaning area is divided according to the second preset size. The first preset length in the first direction and the second preset length in the second direction of the second preset size are measurement limit values of the robot.
Step S211: the cleaning area is divided according to a third preset size.
In one implementation, the cleaning areas are divided according to a third preset size, wherein the initial cleaning row may be considered to be greater than a second preset value and the unclean length in the second direction is greater than the robot measurement limit.
According to the scheme, after the initial cleaning line is determined, the cleaning area is obtained by combining the cleaning length of the initial cleaning line, and cleaning work is performed based on the cleaning area, so that the area of the cleaning area can be maximized as much as possible in the process of dividing the cleaning area, and the reduction of the dividing number of the cleaning area is facilitated. In addition, as the dividing area of the cleaning area is as large as possible, too frequent dividing of the cleaning area caused by too small dividing of the cleaning area is effectively avoided, so that time consumed for dividing the cleaning area in the cleaning process can be reduced as much as possible, and the overall time consumption of cleaning can be reduced.
Referring to fig. 9, fig. 9 is a schematic diagram illustrating a method for controlling robot cleaning according to an embodiment of the present application. As shown in fig. 9, assuming that the first preset value at this time is 7 meters, the initial cleaning action is 7 meters, and the cleaning areas can be divided according to the second preset size, that is, the cleaning areas with the first preset length in the first direction and the second preset length in the second direction being 7 meters, so that the number of the dividing areas can be reduced, and the situation that uncertainty exists in the dividing areas caused by different selection angles in the measuring process of the robot is avoided. Therefore, when the length of the cleaning line is within the robot measurement limit value, the cleaning length of the initial cleaning line is determined to be larger, the number of divisions of the area to be cleaned is as small as possible, and the rotation or movement of the robot can be reduced during cleaning, and the efficiency of the cleaning work can be improved. Thus, the selection of the initial cleaning line and the division of the cleaning area after determining the initial cleaning line determine the efficiency of the cleaning operation.
In one implementation scenario, after the robot divides the cleaning area, the robot performs a cleaning operation on the divided cleaning area. When the robot performs navigation positioning, enough characteristic points are required to be acquired through rotation and movement, and the environment is constructed and the robot is positioned. When the robot receives the cleaning instruction, the robot cleans the sub-area from the corner of the area, and the map of the area is constructed while cleaning the arc-shaped area. Here, in the process of cleaning the cleaning region, the step of determining the initial cleaning line and the subsequent steps are re-performed as the length of the initial cleaning line in the direction of the increase.
In one implementation, the robot controls arcuate cleaning of the cleaning areas, the arcuate cleaning direction of each cleaning area being the same. When the cleaning region reaches the cleaning end point, a cleaning start point of the next cleaning region is determined, and the step of determining an initial cleaning line and the subsequent steps are re-performed based on the cleaning start point. Preferably, an unclean point nearest to the cleaning end point of the cleaning area is taken as the cleaning start point.
Referring to fig. 10, fig. 10 is a schematic diagram of a frame of an embodiment of a robot according to the present application. The robot 100 comprises a memory 120, a processor 110 and a computer program 121 stored in the memory 120 and executable on the processor 110, the processor 110 being adapted to implement the steps of any of the method embodiments for controlling cleaning of a robot as described above when the computer program 121 is executed.
It will be appreciated by those skilled in the art that fig. 10 is merely an example of one type of robot 100 and is not meant to be limiting of one type of robot 100, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., one type of robot 100 may also include input and output devices, network access devices, buses, etc.
The processor 110 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor 110 may be any conventional processor 110 or the like.
The memory 120 may be an internal storage unit of the robot, such as a hard disk or a memory of the robot. The memory 120 may also be an external storage device of the robot, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card) or the like, which are provided on the robot. Further, the memory 120 may also include both an internal memory unit and an external memory device of the robot 100. The memory 120 is used to store a computer program 121 and other programs and data required by the robot 100. The memory 120 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps 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 solution. 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 embodiments provided in the present application, it should be understood that the disclosed terminal device and method may be implemented in other manners. For example, the above-described terminal device embodiments are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by instructing relevant hardware by the computer program 121, where the computer program 121 may be stored in a computer readable storage medium, and where the computer program 121 may implement the steps of the method embodiments described above when executed by the processor 110. The computer program 121 includes computer program code, which may be in the form of source code, object code, executable files, or some intermediate form, among others. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
As used herein, a "terminal" or "terminal device" includes both a device of a wireless signal receiver having no transmitting capability and a device of receiving and transmitting hardware having receiving and transmitting hardware capable of bi-directional communication over a bi-directional communication link, as will be appreciated by those skilled in the art. Such a device may include: a cellular or other communication device having a single-line display or a multi-line display or a cellular or other communication device without a multi-line display; a PCS (Personal Communications Service, personal communication system) that may combine voice, data processing, facsimile and/or data communication capabilities; a PDA (Personal Digital Assistant ) that can include a radio frequency receiver, pager, internet/intranet access, web browser, notepad, calendar and/or GPS (Global Positioning System ) receiver; a conventional laptop and/or palmtop computer or other appliance that has and/or includes a radio frequency receiver. As used herein, "terminal," "terminal device" may be portable, transportable, installed in a vehicle (aeronautical, maritime, and/or land-based), or adapted and/or configured to operate locally and/or in a distributed fashion, to operate at any other location(s) on earth and/or in space. The "terminal" and "terminal device" used herein may also be a communication terminal, a network access terminal, and a music/video playing terminal, for example, may be a PDA, a MID (Mobile Internet Device ), and/or a mobile phone with a music/video playing function, and may also be a smart tv, a set top box, and other devices.
The server is connected to the terminal through a network, which may be used to provide services to the terminal or to a client installed on the terminal, and a database may be provided on the server or independent of the server for providing data storage services to the server, including but not limited to: a wide area network, a metropolitan area network, or a local area network.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (8)
1. A method of controlling robotic cleaning, comprising:
determining an initial cleaning line of an area to be cleaned, and acquiring the cleaning length of the initial cleaning line of the area to be cleaned; wherein the initial cleaning line is determined by a first cleaning length of a first cleaning line in a first direction and a second cleaning length of a second cleaning line in a second direction of the area to be cleaned; and if at least one of the first cleaning length and the second cleaning length is larger than a first preset value, determining the smaller one of the first cleaning length and the second cleaning length as an initial cleaning row of the area to be cleaned; when the first cleaning length and the second cleaning length are not greater than the first preset value, determining the larger one of the first cleaning length and the second cleaning length as an initial cleaning row of the area to be cleaned, wherein the first preset value is determined according to the measurement limit value of the robot;
based on the cleaning length of the initial cleaning line, carrying out area division on the area to be cleaned to obtain a sub-area to be cleaned;
and controlling the robot to perform cleaning work on the subarea to be cleaned.
2. The method of claim 1, wherein the acquiring a first cleaning length of a first cleaning row of the area to be cleaned in a first direction and a second cleaning length of a second cleaning row of the area to be cleaned in a second direction comprises:
the robot is controlled to rotate or/and move based on the ranging limit value of the robot to measure the first cleaning length and the second cleaning length.
3. The method according to claim 1, wherein the performing area division on the area to be cleaned based on the cleaning length of the initial cleaning line to obtain the sub-area to be cleaned includes:
acquiring a second size relation between the cleaning length and a second preset value;
and carrying out regional division on the to-be-cleaned region based on the second size relationship to obtain the to-be-cleaned sub-region.
4. The method according to claim 3, wherein the performing area division on the to-be-cleaned area based on the preset division size matched with the second size relationship to obtain the to-be-cleaned sub-area includes:
if the second size relation indicates that the cleaning length is not greater than the second preset value, dividing the to-be-cleaned area by adopting a first preset size to obtain the to-be-cleaned sub-area;
if the second size relation indicates that the cleaning length is larger than the second preset value, dividing the area to be cleaned by adopting a second preset size or a third preset size to obtain the subarea to be cleaned;
the length of the second preset size and the length of the third preset size in the working direction are larger than the length of the first preset size in the working direction.
5. The method of claim 4, wherein the predetermined dimensions comprise a first predetermined length of the area to be cleaned in a first direction and a second predetermined length of the area to be cleaned in a second direction;
the first preset length of the second preset size and the second preset length of the third preset size are both measurement limit values of the robot, the second preset length of the third preset size is a cleaning limit value of the robot, and the cleaning limit value represents an upper limit length of the robot in the second direction, wherein the upper limit length can be used for cleaning operation.
6. The method of claim 5, wherein dividing the area to be cleaned with the second preset size or the third preset size to obtain the sub-area to be cleaned comprises:
if the unclean length of the to-be-cleaned area in the first direction is not greater than the measurement limit value, dividing the to-be-cleaned area by adopting the second preset size to obtain the to-be-cleaned sub-area;
and/or if the unclean length of the to-be-cleaned area in the second direction is greater than the measurement limit value, dividing the to-be-cleaned area by adopting the first preset size or the second preset size or the third preset size to obtain the to-be-cleaned sub-area.
7. The method according to any one of claims 1 to 6, wherein the controlling the robot to perform a cleaning operation on the sub-area to be cleaned comprises:
in the cleaning process, detecting whether the first preset length of the area to be cleaned changes in the first direction; wherein the first preset length in the first direction is the length in the direction of the initial cleaning row;
when detecting that the first preset length of the area to be cleaned changes in the first direction, determining a new initial cleaning row according to the changed first preset length in the first direction;
and re-dividing the area to be cleaned based on the new initial cleaning line.
8. 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 steps of the method according to any one of claims 1 to 7 when the computer program is executed.
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