CN114594764A - Cleaning route generation method, cleaning route generation system, cleaning robot, cleaning device, and storage medium - Google Patents
Cleaning route generation method, cleaning route generation system, cleaning robot, cleaning device, and storage medium Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 13
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The application relates to the field of cleaning robots, in particular to a cleaning route generation method, a cleaning route generation system, a cleaning robot, computer equipment and a storage medium, wherein the cleaning robot comprises: determining the times of each object passing through each block and the time length of each object in each block based on the motion track of each object in the target area; the blocks are obtained by dividing a target area; acquiring the state of equipment corresponding to each block; determining a block to be cleaned based on the times, the duration and the state of the equipment; and generating a corresponding cleaning route based on the position of the block to be cleaned. The invention determines the block to be cleaned based on the times, the duration and the state of the equipment, and generates a corresponding cleaning route based on the position of the block to be cleaned. The number of times, the duration and the state of the equipment are considered for determining the block to be cleaned, the cleaning route is planned in advance, the block with low cleanliness can be cleaned in a targeted mode, and meanwhile the work of the object or the equipment in the block to be cleaned is not influenced in the cleaning process.
Description
Technical Field
The present disclosure relates to the field of cleaning robots, and in particular, to a cleaning route generation method, a cleaning robot system, a cleaning robot, a computer device, and a storage medium.
Background
A cleaning robot, also known as an automatic sweeper, an intelligent dust collector, a robot cleaner, etc., is one of intelligent electrical appliances, and can automatically complete cleaning work in a cleaning area by means of certain artificial intelligence. Generally, the garbage collecting box adopts a brushing and vacuum mode to absorb the impurities on the ground into the garbage collecting box, so that the function of cleaning the ground is achieved. Generally, robots for cleaning, dust collecting and floor wiping are also unified into cleaning robots, and the cleaning robots play important roles in our lives and productions, bring great convenience to our lives and become important components in our productive lives.
The existing cleaning robot has the following problems: the path planning is based on a fixed strategy, cleaning is carried out according to a certain sequence according to the rule of establishing the map from the charging pile, and the cleaning efficiency is low because a plurality of areas in the path do not need to be cleaned.
Disclosure of Invention
In view of the above, it is necessary to provide a cleaning route generation method, a cleaning robot, a computer device, and a storage medium, in order to solve the above-described technical problems.
In a first aspect, an embodiment of the present invention provides a cleaning route generation method, which is applied to a cleaning robot, and the method includes:
determining the times of each object passing through each block and the time length of each object in each block based on the motion track of each object in the target area; wherein the block is obtained by dividing the target area; and
acquiring the state of equipment corresponding to each block;
determining a block to be cleaned based on the times, the duration and the state of the equipment;
and generating a corresponding cleaning route based on the position of the block to be cleaned.
In an embodiment, the determining the to-be-cleaned block based on the number of times, the duration and the state of the device includes:
predicting the cleanliness of each block based on the times and the duration;
and under the condition that the cleanliness is greater than a first set threshold, determining whether the block is a block to be cleaned or not based on the state of the equipment corresponding to the block.
In an embodiment, the determining whether the block is a block to be cleaned based on the state of the device corresponding to the block when the cleanliness is greater than the first set threshold includes:
under the condition that the cleanliness is greater than a first set threshold, if the state of equipment corresponding to the block is a first state, determining the block as a block to be cleaned; the first state comprises an inactive state;
under the condition that the cleanliness is greater than a first set threshold, if the state of the equipment corresponding to the block is a second state, determining that the block is not a block to be cleaned; the second state comprises a normal operating state.
In an embodiment, the method further comprises:
when the remaining power W of the cleaning robot1And when the second set threshold value is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route.
In one embodiment, the residual power W of the cleaning robot1When the second set threshold is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route comprises:
determining a remaining cleaning route and a first charging route from the terminal point of the cleaning route to a charging station based on the current position of the cleaning robot and the cleaning route;
determining the electric quantity W required by the cleaning robot to drive to the charging station according to the first charging route after the cleaning robot finishes cleaning according to the residual cleaning route based on the residual cleaning route and the first charging route2；
If the required electric quantity W2< remaining quantity of electricity W1Then, the cleaning robot finishes cleaning according to the rest cleaning routes and then drives to a charging station according to the first charging route; if the required electric quantity W2Residual electric quantity W1And then the cleaning robot finishes partial cleaning according to the rest cleaning route and then runs to a charging station from the position where the partial cleaning is finished.
In one embodiment, the cleaning is performedRemaining power W of robot1When the second set threshold is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route comprises:
determining a second charging route from the current location to the terminal station based on the current location of the cleaning robot and the location of the charging station;
if the to-be-cleaned block exists on the second charging route, determining the electric quantity W required by the cleaning robot to return to the charging station after cleaning the to-be-cleaned area3；
If the required electric quantity W3Residual electric quantity W1The cleaning robot directly charges to a charging station according to the second charging route; if the required electric quantity W3< remaining electric quantity W1And the cleaning robot runs according to the second charging route and cleans the block to be cleaned on the second charging route.
In a second aspect, an embodiment of the present invention provides a cleaning route generation system, which is applied to a cleaning robot, and the system includes:
the first determining module is used for determining the times of each object passing through each block and the time length of each object in each block based on the motion track of each object in the target area; wherein the block is obtained by dividing the target area;
the acquisition module is used for acquiring the state of the equipment corresponding to each block;
the second determining module is used for determining the block to be cleaned based on the times, the duration and the state of the equipment;
and the route generating module is used for generating a corresponding cleaning route based on the position of the block to be cleaned.
In a third aspect, an embodiment of the present invention provides a cleaning robot including the cleaning route generation system of the second aspect, a travel system that performs travel based on the cleaning route generated by the cleaning route generation system, and a cleaning system that performs cleaning based on the cleaning route generated by the cleaning route generation system.
In a fourth aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor executes the steps in the first aspect.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the processor implements the steps of the first aspect when executing the computer program.
The method, the system, the cleaning robot, the computer equipment and the storage medium determine the block to be cleaned based on the times, the duration and the state of the equipment, and generate the corresponding cleaning route based on the position of the block to be cleaned. The number of times, the duration and the state of the equipment are considered for determining the block to be cleaned, the cleaning route is planned in advance, the block with low cleanliness can be cleaned in a targeted mode, and meanwhile the work of the object or the equipment in the block to be cleaned is not influenced in the cleaning process.
Drawings
FIG. 1 is a schematic diagram of an application environment of a cleaning route generation method according to an embodiment;
FIG. 2 is a schematic flow chart diagram of a cleaning route generation method in one embodiment;
FIG. 3 is a flowchart illustrating a method for determining a block to be cleaned according to an embodiment;
FIG. 4 is a schematic illustration of a target area in one embodiment;
FIG. 5 is a flow diagram illustrating a charging policy determination method according to one embodiment;
fig. 6 is a flowchart illustrating a charging policy determination method according to another embodiment;
FIG. 7 is a schematic diagram of the structure of a cleaning route generation system in one embodiment;
FIG. 8 is a schematic diagram of the cleaning robot in one embodiment;
FIG. 9 is a diagram showing a configuration of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The sweeping route generating method provided by the application can be applied to the application environment as shown in fig. 1, wherein the terminal 102 is communicated with the cleaning robot 104. The terminal 102 determines the number of times that each object passes through each block and the time length of each object in each block based on the motion track of each object in the target area, wherein the blocks are obtained by dividing the target area, acquires the state of equipment corresponding to each block, determines the block to be cleaned based on the number of times, the time length and the state of the equipment, and generates a corresponding cleaning route based on the position of the block to be cleaned. The terminal 102 sends the cleaning route to the cleaning robot 104, and the cleaning robot 104 performs cleaning according to the cleaning route.
Among other things, the terminal 102 may include one or more processors (e.g., a single chip processor or a multi-chip processor). By way of example only, the terminal 102 may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an application specific instruction set processor (ASIP), an image processing unit (GPU), a physical arithmetic processing unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a micro-controller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, or the like, or any combination thereof.
The communication may be or include a public network (e.g., the internet), a private network (e.g., a Local Area Network (LAN)), a wired network, a wireless network (e.g., an 802.11 network, a Wi-Fi network), a frame relay network, a Virtual Private Network (VPN), a satellite network, a telephone network, a router, a hub, a switch, a server computer, and/or any combination thereof. For example, the network may include a cable network, a wireline network, a fiber optic network, a telecommunications network, an intranet, a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Public Switched Telephone Network (PSTN), a bluetooth network, a ZigBee network, a Near Field Communication (NFC) network, the like, or any combination thereof.
In an embodiment, as shown in fig. 2, a cleaning route generating method is provided, which is described by taking the application environment in fig. 1 as an example, and includes the following steps:
s202: determining the times of each object passing through each block and the time length of each object in each block based on the motion track of each object in the target area; wherein the block is obtained by dividing the target area; and acquiring the state of the equipment corresponding to each block.
The subject in this embodiment refers to living things including humans and animals.
When the target area enters the object, the monitoring video of the object is collected through the camera, and the motion track of the object is obtained through analyzing the monitoring video. The motion trajectory may be an activity heat map of the object. It should be noted that the acquisition of the motion trajectory is the prior art, and the specific implementation method thereof is not described in detail.
In the present embodiment, the target area is virtually divided into a plurality of blocks. For example: the block is square, and the side length of the block is set to be half of the sweeping width of the sweeper.
The block passed by the object can be determined according to the motion track, and the time length in the passed block can be determined. The times of each object passing through each block and the time length of each object in each block can be determined by the same method.
In some office application scenarios, the device corresponding to each block may be a computer in an office workstation, a conference device in a conference room, and the like. The state of the computer comprises an operating state, a non-operating state and the like, and the state of the conference equipment comprises an operating state, a non-operating state and the like.
In an exemplary embodiment, after the meeting is scheduled, the office OA system records information about the meeting location (e.g., a meeting room), the time of the meeting room, the participants and their corresponding office computers/devices.
In some smart home application scenarios, the devices corresponding to each block may be a gas stove, an accompanying robot, and the like, and all include an operating state and an inoperative state.
In each application scene, the state of the equipment is acquired in real time through the cloud server, and the state of the equipment is acquired from the cloud server when the terminal needs to be cleaned.
S204: and determining the block to be cleaned based on the times, the duration and the state of the equipment.
It can be understood that the more times a block is passed, the lower its cleanliness is; similarly, the longer the duration of a block, the lower its cleanliness. The cleanliness of the block to be cleaned can be determined according to the number of times and the length of time.
Due to the different block positions, even the same number of times, it is possible that the block at the beginning of the motion trajectory has reached the first set threshold while the block at the end of the motion trajectory is clean. Therefore, for the blocks at different positions, even if the times and the duration are the same, the cleanliness of the blocks needs to be determined by combining the specific positions of the blocks.
In some embodiments, the corresponding times and durations when the corresponding first set threshold is reached may also be determined according to the specific location of the block, and a correspondence table of the first set threshold and the times and durations is generated. Based on the table, it can be determined whether a first set threshold is reached.
In this embodiment, the confirmation of the area to be cleaned also needs to take into account the status of the apparatus. When the apparatus is in an operating state, the cleaning robot disturbs the work if it performs cleaning.
S206: and generating a corresponding cleaning route based on the position of the block to be cleaned.
After the block to be cleaned is determined, the shortest cleaning route is generated based on the position of the block to be cleaned.
In the embodiment, the block to be cleaned is determined based on the number of times, the time length and the state of the equipment, and the corresponding cleaning route is generated based on the position of the block to be cleaned. The number of times, the time length and the state of the equipment are considered for determining the block to be cleaned, the block with low cleanliness can be cleaned in a targeted mode, and meanwhile the work of objects or equipment in the block to be cleaned is not affected in the cleaning process.
In step S204, as shown in fig. 3, determining the block to be cleaned based on the number of times, the duration and the state of the equipment includes the following steps:
s302: and predicting the cleanliness of each block based on the times and the duration.
And setting the cleanliness of the cleaned blocks as 0, and setting corresponding weights for the times and the duration respectively, thereby calculating the cleanliness of each block.
Tiling of target area as shown in fig. 4, real-time cleanliness in the target area may be marked with different colors. Such as [ dark green (1), green (2), light green (3), say green (4), yellow (5), orange (6), say red (7), light red (8), red (9), dark red (10) ]. The preset yellow (5) is the degree to which cleanliness requires cleaning. The preset dark green (1) or white bottom (0) is the state when the sweeper finishes sweeping.
S304: and under the condition that the cleanliness is greater than a first set threshold, determining whether the block is a block to be cleaned or not based on the state of the equipment corresponding to the block.
Specifically, under the condition that the cleanliness is greater than a first set threshold, if the state of the equipment corresponding to the block is a first state, determining the block as a block to be cleaned; the first state comprises an inactive state; under the condition that the cleanliness is greater than a first set threshold, if the state of the equipment corresponding to the block is a second state, determining that the block is not a block to be cleaned; the second state comprises a normal operating state.
If the cleanliness of a certain block is greater than the first set threshold, it indicates that the block needs to be cleaned, and at this time, the state of the equipment corresponding to the block needs to be considered to determine whether the block is a block to be cleaned.
The first setting threshold may be set according to actual needs, and different first setting thresholds may be set for blocks at different positions.
In an embodiment, the block to be cleaned can be determined through an established cleaning function threshold model, and the cleaning function threshold model comprehensively considers the number of times n, the duration t, the state s of the equipment and the position p. And inputting the parameters into a cleaning function threshold model to obtain a value, and comparing the value with a first set threshold value to determine whether the block to be cleaned is a block to be cleaned.
The cleaning function threshold model may represent: th ═ Func ═ f (n, t, s, p). The logic of the cleaning function threshold model is the same as the method for determining whether the block is to be cleaned. And when the state s of the equipment is a working state, the corresponding block is not the block to be cleaned without considering the times n and the duration t. When the state s of the equipment is the non-operating state, the number n and the time length t are considered simultaneously to determine whether the cleaning block is the cleaning block.
And if the target area does not have the block to be cleaned, sampling and cleaning. In the sampling process, the block with the maximum cleanliness value in the target area is found, and then sampling cleaning is carried out.
In one embodiment, a darker area is sampled and checked, and if a certain area does not reach the preset cleaning requirement but is dusty, the area is cleaned and the cleanliness is updated.
In one embodiment, when the sweeper plans the sweeping route, the data collected by the camera corresponding to the block can be actively read, whether the sweeping is appropriate or not can be confirmed again, and the route can be adjusted in time.
In one embodiment, the cleaning route generation method further includes the steps of:
s208: when the remaining power W of the cleaning robot1And when the second set threshold value is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route.
In one embodiment, as shown in FIG. 5, when the cleaning robot has a remaining power W1When the second set threshold is reached, the corresponding charging strategy is determined based on the current position of the cleaning robot, the position of the charging station and the cleaning route, and the method comprises the following steps:
s502: determining a remaining cleaning route and a first charging route from the terminal point of the cleaning route to a charging station based on the current position of the cleaning robot and the cleaning route;
s504: determining that the cleaning robot finishes cleaning according to the residual cleaning route based on the residual cleaning route and the first charging route, and then driving to charge according to the first charging routeElectric quantity W required by station2；
S506: if the required electric quantity W2< remaining quantity of electricity W1After the cleaning robot finishes cleaning according to the rest cleaning routes, the cleaning robot drives to a charging station according to the first charging route; if the required electric quantity W2Residual electric quantity W1And then the cleaning robot drives to a charging station from the position where the partial cleaning is finished after the partial cleaning is finished according to the remaining cleaning route.
In this embodiment, the maximum cleaning area is realized by making full use of the remaining power of the cleaning robot.
In one example, if the required amount of power W is desired2Residual electric quantity W1Then, the amount of electric power W required for the position of the remaining cleaning route 1/2 to reach the charging station is calculated21. If the required electric quantity W21< remaining quantity of electricity W1Then, the end point of the current cleaning route is reset, and cleaning of the remaining cleaning route 1/2 is executed, and the vehicle returns to the charging station after cleaning.
If the required electric quantity W21Residual electric quantity W1Then, the amount of electric power W required for the position of the remaining cleaning route 1/4 to reach the charging station is calculated22. And analogizing in sequence, and driving to a charging station from the position where partial cleaning is finished after partial cleaning is finished according to the rest cleaning routes.
In one embodiment, as shown in FIG. 6, when the cleaning robot has a remaining power W1When the second set threshold is reached, the corresponding charging strategy is determined based on the current position of the cleaning robot, the position of the charging station and the cleaning route, and the method comprises the following steps:
s602: determining a second charging route from the current location to the terminal station based on the current location of the cleaning robot and the location of the charging station;
s604: if the to-be-cleaned block exists on the second charging route, determining the electric quantity W required by the cleaning robot to return to the charging station after cleaning the to-be-cleaned area3；
S606: if the required electric quantity W3Residual electric quantity W1Then the cleaning robot directly charges to the charging station according to the second charging route(ii) a If the required electric quantity W3< remaining quantity of electricity W1And the cleaning robot runs according to the second charging route and cleans the block to be cleaned on the second charging route.
In this embodiment, the maximum cleaning area is realized by making full use of the remaining power of the cleaning robot.
In one embodiment, the sweeper stores data of the previous m days of cleaning, analyzes an area with higher energy consumption, and advises the user to place a charging station near the area.
If the data cannot be sent to the sweeper due to camera failure or network abnormality, the sweeper can automatically clean according to historical data.
In one embodiment, sampling detection is required for a block without an object passing through, and the detection result is recorded, and the time T for reaching the first set threshold is recorded. After the recording is finished, if no object passes through the subsequent block, the subsequent block is not subjected to sampling detection, and is cleaned after T time, so that the sampling process is avoided.
In one embodiment, as shown in fig. 7, the present invention provides a cleaning route generation system, including:
a first determining module 702, configured to determine, based on a motion trajectory of each object in the target area, a number of times that each object passes through each block and a duration of each object in each block; wherein the block is obtained by dividing the target area;
an obtaining module 704, configured to obtain states of devices corresponding to the blocks;
a second determining module 706, configured to determine a block to be cleaned based on the number of times, the duration, and the state of the device;
a route generating module 708, configured to generate a corresponding cleaning route based on the location of the block to be cleaned.
In the embodiment, the block to be cleaned is determined based on the number of times, the time length and the state of the equipment, and the corresponding cleaning route is generated based on the position of the block to be cleaned. The number of times, the time length and the state of the equipment are considered for determining the block to be cleaned, the block with low cleanliness can be cleaned in a targeted mode, and meanwhile the work of objects or equipment in the block to be cleaned is not affected in the cleaning process.
In an embodiment, the second determining module 706 includes:
the prediction module is used for predicting the cleanliness of each block based on the times and the duration;
and the second determining submodule is used for determining whether the block is the block to be cleaned or not based on the state of the equipment corresponding to the block under the condition that the cleanliness is greater than the first set threshold value.
In an embodiment, the second determining submodule is specifically configured to:
under the condition that the cleanliness is greater than a first set threshold, if the state of equipment corresponding to the block is a first state, determining the block as a block to be cleaned; the first state comprises an inactive state;
under the condition that the cleanliness is greater than a first set threshold, if the state of the equipment corresponding to the block is a second state, determining that the block is not a block to be cleaned; the second state comprises a normal operating state.
In one embodiment, the method further comprises:
a third determination module for determining a remaining power W of the cleaning robot1And when the second set threshold value is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route.
In an embodiment, the third determining module is specifically configured to:
determining a remaining cleaning route and a first charging route from the terminal point of the cleaning route to a charging station based on the current position of the cleaning robot and the cleaning route;
determining the electric quantity W required by the cleaning robot to drive to the charging station according to the first charging route after the cleaning robot finishes cleaning according to the residual cleaning route based on the residual cleaning route and the first charging route2；
If the required electric quantity W2< remaining quantity of electricity W1Then the cleaning robot finishes cleaning according to the rest cleaning routeThen, driving to a charging station according to the first charging route; if the required electric quantity W2Residual electric quantity W1And then the cleaning robot finishes partial cleaning according to the rest cleaning route and then runs to a charging station from the position where the partial cleaning is finished.
In an embodiment, the third determining module is specifically configured to:
determining a second charging route from the current location to the terminal station based on the current location of the cleaning robot and the location of the charging station;
if the to-be-cleaned block exists on the second charging route, determining the electric quantity W required by the cleaning robot to return to the charging station after cleaning the to-be-cleaned area3；
If the required electric quantity W3Residual electric quantity W1The cleaning robot directly charges to a charging station according to the second charging route; if the required electric quantity W3< remaining electric quantity W1And the cleaning robot runs according to the second charging route and cleans the block to be cleaned on the second charging route.
For specific definition of the cleaning route generation system, reference may be made to the above definition of the cleaning route generation method, and details are not described here. The modules in the cleaning route generation system can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In an embodiment, as shown in fig. 8, the present invention provides a cleaning robot, including a cleaning route generation system 802 in the above-described embodiment, further including a traveling system 804 that performs traveling based on a cleaning route generated by the cleaning route generation system, and a cleaning system 806 that performs cleaning based on a cleaning route generated by the cleaning route generation system.
For specific definition of the cleaning robot, reference may be made to the definition of the cleaning route generation system above, and details are not described here.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer apparatus includes a processor, a memory, and a network interface connected by a device bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The nonvolatile storage medium stores an operating device, a computer program, and a database. The internal memory provides an environment for the operation device in the nonvolatile storage medium and the execution of the computer program. The database of the computer device is used for storing motion detection data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the steps of any one of the above cleaning route generation method embodiments.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device including a memory in which a computer program is stored and a processor that implements the steps in any one of the above cleaning route generation method embodiments when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps in any of the above cleaning route generation method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A cleaning route generation method applied to a cleaning robot is characterized by comprising the following steps:
determining the times of each object passing through each block and the time length of each object in each block based on the motion track of each object in the target area; wherein the block is obtained by dividing the target area; and
acquiring the state of equipment corresponding to each block;
determining a block to be cleaned based on the times, the duration and the state of the equipment;
and generating a corresponding cleaning route based on the position of the block to be cleaned.
2. The method of claim 1, wherein determining the area to be cleaned based on the number of times, the duration, and the status of the device comprises:
predicting the cleanliness of each block based on the times and the duration;
and under the condition that the cleanliness is greater than a first set threshold, determining whether the block is a block to be cleaned or not based on the state of the equipment corresponding to the block.
3. The method according to claim 2, wherein the determining whether the block is a block to be cleaned based on the state of the equipment corresponding to the block when the cleanliness is greater than the first set threshold comprises:
under the condition that the cleanliness is greater than a first set threshold, if the state of equipment corresponding to the block is a first state, determining the block as a block to be cleaned; the first state comprises an inactive state;
under the condition that the cleanliness is greater than a first set threshold, if the state of the equipment corresponding to the block is a second state, determining that the block is not a block to be cleaned; the second state comprises a normal operating state.
4. The method according to any one of claims 1 to 3, further comprising:
when the remaining power W of the cleaning robot1And when the second set threshold value is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route.
5. The method of claim 4, wherein the cleaning robot has a remaining power W1When the second set threshold value is reached, determining the corresponding cleaning robot based on the current position of the cleaning robot, the position of the charging station and the cleaning routeThe charging strategy comprises:
determining a remaining cleaning route and a first charging route from the terminal point of the cleaning route to a charging station based on the current position of the cleaning robot and the cleaning route;
determining the electric quantity W required by the cleaning robot to drive to the charging station according to the first charging route after the cleaning robot finishes cleaning according to the residual cleaning route based on the residual cleaning route and the first charging route2；
If the required electric quantity W2< remaining quantity of electricity W1Then, the cleaning robot finishes cleaning according to the rest cleaning routes and then drives to a charging station according to the first charging route; if the required electric quantity W2Residual electric quantity W1And then the cleaning robot finishes partial cleaning according to the rest cleaning route and then runs to a charging station from the position where the partial cleaning is finished.
6. The method of claim 4, wherein the current cleaning robot has a remaining power W1When the second set threshold is reached, determining a corresponding charging strategy based on the current position of the cleaning robot, the position of the charging station and the cleaning route comprises:
determining a second charging route from the current location to the terminal station based on the current location of the cleaning robot and the location of the charging station;
if the to-be-cleaned block exists on the second charging route, determining the electric quantity W required by the cleaning robot to return to the charging station after cleaning the to-be-cleaned area3；
If the required electric quantity W3Residual electric quantity W1The cleaning robot directly charges to a charging station according to the second charging route; if the required electric quantity W3< remaining quantity of electricity W1And the cleaning robot runs according to the second charging route and cleans the block to be cleaned on the second charging route.
7. A cleaning route generation system applied to a cleaning robot, the system comprising:
the first determining module is used for determining the times of each object passing through each block and the time length of each object in each block based on the motion track of each object in the target area; wherein the block is obtained by dividing the target area;
the acquisition module is used for acquiring the state of the equipment corresponding to each block;
the second determining module is used for determining the block to be cleaned based on the times, the duration and the state of the equipment;
and the route generating module is used for generating a corresponding cleaning route based on the position of the block to be cleaned.
8. A cleaning robot comprising the cleaning route generation system according to claim 7, a travel system that performs travel based on the cleaning route generated by the cleaning route generation system, and a cleaning system that performs cleaning based on the cleaning route generated by the cleaning route generation system.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115486763A (en) * | 2022-08-26 | 2022-12-20 | 珠海格力电器股份有限公司 | Sweeping robot route planning method and device, sweeping robot and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115486763A (en) * | 2022-08-26 | 2022-12-20 | 珠海格力电器股份有限公司 | Sweeping robot route planning method and device, sweeping robot and system |
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