CN115413981A

CN115413981A - Cleaning control method, control device, cleaning robot and storage medium

Info

Publication number: CN115413981A
Application number: CN202211139886.9A
Authority: CN
Inventors: 孔少宏; 王俊
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-12-02
Anticipated expiration: 2042-09-19
Also published as: CN115413981B

Abstract

The application discloses a cleaning control method, a control device, a cleaning robot and a storage medium. The cleaning control method comprises the following steps: acquiring a map of an area to be cleaned, wherein the map of the area to be cleaned has a first direction and a second direction which are perpendicular to each other, and the area to be cleaned has a boundary line; generating a datum line by taking an inlet and an outlet of an area to be cleaned as a center, wherein the datum line extends along a first direction or a second direction; generating a plurality of parallel baselines in a map of an area to be cleaned, wherein the parallel baselines are parallel or coincident with the datum line, and the parallel baselines are coincident with the boundary line or intersected with the top point of the boundary line; determining a region enclosed by two adjacent parallel base lines and the boundary line as a sub-region to be cleaned; the cleaning robot is controlled to clean the sub-area to be cleaned in the cleaning route so that the cleaning robot does not repeatedly clean the cleaned area. According to the cleaning control method, the cleaning robot can not repeatedly clean the cleaned area according to the cleaning line, and pollution-free coverage is achieved.

Description

Cleaning control method, control device, cleaning robot and storage medium

Technical Field

The present disclosure relates to the field of robot technologies, and in particular, to a cleaning control method, a cleaning control device, a cleaning robot, and a storage medium.

Background

In the related technology, when a sweeping robot sweeps a room, a path is obtained along the edge, and a sweeping map of the sweeping machine is created according to the path; and then dividing the area based on the area distribution condition of the cleaning map to generate a plurality of cleaning areas, wherein the cleaning robot always preferentially cleans the cleaning area nearest to the cleaning robot, and the cleaning strategy of the cleaning robot always adopts a local optimal scheme in the whole room cleaning process. However, from the overall view of sweeping the map, the sweeping strategy of such a locally optimal solution is not globally optimal. When the sweeping robot is switched between the sweeping areas, the track of the sweeping robot often passes through the swept areas, so that the ground of the swept areas is repeatedly swept, and the sweeping efficiency is not high.

Disclosure of Invention

The application provides a cleaning control method, a control device, a cleaning robot and a storage medium

The cleaning control method of the embodiment of the application is used for a cleaning robot, and comprises the following steps:

acquiring a map of an area to be cleaned, wherein the map of the area to be cleaned has a first direction and a second direction which are perpendicular to each other, and the area to be cleaned has a boundary line;

generating a reference line by taking an inlet and an outlet of an area to be cleaned as a center, wherein the reference line extends along the first direction or the second direction;

generating a plurality of parallel baselines in the map of the area to be cleaned, wherein the parallel baselines are parallel to or coincide with the datum lines, and the parallel baselines coincide with the boundary lines or intersect with the top points of the boundary lines;

determining a region surrounded by two adjacent parallel base lines and the boundary line as a sub-region to be cleaned;

controlling the cleaning robot to clean the sub-area to be cleaned in a cleaning route so that the cleaning robot does not repeatedly clean the cleaned area.

According to the cleaning control method, the datum line is generated along the first direction or the second direction at the position of the center of the inlet and the outlet of the area to be cleaned, then the boundary lines of the plurality of parallel base lines parallel to the datum line and the area to be cleaned are generated in the area to be cleaned to form the plurality of sub-areas to be cleaned, the cleaning robot cleans the plurality of sub-areas to be cleaned according to the cleaning line, the cleaned area cannot be cleaned repeatedly, pollution-free coverage is achieved, and cleaning efficiency is improved.

In some embodiments, the number of the sub-areas to be cleaned is plural, and the controlling the cleaning robot to clean the sub-areas in a cleaning route includes:

determining a priority of the sub-area to be cleaned based on the position of the cleaning robot and/or the sub-area to be cleaned;

and traversing and cleaning a plurality of sub-areas to be cleaned based on the priority of the sub-areas to be cleaned.

In some embodiments, the determining the priority of the sub-area to be cleaned based on the position of the cleaning robot and/or the sub-area to be cleaned comprises:

dividing the area to be cleaned into a first area and a second area which are respectively positioned at two sides of the datum line, wherein the priority of the sub-area to be cleaned positioned in the first area is higher than that of the sub-area to be cleaned positioned in the second area; and/or the presence of a gas in the gas,

taking the parallel base line closer to the base line as a base line bottom in the two parallel base lines corresponding to the sub-region to be cleaned, wherein the farther the base line bottom is from the base line, the higher the priority corresponding to the sub-region to be cleaned is; and/or the presence of a gas in the gas,

determining that the priority of the corresponding sub-area to be cleaned is higher if the span of the two parallel baselines corresponding to the sub-area to be cleaned is larger; and/or the presence of a gas in the atmosphere,

determining that the smaller the distance between the cleaning robot and the sub-area to be cleaned is, the higher the priority of the corresponding sub-area to be cleaned is.

generating a cleaning tree according to the position of the sub-region to be cleaned, wherein the region to be cleaned is divided into a first region and a second region which are respectively positioned at two sides of the reference line, the priority of the sub-region to be cleaned positioned in the first region is higher than that of the sub-region to be cleaned positioned in the second region, the sub-region to be cleaned formed by the reference line and the parallel base line which is closest to the reference line and positioned in the first region is used as a tree root node, other sub-regions to be cleaned are used as sub-nodes or leaf nodes, and connecting ports of the two connected sub-regions are used as edges for connecting the nodes;

priorities in subtrees of the clean tree are decreased in left-right order, and a larger depth of a node of the clean tree is determined as a higher priority.

In some embodiments, the step of performing traversal cleaning on a plurality of sub-areas to be cleaned based on the priority of the sub-areas to be cleaned comprises:

every time cleaning is finished for one subarea to be cleaned, the priority of the rest subareas to be cleaned is determined again;

cleaning the subarea to be cleaned based on the priority of the remaining subareas to be cleaned.

In some embodiments, the cleaning control method further comprises:

when the cleaning robot encounters a new obstacle in the cleaning process, acquiring the outline of the obstacle and regenerating a new boundary line of a sub-area to be cleaned;

determining a new sub-area to be cleaned based on an area enclosed between two adjacent parallel base lines and the new boundary line;

and controlling the cleaning robot to clean the new sub-area to be cleaned according to the re-planned cleaning route.

In some embodiments, the controlling the cleaning robot to clean the sub-area to be cleaned in a cleaning route includes:

taking a direction perpendicular to the direction of the inlet and outlet from among the first direction and the second direction as an initial cleaning direction, or taking a direction having a smallest included angle with the direction of the inlet and outlet from among the first direction and the second direction as an initial cleaning direction;

controlling the cleaning robot to move in an initial cleaning direction to clean the subarea to be cleaned.

The control device comprises an acquisition module, a first generation module, a second generation module and a confirmation module, wherein the acquisition module is used for acquiring a map of an area to be cleaned, the map of the area to be cleaned is provided with a first direction and a second direction which are perpendicular to each other, and the area to be cleaned is provided with a boundary line; the first generating module is used for generating a datum line by taking an inlet and an outlet of an area to be cleaned as a center, and the datum line extends along the first direction or the second direction; the second generation module is used for generating a plurality of parallel baselines in the map of the area to be cleaned, wherein the parallel baselines are parallel to or coincident with the datum lines, and the parallel baselines are coincident with the boundary lines or intersected with the vertexes of the boundary lines; the confirming module is used for confirming a region enclosed by two adjacent parallel baselines and the boundary line as a sub-region to be cleaned; the control module is used for controlling the cleaning robot to clean the sub-area to be cleaned according to a cleaning route so that the cleaning robot does not repeatedly clean the cleaned area.

The cleaning robot according to an embodiment of the present application includes a memory in which a computer program is stored and a processor that implements the cleaning control method according to any one of the above embodiments when the computer program is executed by the processor.

In the control device and the cleaning robot of the embodiment of the application, the cleaning robot realizes the cleaning control method through the control device, the datum line is generated along the first direction or the second direction by using the position of the center of the inlet and the outlet of the area to be cleaned, then a plurality of parallel base lines parallel to the datum line are generated in the area to be cleaned, and the boundary line of the area to be cleaned forms a plurality of sub-areas to be cleaned, the cleaning robot cleans the plurality of sub-areas to be cleaned according to the cleaning line, the cleaned area cannot be cleaned repeatedly, pollution-free coverage is realized, and the cleaning efficiency is improved.

The present application provides a non-transitory computer-readable storage medium of computer-executable instructions that, when executed by one or more processors, cause the processors to perform a cleaning control method as any one of the embodiments described above.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic flow diagram of a cleaning control method according to an embodiment of the present application;

FIG. 2 is a block schematic diagram of a control device according to an embodiment of the present application;

fig. 3 is a schematic structural view of a cleaning robot according to an embodiment of the present application;

fig. 4 is a schematic view of a cleaning robot cleaning a room of an example according to an embodiment of the present application;

fig. 5 is a schematic view of a cleaning robot cleaning a room of another example according to an embodiment of the present application;

fig. 6 is a schematic diagram of a cleaning area map of an example obtained by the cleaning control method according to the embodiment of the present application;

fig. 7 is a schematic diagram of a cleaning area map of another example obtained by the cleaning control method according to the embodiment of the present application;

FIG. 8 is a schematic flow chart diagram of a cleaning control method according to an embodiment of the present application;

fig. 9 is a schematic diagram of a cleaning area map of still another example obtained by the cleaning control method according to the embodiment of the present application;

FIG. 10 is a schematic diagram of a partial sweep tree generated by the cleaning control method of the embodiment of the present application from the cleaning area map of FIG. 9;

FIG. 11 is a schematic view of another part of a sweep tree generated from the cleaning area map of FIG. 9 by the cleaning control method according to the embodiment of the present application;

FIG. 12 is a schematic flow chart diagram of a cleaning control method according to an embodiment of the present application;

FIG. 13 is a schematic flow chart diagram of a cleaning control method according to an embodiment of the present application;

fig. 14 is a schematic view of a cleaning area map of still another example obtained by the cleaning control method according to the embodiment of the present application;

fig. 15 is a schematic view of a cleaning area map with irregular obstacles acquired by the cleaning control method according to the embodiment of the present application;

fig. 16 is a schematic view of a cleaning area map with another irregular obstacle acquired by the cleaning control method of the embodiment of the present application;

fig. 17 is a flowchart illustrating a cleaning control method according to an embodiment of the present application.

Description of the main element symbols:

the cleaning robot includes a control device 1000, an acquisition module 110, a first generation module 120, a second generation module 130, a confirmation module 140, a control module 150, a cleaning robot 2000, a memory 210, and a processor 220.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

Referring to fig. 1, a cleaning control method according to an embodiment of the present application is applied to a cleaning robot 2000, and the cleaning control method includes:

s10, acquiring a map of an area to be cleaned, wherein the map of the area to be cleaned has a first direction and a second direction which are perpendicular to each other, and the area to be cleaned has a boundary line;

step S20, generating a datum line by taking the entrance and the exit of the area to be cleaned as the center, wherein the datum line extends along the first direction or the second direction;

step S30, generating a plurality of parallel base lines in the map of the area to be cleaned, wherein the parallel base lines are parallel or coincident with the base lines, and the parallel base lines are coincident with the boundary lines or intersected with the vertexes of the boundary lines;

s40, determining a region surrounded by two adjacent parallel base lines and a boundary line as a sub-region to be cleaned;

and a step S50 of controlling the cleaning robot 2000 to clean the sub-area to be cleaned along the cleaning route so that the cleaning robot 2000 does not repeatedly clean the cleaned area.

Referring to fig. 2, a control apparatus 1000 according to an embodiment of the present disclosure includes an obtaining module 110, a first generating module 120, a second generating module 130, a confirming module 140, and a control module 150, where the obtaining module 110 is configured to obtain a map of an area to be cleaned, the map of the area to be cleaned has a first direction and a second direction perpendicular to each other, and the area to be cleaned has a boundary line; the first generating module 120 is configured to generate a reference line with an entrance and an exit of the region to be cleaned as a center, the reference line extending along a first direction or a second direction; the second generating module 130 is configured to generate a plurality of parallel baselines in the map of the area to be cleaned, where the parallel baselines are parallel to or coincide with the baseline lines, and the parallel baselines coincide with the boundary lines or intersect with the vertices of the boundary lines; the confirming module 140 is configured to confirm a region enclosed between two adjacent parallel base lines and the boundary line as a sub-region to be cleaned; the control module 150 is used to control the cleaning robot 2000 to clean the sub-area to be cleaned in the cleaning route so that the cleaning robot 2000 does not repeatedly clean the cleaned area.

Referring to fig. 3, in a cleaning robot 2000 according to an embodiment of the present disclosure, the cleaning robot 2000 includes a memory 210 and a processor 220, the memory 210 stores a computer program, and the processor 220 executes the computer program to implement the cleaning control method of steps S10 to S50.

In the cleaning control method, the control device 1000 and the cleaning robot 2000 of the embodiment of the application, the cleaning robot 2000 implements the cleaning control method through the control device 1000 by generating the reference line along the first direction or the second direction with the position of the center of the entrance and the exit of the region to be cleaned, and then generating a plurality of parallel reference lines parallel to the reference line in the region to be cleaned and the boundary line of the region to be cleaned to form a plurality of sub-regions to be cleaned, and the cleaning robot 2000 cleans the plurality of sub-regions according to the cleaning line, so that the cleaned region is not repeatedly cleaned, pollution-free coverage is realized, and the cleaning efficiency is improved.

Specifically, the cleaning robot 2000 may be a sweeping robot for sweeping the floor, and the cleaning robot 2000 may be used for indoor daily cleaning at home. The cleaning robot 2000 may be provided with a memory 210 and a processor 220, the processor 220 may be configured to provide calculation and control capabilities for the cleaning robot 2000 to implement the cleaning control method, and the memory 210 includes a nonvolatile storage medium storing an operating system and a computer program, and an internal memory providing an environment for the operating system and the computer program in the nonvolatile storage medium to run.

As described with reference to fig. 4, when the control device 1000 implements the cleaning control method, firstly, a map of an area to be cleaned needs to be acquired, the cleaning robot 2000 enters a room through a door and then performs edge-keeping on the room, and after the edge-keeping is finished, the map of the area to be cleaned can be acquired;

the map of the area to be cleaned has a first direction and a second direction perpendicular to each other, the area to be cleaned having a boundary line (step S10); the outline of the room shown in the figure is rectangular, no obstacles are present in the room, and the outline formed by the walls of the room may be a boundary line. The first direction may be an X-axis direction in the drawing, the second direction may be a Y-axis direction in the drawing, and the X-axis and the Y-axis may be perpendicular.

Then, generating a reference line by taking the inlet and the outlet of the area to be cleaned as a center, wherein the reference line extends along the first direction or the second direction (step S20); the door of the room may be understood as an entrance to the area to be cleaned, and the extension direction of the reference line may be in the first direction when the door is parallel to the first direction (X-axis). When the door is parallel to the second direction (Y-axis), the direction of the reference line may be along the second direction. If the door is not parallel to the first direction (X axis) or the second direction (Y axis), the reference line may be the minimum angle with the entrance/exit of the region to be cleaned as the extending direction of the reference line (as shown in fig. 5).

Further, a plurality of parallel baselines are generated in the map of the area to be cleaned, wherein the parallel baselines are parallel or coincident with the datum lines, and the parallel baselines are coincident with the boundary lines or intersect with the top points of the boundary lines (step S30); referring to fig. 6, the door of the room is parallel to the first direction (X-axis), the reference line may be parallel to the first direction (X-axis), and the generated parallel baselines may generate a plurality of parallel baselines in a direction perpendicular to the first direction (X-axis), that is, in a second direction (Y-axis) to a boundary line away from the door. The parallel baselines can be parallel to each other, and the parallel baselines can be parallel to or coincident with the baselines.

When the room shape is as shown in fig. 6, the generated parallel base line may coincide with the boundary line of the obstacle or the room outline shape; when the room shape is as shown in fig. 7, the generated parallel base line may intersect with the apex of the boundary line of the obstacle or the room outline shape.

Further, the area enclosed between two adjacent parallel base lines and the boundary line is identified as the sub-area to be cleaned (step S40), and with reference to fig. 6, the closed area formed by the parallel base lines is taken as a different sweeping area, so that the whole area can be divided into a plurality of sub-areas to be swept, such as the areas a to E in the drawing, and it can be understood that the areas B and D can be the sub-areas to be cleaned composed of a plurality of sub-areas to be cleaned (B0, B1, B2 and D0, D1).

After the sub-area to be cleaned is determined, the cleaning robot 2000 is controlled to clean the sub-area to be cleaned according to the cleaning route so that the cleaning robot 2000 does not repeatedly clean the cleaned area (step S50), and the cleaning route may be a traversal according to the determined sub-area to be cleaned to implement non-repeated cleaning.

Referring to fig. 8, in some embodiments, the number of the sub-areas to be cleaned is multiple, and the cleaning robot 2000 is controlled to clean the sub-areas according to the cleaning route (step S30), including:

step S31, determining the priority of the sub-area to be cleaned based on the position of the cleaning robot 2000 and/or the sub-area to be cleaned;

and S32, traversing and cleaning the plurality of subareas to be cleaned based on the priorities of the subareas to be cleaned.

In some embodiments, the control module 150 is configured to determine a priority of the sub-area to be cleaned for the cleaning robot 2000 and/or the location of the sub-area to be cleaned; and the device is used for performing traversal cleaning on the plurality of sub-areas to be cleaned based on the priority of the sub-areas to be cleaned.

In certain embodiments, the processor 220 executes a computer program to implement the cleaning control method of steps S31 to S32.

As such, the manner in which the priority of the sub-areas to be cleaned is determined may make cleaning of the plurality of cleaning sub-areas by the cleaning robot 2000 more regular, making the cleaning robot 2000 more intelligent.

Specifically, the cleaning robot 2000 may determine the priority of the plurality of sub-areas to be cleaned with respect to the cleaning robot 2000 according to the position where the cleaning robot 2000 is located, and may determine the priority of the plurality of sub-areas to be cleaned according to the position where the plurality of sub-areas to be cleaned are located.

Then, after determining the priority of the sub-areas to be cleaned, the cleaning robot 2000 performs cleaning that is traversed one by one according to the priority order of the priority of each sub-area to be cleaned.

In some embodiments, the priority of the sub-area to be cleaned is determined based on the position of the cleaning robot 2000 and/or the sub-area to be cleaned (step S31), including:

dividing a region to be cleaned into a first region and a second region which are respectively positioned at two sides of a datum line, wherein the priority of a subregion to be cleaned positioned in the first region is higher than that of the subregion to be cleaned positioned in the second region; and/or the presence of a gas in the gas,

in the two parallel base lines corresponding to the sub-region to be cleaned, the parallel base line closer to the base line is taken as a base line bottom, and the farther the base line bottom is from the base line, the higher the priority corresponding to the sub-region to be cleaned is; and/or the presence of a gas in the gas,

determining that the priority of the corresponding subarea to be cleaned is higher if the span of the two parallel baselines corresponding to the subarea to be cleaned is larger; and/or the presence of a gas in the gas,

the smaller the distance between the cleaning robot 2000 and the sub-area to be cleaned, the higher the priority of the corresponding sub-area to be cleaned is determined.

Therefore, the priority of the sub-area to be cleaned is mainly determined by the positions of the sub-area to be cleaned relative to the reference line, the base line position of the sub-area to be cleaned, the span of the sub-area to be cleaned, the position of the cleaning machine relative to the sub-area to be cleaned and the like, so that the priority of the sub-area to be cleaned is reasonably divided.

Specifically, as explained with reference to fig. 9, a room is irregular without an obstacle, a door is parallel to a first direction (X-axis), a reference line may be parallel to the door, both sides of the reference line in a second direction (Y-axis) have a boundary line, and an area to be cleaned may be divided into a first area and a second area respectively located at both sides of the reference line. The first region may be a region below the reference line, and the second region may be a region above the reference line.

The plurality of parallel baselines generated in step S30 may be divided into a negative-direction region above the baseline and a positive-direction region below the baseline as shown in the figure, wherein the positive-direction region has a higher priority than the negative-direction region, i.e., the first region has a higher priority than the second region, and the parallel baselines farther from the baseline represent higher priorities. This approach may be used as a first principle of priority determination.

Then, in a plurality of cleaning sub-regions divided according to two parallel base lines, the parallel base line closest to the base line in each sub-region to be cleaned is used as a base line to compare the priority among the plurality of sub-regions to be cleaned, and the priority is higher the farther the base line of the sub-region to be cleaned is from the base line. For example, if the sub-area E to be cleaned in the figure is compared with the sub-area C to be cleaned, and the base line in C is farther from the reference line than the base line in E, it is determined that the priority of the sub-area C to be cleaned is higher than that of the sub-area E to be cleaned. This approach may be used as a second principle of priority determination.

Then, in a plurality of cleaning subareas divided according to the two parallel baselines, determining that the larger the span between the two parallel baselines of the corresponding subarea to be cleaned is, the higher the priority is; for example, in comparison with the sub-area E to be cleaned, the sub-area a to be cleaned has a larger span between two parallel baselines than the sub-area E to be cleaned, and therefore the sub-area a to be cleaned has a higher cleaning priority than the sub-area E to be cleaned. This approach may be used as a third principle of priority determination.

Further, when the cleaning robot 2000 starts cleaning at any position in the room, the level of the priority may also be determined by determining a distance comparison between the cleaning robot 2000 and the uncleaned sub-area to be cleaned, wherein the determination of the distance may be the shortest euclidean distance between the current position of the cleaning robot 2000 and each sub-area to be cleaned. When the distance between the cleaning robot 2000 and the sub-area to be cleaned is smaller, the priority of the corresponding sub-area to be cleaned is higher. This approach may be used as a fourth principle of priority determination.

Of course, when determining the priority of the sub-region to be cleaned, the adopted mode may be any one of the four principles, or may be a combination of any two or three of the four principles, or may all adopt the four principles, or the determination order of the adopted principles may also be any combination, which is not limited specifically herein.

It should also be understood that, when the priority of the sub-region to be cleaned is judged, a mathematical function of the priority can be established through the four principles, and each principle is subjected to an additional coefficient according to an actual use scene, so that the established priority function is more practical.

An example of the calculation of the priority may be as follows:

still in connection with fig. 9: the cleaning robot 2000 is located at the door position, seven parallel baselines are generated, one of the seven parallel baselines is overlapped with the baseline, and the parallel baselines can be related to the actual numerical value according to the relative position and priority of the parallel baselines and the baseline. Thus L1=0, L2=3, L3=4, L4=5, L5=6, L6= -2, L7= -3. Closed regions, region a, region B (combined by regions B0, B1, B2), region C, region D (combined by regions D0 and D1), region E, region F (combined by regions F0 and F1), and region G are generated.

The positive direction of the reference line is preferentially calculated, namely, the area with the parallel baseline value being greater than 0 is the sub-area to be cleaned A, B, C, D, E. When the sub-area a to be cleaned is calculated, the base line of a is L1=0, the distance between the two parallel base lines is the difference 3 between L2=3 and L1=0, the distance between the cleaning robot 2000 and the sub-area a at the door is 0, and the priority value of the cleaning sub-area a is calculated as a by adopting a mathematical function.

By analogy, when the sub-region B to be cleaned is calculated, the base line of B is L2=3, the distance between the two parallel base lines is the difference 3 between L2=3 and L5=6, the distance between the cleaning robot 2000 and the sub-region B at the door is L1, and the priority value of the sub-region B to be cleaned is calculated and obtained as B by adopting a mathematical function.

When the cleaning robot 2000 is located at the door position, the sub-region to be cleaned in the positive direction of the reference line is calculated to obtain the corresponding priority value values a1, b1, c1, d1 and e1 of the sub-region to be cleaned A, B, C, D, E. Where D1 is greater than a1, b1, c1, e1, so that the priority of the sub-area D to be cleaned is highest, the cleaning robot 2000 will clean from the door position to the sub-area D to be cleaned.

After the cleaning is finished, the cleaning robot 2000 comes to the base line of the sub-region D to be cleaned, and calculates the priority of other sub-regions to be cleaned which are not cleaned in the room, so as to obtain the priority values a2, b2, c2, and e2 corresponding to the sub-region A, B, C, D, E to be cleaned. The value of C1 is greater than the values of a1, b1 and e1, so that the priority of the sub-area C to be cleaned is highest, the cleaning robot 2000 cleans the sub-area C to be cleaned from the door position, after the cleaning is completed, the cleaning robot 2000 comes to the base line of the sub-area C to be cleaned, and the priority of other sub-areas to be cleaned which are not cleaned in the room is calculated.

And by analogy, calculating and cleaning other to-be-cleaned sub-regions in the positive direction of the reference line, and then cleaning other to-be-cleaned sub-regions in the negative direction of the reference line in the same manner.

generating a cleaning tree according to the position of a subregion to be cleaned, wherein the region to be cleaned is divided into a first region and a second region which are respectively positioned at two sides of a datum line, the subregion to be cleaned which is positioned in the first region and the datum line has higher priority than the subregion to be cleaned which is positioned in the second region, the subregion to be cleaned which is formed by the datum line and a parallel base line which is closest to the datum line and positioned in the first region is taken as a root node, other subregions to be cleaned are taken as sub nodes or leaf nodes, and connecting ports of the two connected subregions are taken as edges for connecting the nodes;

priorities in subtrees of the cleaning tree are decreased in left-right order, and a larger depth of a node sweeping the tree is determined as a higher priority.

In this way, the cleaning tree is generated corresponding to the sub-area to be cleaned, and the priority of the sub-area to be cleaned is determined according to the left and right sequence and the difference of the depths in the sub-tree, so that the cleaning robot 2000 does not repeatedly clean the cleaned area when cleaning is performed according to the priority sequence.

Specifically, the cleaning tree may be generated based on the position relationship of the sub-regions to be cleaned with respect to the reference line, and the cleaning tree may be a tree formed according to the position relationship between the sub-regions to be cleaned. As described with reference to fig. 9 to 11, the door may be a reference line, a first area may be below the door, and a second area may be above the door. The first region has a higher priority than the second region. In the first region, the closest parallel baseline of the baseline to the first region may form the root node of the cleaning tree, i.e., subregion a to be cleaned in fig. 9, while subregions to be cleaned outside of region a may constitute child nodes, i.e., B0 and E in fig. 9, or leaf nodes, i.e., B0, B1, B2, C, D, D1 in fig. 9. The connecting ports of the mutually connected subregions to be cleaned can be used as connecting edges of the nodes.

The priority order can be judged according to the left-right order of subtrees formed by cleaning trees, the priority of the left subtree is greater than that of the right subtree, and the larger the depth of the node in the same subtree is, the higher the priority is. The depth of a node may be understood as the greater the distance of the node from the root node. The current position of the cleaning robot 2000 is calculated, and the nearest sub-area to be cleaned is selected to start traversing, wherein traversing can be a subsequent traversing mode, that is, a traversing sweeping mode with depth priority of left and right roots is adopted. Therefore, when the cleaning robot is located at the door, the cleaning sequence of the cleaning tree generated in the first region (as shown in fig. 10) may be B2 → B1 → B0 → C → D1 → D0 → E → a. The cleaning order of the cleaning tree generated by the second region (as shown in fig. 11) may be F1 → F0 → G → a. Accordingly, the sweeping sequence of the cleaning region map of fig. 9 may be B2 → B1 → B0 → C → D1 → D0 → E → F1 → F0 → G → a.

Referring to fig. 12, in some embodiments, the step S32 of performing traversal cleaning on the plurality of sub-areas to be cleaned based on the priority of the sub-areas to be cleaned includes:

step S321, re-determining the priority of the remaining subareas to be cleaned when cleaning of one subarea to be cleaned is finished;

and step S322, cleaning the subareas to be cleaned based on the priorities of the remaining subareas to be cleaned.

In this way, re-determining the priority of the remaining sub-areas to be cleaned after each cleaning is completed enables the cleaning robot 2000 to optimally select the next area to be cleaned after each cleaning is completed.

Specifically, the traversing cleaning adopts the steps that the priority of each sub-area to be cleaned is determined according to the position of the cleaning robot, and then the sub-area to be cleaned with the highest priority is cleaned according to the high-low order of the priority. And after the cleaning of the subarea to be cleaned with the highest priority is finished, the calculation of the priorities and the comparison of the priorities of the remaining subareas to be cleaned are continued, and the steps are repeated, so that the subarea to be cleaned which is cleaned by the cleaning robot each time is the highest priority in the remaining subareas to be cleaned.

Referring to fig. 13, in some embodiments, the cleaning control method further includes:

step S50, when the cleaning robot 2000 encounters a new obstacle in the cleaning process, acquiring the outline of the obstacle and regenerating a new boundary line of a subarea to be cleaned;

step S60, determining a new sub-area to be cleaned based on an area enclosed by two adjacent parallel base lines and a new boundary line;

and step S70, controlling the cleaning robot 2000 to clean the new sub-area to be cleaned according to the re-planned cleaning route.

In this way, when an obstacle exists in the cleaning route, a new boundary line of the sub-area to be cleaned is regenerated by acquiring the contour of the obstacle, and the sub-area to be cleaned is reconfirmed so that the cleaning robot 2000 can adapt to the obstacle condition in the cleaning environment to perform the non-repetitive overlay cleaning.

Specifically, referring to fig. 14, in fig. 14, a circular obstacle is present in the middle of fig. 4, and the cleaning robot performs cleaning in the arrow direction until the cleaning robot collides with the obstacle in fig. 14, as in the beginning of the cleaning route in fig. 4. At this time, the cleaning robot acquires the contour of the obstacle and regenerates a new sub-area to be cleaned surrounded by the obstacle as a boundary line and the adjacent parallel base line, namely, the sub-area to be cleaned a in fig. 4 is newly determined as the sub-area to be cleaned A, B, C in fig. 14.

Then, the cleaning robot 2000 is controlled to plan and clean the cleaning path according to the newly determined sub-area to be cleaned.

Further, in fig. 15, an irregular obstacle exists in the middle of fig. 4, and the cleaning robot in fig. 15 cleans in the arrow direction until the cleaning robot collides with the obstacle, as in the beginning part of the cleaning route in fig. 4. At this time, the cleaning robot acquires the contour of the obstacle and regenerates a new sub-area to be cleaned surrounded by the obstacle as a boundary line and the adjacent parallel base lines, namely, the sub-area to be cleaned a in fig. 4 is re-determined to be the sub-area to be cleaned A, B (composed of the areas B0, B1 and B2) and C, D, E (composed of the areas E0 and E1) in fig. 14.

When the sweeping manner of the priority in step S31 is adopted, the cleaning route of each sub-area to be cleaned, which is obtained according to the calculation manner of the priority, may be E → D → B → C → a. When the cleaning manner of generating the cleaning tree in step S31 is adopted, the cleaning route of each sub-region to be cleaned, which is obtained according to the generation rule of the cleaning tree, may be E1 → E0 → D → C → B2 → B1 → B0 → a.

Similarly, in fig. 16, there is another irregular obstacle different from fig. 15 in the middle of fig. 4, and the cleaning robot in fig. 16 cleans in the direction of the arrow until the obstacle is collided with, as in the beginning part of the cleaning route of fig. 4. At this time, the cleaning robot acquires the contour of the obstacle and regenerates a new sub-area to be cleaned, which is surrounded by the obstacle as a boundary line and the adjacent parallel base line, namely, the sub-area to be cleaned a in fig. 4 is re-determined to be the sub-area to be cleaned A, B (composed of the areas B0 and B1) and C, D, E (composed of the areas E0, E1 and E2) in fig. 16.

When the sweeping manner of the priority in step S31 is adopted, the cleaning route of each sub-area to be cleaned, which is obtained according to the calculation manner of the priority, may be D → C → E → B → a. When the cleaning manner of generating the cleaning tree in step S31 is adopted, the cleaning route of each sub-region to be cleaned, which is obtained according to the generation rule of the cleaning tree, may be D → C → B1 → B0 → E2 → E1 → E0 → a.

Referring to fig. 17, in some embodiments, the cleaning robot 2000 is controlled to clean the sub-area to be cleaned according to the cleaning route (step S70), including:

step S71, taking the direction vertical to the direction of the entrance in the first direction and the second direction as an initial cleaning direction, or taking the direction with the smallest included angle between the first direction and the second direction and the direction of the entrance as the initial cleaning direction;

and step S72 of controlling the cleaning robot 2000 to move in the initial cleaning direction to clean the sub-area to be cleaned.

Thus, the direction perpendicular to the entrance and the exit or the direction with the minimum included angle with the entrance and the exit is taken as the initial cleaning direction of the cleaning robot 2000, so that the cleaning line of the cleaning robot can better accord with the sequence of mopping by the user, the machine behavior is easier to understand and predict, and the intelligence of the machine is improved.

Specifically, in the map of the area to be cleaned, there is an entrance and an exit of the area to be cleaned, wherein the entrance and the exit of the area to be cleaned are oriented in parallel, perpendicular or intersecting with respect to the first direction or the second direction. When the entrance and exit of the area to be cleaned are oriented in parallel with the second direction, the initial cleaning direction is in the first direction, the cleaning robot 2000 performs cleaning in the first direction from the start point, and when the cleaning robot 2000 sweeps to the boundary line, cleaning may be performed in a direction perpendicular to the initial cleaning direction as a proceeding direction and then continued in the initial cleaning direction.

As shown by the arrow direction in fig. 4, the entrance and exit of the area to be cleaned are oriented perpendicular to the first direction (X-axis direction), the initial cleaning direction is along the first direction, and the advancing direction of sweeping to the boundary line is perpendicular to the initial sweeping direction. As shown by the arrow direction in fig. 5, the entrance and exit of the area to be cleaned face in a direction intersecting a first direction (X-axis direction) and a second direction (Y-axis direction), the initial cleaning direction may be the direction which is the smallest of the first direction or the second direction with the entrance and exit, i.e., the first direction in the drawing, and the forward direction of sweeping to the boundary line is perpendicular to the initial sweeping direction.

The present application provides a non-transitory computer-readable storage medium of computer-executable instructions that, when executed by one or more processors, cause the processors to perform the cleaning control method of any of the above embodiments.

The computer program may be stored in a memory, which is a non-transitory computer readable storage medium, operable to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods in the above-described method embodiments. The processor executes various functional applications and data processing of the processor by executing non-transitory software programs, instructions and modules stored in the memory, that is, the method in the above-described method embodiment is implemented.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be understood that portions of the embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A cleaning control method for a cleaning robot, characterized by comprising:

determining a region enclosed by two adjacent parallel base lines and the boundary line as a sub-region to be cleaned;

2. The cleaning control method according to claim 1, wherein the number of the sub-areas to be cleaned is plural, and the controlling the cleaning robot to clean the sub-areas in a cleaning route includes:

3. The cleaning control method according to claim 2, wherein the determining the priority of the sub-area to be cleaned based on the position of the cleaning robot and/or the sub-area to be cleaned comprises:

determining that the priority of the corresponding subregion to be cleaned is higher if the span of the two parallel baselines corresponding to the subregion to be cleaned is larger; and/or the presence of a gas in the gas,

determining that the smaller the distance between the cleaning robot and the sub-area to be cleaned, the higher the priority of the corresponding sub-area to be cleaned.

4. The cleaning control method according to claim 2, wherein the determining the priority of the sub-area to be cleaned based on the position of the cleaning robot and/or the sub-area to be cleaned comprises:

5. The cleaning control method according to claim 2, wherein the step of performing traversal cleaning on the plurality of sub-areas to be cleaned based on the priority of the sub-areas to be cleaned comprises:

6. The cleaning control method according to any one of claims 1 to 5, characterized by further comprising:

when the cleaning robot encounters a new obstacle in the cleaning process, acquiring the outline of the obstacle and regenerating a new boundary line of a sub-region to be cleaned;

7. The cleaning control method according to any one of claims 1 to 5, wherein the controlling the cleaning robot to clean the sub-area to be cleaned in a cleaning route includes:

8. A control device, comprising:

the cleaning system comprises an acquisition module, a cleaning module and a control module, wherein the acquisition module is used for acquiring a map of an area to be cleaned, the map of the area to be cleaned is provided with a first direction and a second direction which are perpendicular to each other, and the area to be cleaned is provided with a boundary line;

the first generation module is used for generating a datum line by taking an inlet and an outlet of an area to be cleaned as a center, and the datum line extends along the first direction or the second direction;

the second generation module is used for generating a plurality of parallel baselines in the map of the area to be cleaned, wherein the parallel baselines are parallel to or coincide with the datum lines, and the parallel baselines coincide with the boundary lines or intersect with the vertexes of the boundary lines;

the confirming module is used for confirming a region enclosed by two adjacent parallel baselines and the boundary line as a sub-region to be cleaned;

a control module for controlling the cleaning robot to clean the sub-area to be cleaned according to a cleaning route so that the cleaning robot does not repeatedly clean the cleaned area.

9. A cleaning robot characterized in that it comprises a memory storing a computer program and a processor implementing the cleaning control method according to any of claims 1-7 when executing the computer program.

10. A non-transitory computer-readable storage medium of computer-executable instructions, that when executed by one or more processors, cause the processors to perform the cleaning control method of any one of claims 1-7.