WO2021189863A1 - 一种清洁机器人运行控制方法、装置、***及计算机可读存储介质 - Google Patents
一种清洁机器人运行控制方法、装置、***及计算机可读存储介质 Download PDFInfo
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- WO2021189863A1 WO2021189863A1 PCT/CN2020/126242 CN2020126242W WO2021189863A1 WO 2021189863 A1 WO2021189863 A1 WO 2021189863A1 CN 2020126242 W CN2020126242 W CN 2020126242W WO 2021189863 A1 WO2021189863 A1 WO 2021189863A1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the present disclosure relates to the field of smart home technology, and in particular to a method, device, system, and computer-readable storage medium for controlling the operation of a cleaning robot.
- Cleaning robots also known as automatic cleaners, smart vacuum cleaners, robot vacuum cleaners, etc.
- automatic cleaners are a type of smart household appliances that can automatically complete floor cleaning in the room by virtue of a certain artificial intelligence.
- brushing and vacuuming methods are used to first absorb the ground debris into its own garbage storage box, thereby completing the function of ground cleaning.
- the cleaning robot often enters the space with many obstacles when cleaning, and the cleaning robot can easily change the running direction when encountering obstacles, and it is easy to clean.
- the robot rotates in place, if the cleaning robot cannot bypass the obstacle, the robot will not be able to continue working due to power loss. Not only cannot automatic cleaning be realized, but the user is required to deal with the stopped cleaning robot.
- the random walking pattern will cause repeated cleaning of multiple areas, or missed cleaning, and the cleaning efficiency is not high.
- At least one embodiment of the present disclosure provides a cleaning robot operation control method, device, system, and computer-readable storage medium.
- embodiments of the present disclosure provide a cleaning robot operation control method, the method including:
- the operation of the cleaning robot is controlled according to the environmental contour map after the simulation obstacle is added.
- the embodiments of the present disclosure can also make the following improvements.
- the acquiring an environment contour map of the environment in which the cleaning robot is located includes:
- the spatial pattern map is converted into the environmental contour map.
- the determining the spatial pattern diagram of the space where the cleaning robot is located according to the house layout diagram of the residential area includes:
- the house layout information and house location information are obtained online according to the location information of the cleaning robot, and the house layout information and house location information are determined according to the house location information, house layout information and the location information.
- the plot of the residential area of the space where the cleaning robot is located is used as the spatial layout diagram.
- the acquiring obstacle parameter information of the obstacle in the space where the cleaning robot is located includes:
- the distance information between the obstacle and the cleaning robot in the environment image and the object type of the obstacle are recognized;
- the object type of the obstacle For each of the obstacles, the object type of the obstacle, the coordinate information of the obstacle, and the size information of the obstacle are used as the obstacle parameter.
- the corresponding simulated obstacle is added to the environmental contour map according to the obstacle parameter information of each obstacle Things, including:
- the simulated obstacle whose radius is the radius of the obstacle is added to the corresponding coordinate in the environmental contour map.
- the obtaining the obstacle radius according to the size information of the obstacle and the expansion coefficient includes:
- the obstacle radius is obtained by the following formula:
- r is the radius of the obstacle
- l is the longest distance between any two points on the horizontal cross section of the obstacle obtained according to the size information of the obstacle
- ⁇ is the expansion coefficient
- the simulation obstacle is added according to the
- the environmental contour map controlling the operation of the cleaning robot includes:
- the operation of the cleaning robot is controlled according to the travel route.
- embodiments of the present disclosure provide an operation control device for a cleaning robot, the control device including:
- the first obtaining unit is configured to obtain an environmental contour map of the environment in which the cleaning robot is located;
- the second acquiring unit is configured to acquire obstacle parameter information of the obstacle in the space where the cleaning robot is located;
- a processing unit configured to add corresponding simulated obstacles to the environmental contour map according to the obstacle parameter information of each obstacle
- the control unit is configured to control the operation of the cleaning robot according to the environmental contour map after adding the simulated obstacle.
- embodiments of the present disclosure provide an operation control system for a cleaning robot, including a processor, a communication interface, a memory, and a communication bus.
- the processor, the communication interface, and the memory pass through the communication bus. Complete mutual communication;
- the memory is configured to store computer programs
- the processor is configured to implement the operation control method of the cleaning robot according to any one of the embodiments in the first aspect when executing the program stored in the memory.
- the embodiments of the present disclosure provide a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors, In order to realize the operation control method of the cleaning robot described in any one of the embodiments of the first aspect.
- the embodiments of the present disclosure obtain the environment contour map of the environment where the cleaning robot is located, and obtain obstacle parameter information of the obstacles in the space where the cleaning robot is located, and combine the environment contour Map and obstacle parameter information of obstacles, construct an environmental contour map with complete environmental information, and control the operation of the cleaning robot based on the environmental contour map to ensure the cleaning efficiency of the cleaning robot, and at the same time, prevent the cleaning robot from spinning on the spot and failing to complete the work normally .
- FIG. 1 is a schematic flowchart of a process processing method provided by an embodiment of the present disclosure
- FIG. 2 is a schematic flowchart of a process processing method provided by another embodiment of the present disclosure.
- FIG. 3 is a first flow diagram of a process processing method provided by another embodiment of the present disclosure.
- FIG. 4 is a second flowchart of a process processing method provided by another embodiment of the present disclosure.
- FIG. 5 is a third schematic flow chart of a process processing method provided by another embodiment of the present disclosure.
- Fig. 6 is a schematic structural diagram of a data management system provided by another embodiment of the present disclosure.
- Fig. 7 is a cleaning robot operation control system provided by another embodiment of the present disclosure.
- an embodiment of the present disclosure provides a method for controlling the operation of a cleaning robot.
- the method includes the following steps:
- the cleaning robot also known as an automatic sweeper, a smart vacuum cleaner, a robot vacuum cleaner, etc.
- the cleaning robot is a type of smart household appliances that can automatically complete floor cleaning in a room by virtue of a certain artificial intelligence.
- brushing and vacuuming methods are used to first absorb the ground debris into its own garbage storage box, thereby completing the function of ground cleaning.
- robots that complete cleaning, vacuuming, and wiping work are also collectively classified as cleaning robots.
- the spatial layout diagram of the environment in which the cleaning robot is located can be obtained by obtaining the spatial layout diagram, which can be used as an environmental outline map.
- the cleaning robot know the unreachable position in the room in advance, so as to appropriately control the travel route of the cleaning robot to prevent the cleaning robot from entering the area that affects the cleaning efficiency; it can also obtain the location of the cleaning robot through the image acquisition device set on the cleaning robot.
- the image acquisition device can be a depth camera, which can not only collect the corresponding item images, but also obtain the depth information of each item, and further obtain the distance data.
- the spatial pattern diagram can be converted based on a morphological algorithm to obtain an environmental contour map that the cleaning robot can recognize.
- the image of the space where the cleaning robot is located can be obtained first, and then the various items in the image can be identified through the image recognition algorithm.
- all the items that affect the cleaning robot to clean are obstacles, that is, to remove Except for the unreachable places in the image, the objects in other places are obstacles.
- the obstacle parameter information in this scheme can be the size, location, and type of the obstacle. By confirming the information, these obstacles can be further obtained. The impact of objects on the cleaning robot during cleaning, and improve the working efficiency of the cleaning robot.
- the corresponding virtual obstacle is added to the environmental contour map, so that The final environmental contour map has detailed information of various objects and patterns in the environment where the cleaning robot is located.
- the operating path of the cleaning robot is planned according to the environmental contour map obtained in the above steps.
- controlling the operation of the cleaning robot according to the environmental contour map after adding the simulated obstacles includes: dividing the environmental contour map to obtain at least two small areas with a preset size; and determining Go through all the travel routes of the small area in turn; control the operation of the cleaning robot according to the travel route.
- the environmental contour map is divided into small areas of a preset size, and the travel route of the cleaning robot is planned by dividing into small areas, thereby improving the efficiency of route planning.
- an embodiment of the present disclosure provides a cleaning robot operation control method.
- the method includes:
- S21 Obtain a house plan of a corresponding cell based on the location information of the cleaning robot.
- the location information of the cleaning robot can be obtained by setting a positioning device on the cleaning robot, and the plot of the residential area where the cleaning robot is located can be obtained based on the location information.
- S22 Determine a spatial layout diagram of the space where the cleaning robot is located according to the house layout diagram of the residential area.
- the community since the community will plan at least one house type for different types of buyers at the beginning of construction to meet the needs of users, in this solution, after obtaining the house type map of the community, it can be combined with the developer’s
- the published room distribution of each building is combined with the location information of the cleaning robot to determine the space where the cleaning robot is located, and the corresponding plot of the residential area is used as the spatial layout map.
- the spatial pattern diagram can be converted based on a morphological algorithm to obtain an environmental contour map that the cleaning robot can recognize.
- step S24 please refer to the description in step S12, which will not be repeated in this embodiment.
- step S25 please refer to the description of step S13, which will not be repeated in this embodiment.
- step S26 please refer to the description in step S14, which will not be repeated in this embodiment.
- determining the spatial pattern of the space where the cleaning robot is located in step S22 according to the plot of the residential area includes the following steps:
- the obtained plot of the house type is sent to the control terminal corresponding to the cleaning robot, and the house type of the space where the cleaning robot is located is determined by receiving the house type determination information fed back by the control terminal.
- S32a When receiving the house type determination information fed back by the control terminal, select a corresponding cell house type diagram as the spatial layout diagram according to the house type determination information.
- the corresponding house type map of the residential area is selected as the spatial layout map according to the house type determination information.
- S32b When the house type determination information fed back by the control terminal is not received, determine whether the number of house type plans of the cell is greater than one.
- the control terminal does not feed back the house type determination information, it is judged whether the number of house type plans in the community is greater than 1, and the house type of the room where the cleaning robot is located is further determined according to the number of house type plans in the community.
- S33a If the number of the house plan of the residential area is 1, use the house plan of the residential area as the spatial layout map.
- the house type map of the residential area is 1, there is no need to determine the house type, and the house type map of the residential area is the house type of the room where the cleaning robot is located.
- the location of the house where the cleaning robot is located and the floor layout of the house can be obtained according to the location information of the cleaning robot, which is determined according to the location of the specific cleaning robot.
- the location of the cleaning robot on the floor can then be determined according to the house layout information to determine the room where the cleaning robot is located, and then the plot of the space where the cleaning robot is located, that is, the layout of the room, is used as a spatial layout diagram.
- an embodiment of the present disclosure provides a method for controlling the operation of a cleaning robot.
- the control method includes the following steps:
- step S41 For details of step S41, please refer to the description in step S11, which will not be repeated in this embodiment.
- the environment image of the environment where the cleaning robot is located can be obtained through a camera.
- the camera may be set above the cleaning robot.
- the obstacle is identified from the environmental image through the image recognition method, and the object type of the obstacle is obtained through the image recognition method, such as shoes, plastic bags, socks, pets, etc., obstacles and cleaning
- the distance information of the robot can be calculated from images taken by a binocular camera or a multi-eye camera.
- the coordinate information of the obstacle can be obtained.
- the coordinate information of the obstacle and the pixel coordinates on the obtained environment image namely Corresponding size information can be obtained.
- the size information can be obtained by combining the coordinates of each pixel.
- the item type, coordinate information, and size information of the obstacle are used as the obstacle parameters of the obstacle.
- step S46 please refer to the description in step S13, which will not be repeated in this embodiment.
- step S47 please refer to the description in step S13, which will not be repeated in this embodiment.
- step S46 according to the obstacle parameter information of each of the obstacles, adding a corresponding simulated obstacle to the environmental contour map specifically includes the following steps:
- the expansion coefficient is determined by the types of items, because different types of items will appear in different states when placed on the ground, such as the state of plastic bags and shoes, and there will be no major morphological changes. The state of the items presented is inconsistent. In this solution, different expansion coefficients are set for items in different states to minimize the interference of different items on the cleaning robot and improve the cleaning efficiency.
- obtaining the obstacle radius according to the size information and the expansion coefficient in step S52 includes:
- the obstacle radius is obtained by the following formula:
- r is the radius of the obstacle
- l is the longest distance between any two points on the horizontal cross section of the obstacle obtained according to the size information
- ⁇ is the expansion coefficient
- an embodiment of the present disclosure provides an operation control device for a cleaning robot.
- the control device includes: a first acquisition unit 11, a second acquisition unit 12, a processing unit 13, and a control unit 14.
- the first obtaining unit 11 is configured to obtain an environmental contour map of the environment in which the cleaning robot is located;
- the second acquiring unit 12 is configured to acquire obstacle parameter information of obstacles in the space where the cleaning robot is located;
- the processing unit 13 is configured to add corresponding simulated obstacles to the environmental contour map according to the obstacle parameter information of each obstacle;
- control unit 14 is configured to control the operation of the cleaning robot according to the environmental contour map after adding the simulated obstacle.
- the first obtaining unit 11 is specifically configured to obtain a house plan of the corresponding cell based on the location information of the cleaning robot; and determine the space of the space where the cleaning robot is located according to the house plan of the house. Layout map; converting the spatial layout map into the environmental contour map.
- the first acquiring unit 11 is specifically configured to send the plot of the house type to the control terminal corresponding to the cleaning robot, and determine whether the house type determination information fed back by the control terminal is received;
- the house type determination information fed back by the control terminal select the corresponding cell house type diagram as the spatial layout diagram according to the house type determination information;
- the house type determination information fed back by the control terminal is not received, determine the Whether the number of house plans of the community is greater than 1; if the number of house plans of the community is 1, then the house plans of the community will be used as the spatial layout plan; if the number of house plans of the community is greater than 1, then the
- the location information of the robot obtains the house layout information and house location information through the network, and determines the plot of the residential area where the cleaning robot is located according to the house location information, the house layout information and the location information, as the space layout picture.
- the second acquiring unit 12 is specifically configured to acquire an environment image of the environment where the cleaning robot is located; based on an image recognition method, the obstacles in the environment image and the cleaning robot are identified For each obstacle, obtain the coordinate information and size information of the obstacle according to the position information of the cleaning robot and the distance information; for each obstacle , Taking the item type, coordinate information and size information of the obstacle as the obstacle parameter.
- the second obtaining unit 12 is specifically configured to determine the expansion coefficient according to the item type of the obstacle for each obstacle; and obtain the obstacle according to the size information and the expansion coefficient.
- the second obtaining unit 12 is specifically configured to obtain the obstacle radius by using the following formula:
- r is the radius of the obstacle
- l is the longest distance between any two points on the horizontal cross section of the obstacle obtained according to the size information
- ⁇ is the expansion coefficient
- control unit 14 is specifically configured to divide the environmental contour map to obtain at least two small areas of a preset size; determine a travel route through all the small areas in sequence; The travel route controls the operation of the cleaning robot.
- an embodiment of the present disclosure provides a cleaning robot operation control system, including a processor 1110, a communication interface 1120, a memory 1130, and a communication bus 1140.
- the processor 1110, the communication interface 1120, and the memory 1130 communicate
- the bus 1140 completes mutual communication;
- the memory 1130 is configured to store computer programs
- processor 1110 When the processor 1110 is configured to execute the program stored in the memory 1130, it implements the following cleaning robot operation control method:
- the operation of the cleaning robot is controlled according to the environment contour map after the simulation obstacle is added.
- the processor 1110 obtains the environmental contour map of the environment where the cleaning robot is located by executing the program stored in the memory 1130, and obtains the obstacle parameter information of the obstacle in the space where the cleaning robot is located, combining The environmental contour map and obstacle parameter information of obstacles are used to construct an environmental contour map with complete environmental information. Based on the environmental contour map, the operation of the cleaning robot is controlled to ensure the cleaning efficiency of the cleaning robot, and at the same time, to prevent the cleaning robot from rotating in place. Finish the work.
- the communication bus 1140 mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus or the like.
- PCI Peripheral Component Interconnect
- EISA Extended Industry Standard Architecture
- the communication bus 1140 can be divided into an address bus, a data bus, a control bus, and so on. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
- the communication interface 1120 is configured for communication between the aforementioned electronic device and other devices.
- the memory 1130 may include a random access memory (Random Access Memory, RAM for short), or may include a non-volatile memory (non-volatile memory), such as at least one disk memory.
- RAM Random Access Memory
- non-volatile memory such as at least one disk memory.
- the memory 1130 may also be at least one storage device located far away from the foregoing processor 1110.
- the aforementioned processor 1110 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP for short), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
- CPU Central Processing Unit
- NP Network Processor
- DSP Digital Signal Processing
- ASIC Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- the embodiment of the present disclosure provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to realize any of the foregoing.
- the above embodiments it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
- software it can be implemented in the form of a computer program product in whole or in part.
- the computer program product includes one or more computer instructions.
- the computer program instructions When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present disclosure are generated in whole or in part.
- the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
- Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
- computer instructions can be transmitted from a website, computer, server, or data center through a cable (such as Coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to transmit to another website site, computer, server or data center.
- the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media.
- the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state hard disk (SSD)).
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Abstract
一种清洁机器人运行控制方法、装置、***及计算机可读存储介质。控制方法包括:获取清洁机器人所处环境的环境轮廓地图(S11, S41);获取清洁机器人所处空间内的障碍物的障碍物参数信息(S112);根据每个障碍物的障碍物参数信息,在环境轮廓地图中添加相应的模拟障碍物(S13);根据添加障碍物信息的环境轮廓地图控制清洁机器人运行(S14, S47)。通过获取清洁机器人所处环境的环境轮廓地图,并获取清洁机器人所处空间的障碍物的障碍物参数信息,结合环境轮廓地图和障碍物的障碍物参数信息,构建具备完整环境信息的环境轮廓地图,基于环境轮廓地图控制清洁机器人的运行,保证清洁机器人的清洗效率,同时,避免清洁机器人原地打转无法正常完成工作。
Description
本公开以2020年03月27日递交的、申请号为202010232035.3且名称为“一种清洁机器人运行控制方法、装置、***及存储介质”的专利文件为优先权文件,其全部内容通过引用结合在本公开中。
本公开涉及智能家居技术领域,尤其涉及一种清洁机器人运行控制方法、装置、***及计算机可读存储介质。
随着智能家居的普及,来越多的科技产品将进入人们的生活、家庭,用户能够通过智能手机上对智能设备控制。而建立在生活的便利前提下,用户对生活环境的舒适度及观赏度都开始有了新的需求。
清洁机器人,又称自动打扫机、智能吸尘、机器人吸尘器等,是智能家用电器的一种,能凭借一定的人工智能,自动在房间内完成地面清理工作。一般采用刷扫和真空方式,将地面杂物先吸纳进入自身的垃圾收纳盒,从而完成地面清理的功能。但是,由于现在家居环境中的各种家具和电器,导致清洁机器人在清扫时,经常会进入到障碍较多的空间中,而清洁机器人在遇到障碍物随意的变换运行方向,很容易出现清洁机器人原地打转的情况,若最终清洁机器人无法绕开障碍物,会导致机器人因失电无法继续工作,不仅无法实现自动清扫,反而需要用户对停止工作的清洁机器人进行处理。而随机的行走模式更是会造成多区域的重复清扫,或者漏扫,清洁效率不高。
发明内容
为了解决相关技术存在的问题,本公开的至少一个实施例提供了一种清洁机器人运行控制方法、装置、***及计算机可读存储介质。
第一方面,本公开实施例提供了一种清洁机器人运行控制方法,所述方法包括:
获取所述清洁机器人所处环境的环境轮廓地图;
获取所述清洁机器人所处空间内的障碍物的障碍物参数信息;
根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物;
根据添加所述模拟障碍物后的所述环境轮廓地图控制所述清洁机器人运行。
基于上述技术方案,本公开实施例还可以做出如下改进。
结合第一方面,在第一方面的第一种实施例中,所述获取所述清洁机器人所处环境的环境轮廓地图,包括:
基于所述清洁机器人的位置信息获取对应小区的小区户型图;
根据所述小区户型图确定所述清洁机器人所处空间的空间格局图;
将所述空间格局图转换为所述环境轮廓地图。
结合第一方面的第一种实施例,在第一方面的第二种实施例中,所述根据所述小区户型图确定所述清洁机器人所处空间的空间格局图,包括:
向所述清洁机器人对应的控制终端发送所述小区户型图,并判断是否接收到所述控制终端反馈的户型确定信息;
当接收到所述控制终端反馈的户型确定信息时,根据所述户型确定信息选取对应的所述小区户型图作为所述空间格局图;
当未接收到所述控制终端反馈的户型确定信息时,判断所述小区户型图的数量是否大于1;
若所述小区户型图的数量为1,则将所述小区户型图作为所述空间格局图;
若所述小区户型图的数量大于1,则根据所述清洁机器人的位置信 息联网获取房屋户型格局信息和房屋位置信息,并根据所述房屋位置信息、房屋户型格局信息和所述位置信息确定所述清洁机器人所处空间的小区户型图,作为所述空间格局图。
结合第一方面,在第一方面的第三种实施例中,所述获取所述清洁机器人所处空间内的障碍物的障碍物参数信息包括:
获取所述清洁机器人所处环境的环境图像;
基于图像识别方法,识别得到所述环境图像中的所述障碍物与所述清洁机器人的距离信息和障碍物的物品种类;
针对每个所述障碍物,根据所述清洁机器人的位置信息和所述距离信息得到所述障碍物的坐标信息和尺寸信息;
针对每个所述障碍物,将所述障碍物的物品种类、所述障碍物的坐标信息和所述障碍物的尺寸信息作为所述障碍物参数。
结合第一方面的第三种实施例,在第一方面的第四种实施例中,所述根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物,包括:
针对每个所述障碍物,进行如下步骤:
根据所述障碍物的物品种类确定膨胀系数;
根据所述障碍物的尺寸信息和所述膨胀系数得到障碍物半径;
根据所述障碍物的坐标信息,在所述环境轮廓地图中对应坐标添加半径为所述障碍物半径的所述模拟障碍物。
结合第一方面的第四种实施例,在第一方面的第五种实施例中,所述根据所述障碍物的尺寸信息和所述膨胀系数得到障碍物半径,包括:
通过如下公式得到所述障碍物半径:
其中,r为所述障碍物半径,l为根据所述障碍物的尺寸信息得到的所述障碍物的水平横截面上任意两点的最长间距,α为所述膨胀系 数。
结合第一方面或第一方面的第一、第二、第三、第四或第五种实施例,在第一方面的第六种实施例中,所述根据添加所述模拟障碍物后的所述环境轮廓地图控制所述清洁机器人运行,包括:
将所述环境轮廓地图进行划分得到至少两个预设尺寸的小区域;
确定依次通过所有所述小区域的行进路线;
按所述行进路线控制所述清洁机器人运行。
第二方面,本公开实施例提供了一种清洁机器人运行控制装置,所述控制装置包括:
第一获取单元,被配置为获取所述清洁机器人所处环境的环境轮廓地图;
第二获取单元,被配置为获取所述清洁机器人所处空间内的障碍物的障碍物参数信息;
处理单元,被配置为根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物;
控制单元,被配置为根据添加所述模拟障碍物后的所述环境轮廓地图控制所述清洁机器人运行。
第三方面,本公开实施例提供了一种清洁机器人运行控制***,包括处理器、通信接口、存储器和通信总线,其中,所述处理器、所述通信接口以及所述存储器通过所述通信总线完成相互间的通信;
所述存储器,被配置为存放计算机程序;
所述处理器,被配置为执行所述存储器上所存放的程序时,实现第一方面中任一实施例所述的清洁机器人运行控制方法。
第四方面,本公开实施例提供了一种计算机可读存储介质,所述计算机可读存储介质存储有一个或者多个程序,所述一个或者多个程序可被一个或者多个处理器执行,以实现第一方面中任一实施例所述的清洁机器人运行控制方法。
本公开的上述技术方案与相关技术相比具有如下优点:本公开实施例通过获取清洁机器人所处环境的环境轮廓地图,并获取清洁机器人所处空间的障碍物的障碍物参数信息,结合环境轮廓地图和障碍物的障碍物参数信息,构建具备完整环境信息的环境轮廓地图,基于该环境轮廓地图控制清洁机器人的运行,保证清洁机器人的清洗效率,同时,避免清洁机器人原地打转无法正常完成工作。
图1是本公开实施例提供的一种进程处理方法流程示意图;
图2是本公开另一实施例提供的一种进程处理方法流程示意图;
图3是本公开又一实施例提供的一种进程处理方法流程示意图其一;
图4是本公开又一实施例提供的一种进程处理方法流程示意图其二;
图5是本公开又一实施例提供的一种进程处理方法流程示意图其三;
图6是本公开又一实施例提供的一种数据管理***结构示意图;
图7是本公开又一实施例提供的一种清洁机器人运行控制***。
为使本公开实施例的目的、技术方案和优点更加清楚,下面将结合本公开实施例中的附图,对本公开实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本公开的一部分实施例,而不是全部的实施例。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例,都属于本公开保护的范围。
如图1所示,本公开实施例提供了一种清洁机器人运行控制方法。参照图1,所述方法包括如下步骤:
S11、获取所述清洁机器人所处环境的环境轮廓地图。
在本实施例中,清洁机器人,又称自动打扫机、智能吸尘、机器人吸尘器等,是智能家用电器的一种,能凭借一定的人工智能,自动在房间内完成地板清理工作。一般采用刷扫和真空方式,将地面杂物先吸纳进入自身的垃圾收纳盒,从而完成地面清理的功能。一般来说,将完成清扫、吸尘、擦地工作的机器人,也统一归为清洁机器人。
在本实施例中,可以通过获取得到清洁机器人所处环境的空间格局图,可以将所述空间布局图作为环境轮廓地图,比如,户型图或者装修完毕后的房间布局平面图,通过空间格局图可以使得清洁机器人提前知晓房间内无法到达的位置,以对清洁机器人的行进线路进行适当控制,以避免清洁机器人进入影响清扫效率的区域;还可以通过设置在清洁机器人上的图像采集装置获取清洁机器人所处环境的环境轮廓地图,图像采集装置可以是深度摄像机,既可以采集到相应的物品图像,还可以得到每个物品的深度信息,并进一步得到距离数据。
对于清洁机器人而言,其无法直接理解空间格局图中的布局细节,在本方案中,可以基于形态学算法将所述空间格局图进行转换,得到清洁机器人可以认知的环境轮廓地图。
S12、获取清洁机器人所处空间内的障碍物的障碍物参数信息。
在本实施例中,可以先获取清洁机器人所处空间的图像,而后通过图像识别算法识别图像中的各个物品,对于清洁机器人而言,影响清洁机器人进行清扫的所有物品都是障碍物,即除图像中无法到达的地方之外,其他地方的物品均为障碍物,本方案中的障碍物参数信息可以是障碍物的尺寸、位置、物品种类等信息,通过确认这些信息,可以进一步得到这些障碍物对清洁机器人进行清扫时的影响,提高清洁机器人的工作效率。
S13、根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物。
在本实施例中,由于上述步骤中得到的环境轮廓地图中只包括的 空间的格局的情况,而在确认障碍物的障碍物参数信息后,在环境轮廓地图中添加相应的虚拟障碍物,使得最终得到的环境轮廓地图具备清洁机器人所处环境中的各种物品和格局的详细情况。
S14、根据添加所述模拟障碍物后的环境轮廓地图控制所述清洁机器人运行。
在本实施例中,根据上述步骤得到的环境轮廓地图规划所述清洁机器人的运行路径,通过提前规划清洁机器人的运行路径,保证清洁机器人绕过障碍物的同时,保证清洁机器人可以清扫尽量多的地区,同时,避免清洁机器人因为障碍物导致的机器人原地打转的情况或者重复清扫或漏扫。
在本实施例中,步骤S14中根据添加所述模拟障碍物后的环境轮廓地图控制所述清洁机器人运行,包括:将所述环境轮廓地图进行划分得到至少两个预设尺寸的小区域;确定依次通过所有所述小区域的行进路线;按所述行进路线控制所述清洁机器人运行。
在本实施例中,通过将环境轮廓地图划分得到预设尺寸的小区域,通过划分为小区域来对清洁机器人的行进路线进行规划,提高路线的规划效率。
如图2所述,本公开实施例提供了一种清洁机器人运行控制方法,参照图2,所述方法包括:
S21、基于所述清洁机器人的位置信息获取对应小区的小区户型图。
在本实施例中,可以通过在清洁机器人上设置定位装置,得到清洁机器人的位置信息,基于位置信息获取得到清洁机器人所处小区的小区户型图,比如,可以通过位置信息联网,在网上公开的信息中即可得到该小区的小区户型图,比如,可以通过位置信息在地图软件中确定小区名称,而后根据小区名称得到小区开发商所公布的小区户型 图,也可以根据位置信息从相关政府网站上获取得到所公开的小区户型图,还可以访问各类房产中介的网站得到该位置信息上的小区的小区户型图。
S22、根据所述小区户型图确定所述清洁机器人所处空间的空间格局图。
在本实施例中,由于小区针对不同类型的的购买者会在建设初期就规划出至少一种户型,以适应用户需求,在本方案中,可以在得到小区户型图后,在结合开发商所公布的每栋楼的房间分布情况,结合清洁机器人位置信息确定清洁机器人所处空间,并将对应的小区户型图作为空间格局图,还可以向清洁机器人所绑定的控制终端发送确认请求,并接收控制终端所反馈的小区户型图确认信息,得到清洁机器人所在房间的户型图。
S23、将所述空间格局图转换为所述环境轮廓地图。
对于清洁机器人而言,其无法直接理解空间格局图中的布局细节,在本方案中,可以基于形态学算法将所述空间格局图进行转换,得到清洁机器人可以认知的环境轮廓地图。
S24、获取清洁机器人所处空间内的障碍物的障碍物参数信息。
有关步骤S24,详细可参见步骤S12中的描述,本实施例在此不再赘述。
S25、根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物。
有关步骤S25,详细可参见步骤S13中的描述,本实施例在此不再赘述。
S26、根据添加所述模拟障碍物后的环境轮廓地图控制所述清洁机器人运行。
有关步骤S26,详细可参见步骤S14中的描述,本实施例在此不再赘述。
如图3所示,在本实施例中,步骤S22中根据所述小区户型图确定所述清洁机器人所处空间的空间格局图,具体包括如下步骤:
S31、向所述清洁机器人对应的控制终端发送所述小区户型图,并判断是否接收到所述控制终端反馈的户型确定信息。
在本实施例中,向清洁机器人对应的控制终端发送所得到的小区户型图,通过接收控制终端反馈的户型确定信息确定该清洁机器人所处空间的户型。
S32a、当接收到所述控制终端反馈的户型确定信息时,根据所述户型确定信息选取对应的小区户型图作为所述空间格局图。
在本实施例中,在控制终端反馈户型确定信息后,根据户型确定信息选择相应的小区户型图作为空间格局图。
S32b、当未接收到所述控制终端反馈的户型确定信息时,判断所述小区户型图的数量是否大于1。
在本实施例中,若是控制终端未反馈户型确定信息,判断小区户型图的数量是否大于1,根据小区户型图的数量来进一步确定清洁机器人所处房间的户型。
S33a、若所述小区户型图的数量为1,则将所述小区户型图作为所述空间格局图。
在本实施例中,若小区户型图为1,则不需要确定户型,该小区户型图即为所述清洁机器人所处房间的户型。
S33b、若所述小区户型图的数量大于1,则根据所述清洁机器人的位置信息联网获取房屋户型格局信息和房屋位置信息,并根据所述房屋位置信息、房屋户型格局信息和所述位置信息确定所述清洁机器人所处空间的小区户型图,作为所述空间格局图。
在本实施例中,若小区户型图的数量较大,可以根据清洁机器人的位置信息得到具体的清洁机器人所处的房屋位置和该房屋的楼层房屋户型格局情况,根据具体的清洁机器人的位置确定该清洁机器人在 楼层中的方位,而后根据房屋户型格局信息即可确定清洁机器人所处的房间,而后得到所处空间的小区户型图,即该房间的户型,作为空间格局图。
如图4所示,本公开实施例提供了一种清洁机器人运行控制方法。参照图4,所述控制方法包括如下步骤:
S41、获取所述清洁机器人所处环境的环境轮廓地图。
有关步骤S41,详细可参见步骤S11中的描述,本实施例在此不再赘述。
S42、获取所述清洁机器人所处环境的环境图像。
在本实施例中,可以通过摄像头获取清洁机器人所处环境的环境图像,为方便得到清洁机器人所处环境的环境图像,摄像头可以设置在清洁机器人上方。
S43、基于图像识别方法,识别得到所述环境图像中的障碍物与所述清洁机器人的距离信息和障碍物的物品种类。
在本实施例中,通过图像识别方法,从环境图像中识别确定障碍物,通过图像识别方法得到障碍物的物品种类,物品种类比如,鞋、塑料袋、袜子、宠物等物品,障碍物与清洁机器人的距离信息可以通过双目摄像头或多目摄像头拍摄的图像计算得到。
S44、针对每个所述障碍物,根据所述清洁机器人的位置信息和所述距离信息得到所述障碍物的坐标信息和尺寸信息。
在本实施例中,根据清洁机器人的位置信息,结合障碍物与清洁机器人的距离信息,即可得到障碍物的坐标信息,根据障碍物的坐标信息和所得到的环境图像上的像素点坐标即可得到相应的尺寸信息,比如,基于上述双目摄像头或单目摄像头计算得到距离信息后,结合各像素点的坐标即可得到尺寸信息。
S45、针对每个所述障碍物,将所述障碍物的物品种类、坐标信息 和尺寸信息作为所述障碍物参数。
在本实施例中,将障碍物的物品种类、坐标信息和尺寸信息作为该障碍物的障碍物参数。
S46、根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物。
有关步骤S46,详细可参见步骤S13中的描述,本实施例在此不再赘述。
S47、根据添加所述模拟障碍物后的环境轮廓地图控制所述清洁机器人运行。
有关步骤S47,详细可参见步骤S13中的描述,本实施例在此不再赘述。
如图5所示,步骤S46中根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物,具体包括如下步骤:
针对每个所述障碍物,进行如下步骤:
S51、根据所述障碍物的物品种类确定膨胀系数。
S52、根据所述尺寸信息和所述膨胀系数得到障碍物半径。
S53、根据所述障碍物的坐标信息,在所述环境轮廓地图中对应坐标添加半径为所述障碍物半径的模拟障碍物。
在本实施例中,通过物品种类确定膨胀系数,由于不同种类的物品在放置在地面上时,会呈现出不同的状态,比如塑料袋所呈现的状态和鞋子这类不会出现较大形态变化的物品所呈现的状态不一致,在本方案中,针对不同状态的物品设置不同的膨胀系数,最大限度的减少不同的物品对清洁机器人的干扰,提高清洁效率。
在本实施例中,步骤S52中根据所述尺寸信息和所述膨胀系数得到障碍物半径,包括:
通过如下公式得到所述障碍物半径:
其中,r为所述障碍物半径,l为根据所述尺寸信息得到的所述障碍物的水平横截面上任意两点的最长间距,α为所述膨胀系数。
如图6所示,本公开实施例提供了一种清洁机器人运行控制装置,所述控制装置包括:第一获取单元11、第二获取单元12、处理单元13和控制单元14。
在本实施例中,所述第一获取单元11,被配置为获取所述清洁机器人所处环境的环境轮廓地图;
在本实施例中,所述第二获取单元12,被配置为获取清洁机器人所处空间内的障碍物的障碍物参数信息;
在本实施例中,所述处理单元13,被配置为根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物;
在本实施例中,所述控制单元14,被配置为根据添加所述模拟障碍物后的环境轮廓地图控制所述清洁机器人运行。
在本实施例中,所述第一获取单元11,具体被配置为基于所述清洁机器人的位置信息获取对应小区的小区户型图;根据所述小区户型图确定所述清洁机器人所处空间的空间格局图;将所述空间格局图转换为所述环境轮廓地图。
在本实施例中,所述第一获取单元11,具体被配置为向所述清洁机器人对应的控制终端发送所述小区户型图,并判断是否接收到所述控制终端反馈的户型确定信息;当接收到所述控制终端反馈的户型确定信息时,根据所述户型确定信息选取对应的小区户型图作为所述空间格局图;当未接收到所述控制终端反馈的户型确定信息时,判断所述小区户型图的数量是否大于1;若所述小区户型图的数量为1,则将所述小区户型图作为所述空间格局图;若所述小区户型图的数量大于1,则根据所述清洁机器人的位置信息联网获取房屋户型格局信息和房屋位置信息,并根据所述房屋位置信息、房屋户型格局信息和所述位 置信息确定所述清洁机器人所处空间的小区户型图,作为所述空间格局图。
在本实施例中,所述第二获取单元12,具体被配置为获取所述清洁机器人所处环境的环境图像;基于图像识别方法,识别得到所述环境图像中的障碍物与所述清洁机器人的距离信息和障碍物的物品种类;针对每个所述障碍物,根据所述清洁机器人的位置信息和所述距离信息得到所述障碍物的坐标信息和尺寸信息;针对每个所述障碍物,将所述障碍物的物品种类、坐标信息和尺寸信息作为所述障碍物参数。
在本实施例中,所述第二获取单元12,具体被配置为针对每个所述障碍物,根据所述障碍物的物品种类确定膨胀系数;根据所述尺寸信息和所述膨胀系数得到障碍物半径;根据所述障碍物的坐标信息,在所述环境轮廓地图中对应坐标添加半径为所述障碍物半径的模拟障碍物。
在本实施例中,所述第二获取单元12,具体被配置为通过如下公式得到所述障碍物半径:
其中,r为所述障碍物半径,l为根据所述尺寸信息得到的所述障碍物的水平横截面上任意两点的最长间距,α为所述膨胀系数。
在本实施例中,所述控制单元14,具体被配置为将所述环境轮廓地图进行划分得到至少两个预设尺寸的小区域;确定依次通过所有所述小区域的行进路线;按所述行进路线控制所述清洁机器人运行。
如图7所示,本公开实施例提供了一种清洁机器人运行控制***,包括处理器1110、通信接口1120、存储器1130和通信总线1140,其中,处理器1110,通信接口1120,存储器1130通过通信总线1140完成相互间的通信;
存储器1130,被配置为存放计算机程序;
处理器1110,被配置为执行存储器1130上所存放的程序时,实现如下清洁机器人运行控制方法:
获取所述清洁机器人所处环境的环境轮廓地图;
获取清洁机器人所处空间内的障碍物的障碍物参数信息;
根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物;
根据添加所述模拟障碍物后的环境轮廓地图控制所述清洁机器人运行。
本公开实施例提供的电子设备,处理器1110通过执行存储器1130上所存放的程序通过获取清洁机器人所处环境的环境轮廓地图,并获取清洁机器人所处空间的障碍物的障碍物参数信息,结合环境轮廓地图和障碍物的障碍物参数信息,构建具备完整环境信息的环境轮廓地图,基于该环境轮廓地图控制清洁机器人的运行,保证清洁机器人的清洗效率,同时,避免清洁机器人原地打转无法正常完成工作。
上述电子设备提到的通信总线1140可以是外设部件互连标准(PeripheralComponentInterconnect,简称PCI)总线或扩展工业标准结构(ExtendedIndustryStandardArchitecture,简称EISA)总线等。该通信总线1140可以分为地址总线、数据总线、控制总线等。为便于表示,图中仅用一条粗线表示,但并不表示仅有一根总线或一种类型的总线。
通信接口1120被配置为上述电子设备与其他设备之间的通信。
存储器1130可以包括随机存取存储器(RandomAccessMemory,简称RAM),也可以包括非易失性存储器(non-volatilememory),例如至少一个磁盘存储器。可选的,存储器1130还可以是至少一个位于远离前述处理器1110的存储装置。
上述的处理器1110可以是通用处理器,包括中央处理器(CentralProcessingUnit,简称CPU)、网络处理器(NetworkProcessor,简称NP)等;还可以是数字信号处理器(DigitalSignalProcessing,简称 DSP)、专用集成电路(ApplicationSpecificIntegratedCircuit,简称ASIC)、现场可编程门阵列(Field-ProgrammableGateArray,简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。
本公开实施例提供了一种计算机可读存储介质,所述计算机可读存储介质存储有一个或者多个程序,所述一个或者多个程序可被一个或者多个处理器执行,以实现上述任一实施例所述的清洁机器人运行控制方法。
在上述实施例中,可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时,可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时,全部或部分地产生按照本公开实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中,或者从一个计算机可读存储介质向另一个计算机可读存储介质传输,例如,计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质,(例如,软盘、硬盘、磁带)、光介质(例如,DVD)、或者半导体介质(例如固态硬盘SolidStateDisk(SSD))等。
最后应说明的是:以上实施例仅用以说明本公开的技术方案,而非对其限制;尽管参照前述实施例对本公开进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本公开各实施例技术方 案的精神和范围。
Claims (10)
- 一种清洁机器人运行控制方法,其特征在于,所述方法包括:获取所述清洁机器人所处环境的环境轮廓地图;获取所述清洁机器人所处空间内的障碍物的障碍物参数信息;根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物;根据添加所述模拟障碍物后的所述环境轮廓地图控制所述清洁机器人运行。
- 根据权利要求1所述的控制方法,其特征在于,所述获取所述清洁机器人所处环境的环境轮廓地图,包括:基于所述清洁机器人的位置信息获取对应小区的小区户型图;根据所述小区户型图确定所述清洁机器人所处空间的空间格局图;将所述空间格局图转换为所述环境轮廓地图。
- 根据权利要求2所述的控制方法,其特征在于,所述根据所述小区户型图确定所述清洁机器人所处空间的空间格局图,包括:向所述清洁机器人对应的控制终端发送所述小区户型图,并判断是否接收到所述控制终端反馈的户型确定信息;当接收到所述控制终端反馈的户型确定信息时,根据所述户型确定信息选取对应的所述小区户型图作为所述空间格局图;当未接收到所述控制终端反馈的户型确定信息时,判断所述小区户型图的数量是否大于1;若所述小区户型图的数量为1,则将所述小区户型图作为所述空间格局图;若所述小区户型图的数量大于1,则根据所述清洁机器人的位置信息联网获取房屋户型格局信息和房屋位置信息,并根据所述房屋位置信息、所述房屋户型格局信息和所述位置信息确定所述清洁机器人所 处空间的所述小区户型图,作为所述空间格局图。
- 根据权利要求1所述的控制方法,其特征在于,所述获取所述清洁机器人所处空间内的障碍物的障碍物参数信息包括:获取所述清洁机器人所处环境的环境图像;基于图像识别方法,识别得到所述环境图像中的所述障碍物与所述清洁机器人的距离信息和障碍物的物品种类;针对每个所述障碍物,根据所述清洁机器人的位置信息和所述距离信息得到所述障碍物的坐标信息和尺寸信息;针对每个所述障碍物,将所述障碍物的物品种类、所述障碍物的坐标信息和所述障碍物的尺寸信息作为所述障碍物参数。
- 根据权利要求4所述的控制方法,其特征在于,所述根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物,包括:针对每个所述障碍物,进行如下步骤:根据所述障碍物的物品种类确定膨胀系数;根据所述障碍物的尺寸信息和所述膨胀系数得到障碍物半径;根据所述障碍物的坐标信息,在所述环境轮廓地图中对应坐标添加半径为所述障碍物半径的所述模拟障碍物。
- 根据权利要求1~6中任一所述的控制方法,其特征在于,所述根据添加所述模拟障碍物后的所述环境轮廓地图控制所述清洁机器人 运行,包括:将所述环境轮廓地图进行划分得到至少两个预设尺寸的小区域;确定依次通过所有所述小区域的行进路线;按所述行进路线控制所述清洁机器人运行。
- 一种清洁机器人运行控制装置,其特征在于,所述控制装置包括:第一获取单元,被配置为获取所述清洁机器人所处环境的环境轮廓地图;第二获取单元,被配置为获取所述清洁机器人所处空间内的障碍物的障碍物参数信息;处理单元,被配置为根据每个所述障碍物的障碍物参数信息,在所述环境轮廓地图中添加相应的模拟障碍物;控制单元,被配置为根据添加所述模拟障碍物后的所述环境轮廓地图控制所述清洁机器人运行。
- 一种清洁机器人运行控制***,其特征在于,包括处理器、通信接口、存储器和通信总线,其中,所述处理器、所述通信接口以及所述存储器通过所述通信总线完成相互间的通信;所述存储器,被配置为存放计算机程序;所述处理器,被配置为执行所述存储器上所存放的程序时,实现权利要求1~7中任一所述的清洁机器人运行控制方法。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有一个或者多个程序,所述一个或者多个程序可被一个或者多个处理器执行,以实现权利要求1~7中任一所述的清洁机器人运行控制方法。
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