CN111562777A - A cleaning path planning method and device for a sweeping robot - Google Patents

Abstract

The invention discloses a cleaning path planning method, device, electronic device and computer-readable storage medium of a cleaning robot. The method includes: acquiring a map of the target area; determining one or more blocks to be cleaned according to the acquired map of the target area; planning a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned. It can be seen that in this technical solution, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used to define the cleaning path of the cleaning robot to the target area, instead of using a fixed block as the cleaning path of the cleaning robot. Cleaning, the planned path is more suitable for the target area, which improves the cleaning efficiency and enhances the user experience.

Description

A cleaning path planning method and device for a sweeping robot

technical field

The present invention relates to the field of robot technology, and in particular to a cleaning path planning method, device, electronic device and computer-readable storage medium of a sweeping robot.

Background technique

Nowadays, all kinds of robots have been used in all walks of life, and they have also entered people's daily life, such as sweeping robots, which bring great convenience to people's lives. Users usually use robot vacuum cleaners to clean designated areas, such as homes. In the prior art, the sweeping robot usually cleans in units of fixed size blocks, such as a square with a length and width of 2 meters, so no matter how large the area of the designated area is, the sweeping robot cleans one unit by one, so that The planned cleaning path results in lower cleaning efficiency.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention is proposed to provide a cleaning path planning method, apparatus, electronic device and computer-readable storage medium for a cleaning robot that overcomes the above problems or at least partially solves the above problems.

According to an aspect of the present invention, there is provided a cleaning path planning method for a cleaning robot, wherein the method includes:

Get a map of the target area;

Determine one or more blocks to be cleaned according to the acquired map of the target area;

According to the determined one or more blocks to be cleaned, the cleaning path of the cleaning robot to the target area is planned.

Optionally, the obtaining the map of the target area includes:

Receive the control command sent by the intelligent terminal to detect the target area;

According to the control instruction, the target area is detected to obtain detection information of the target area;

According to the obtained detection information, a map of the target area is determined.

Optionally, the detecting the target area to obtain the detection information of the target area includes:

The detection information of the target area is generated according to the transmitted detection signal and the received reflected signal.

Optionally, determining one or more blocks to be cleaned according to the acquired map of the target area includes:

According to the obtained map of the target area, determine one or more connected areas in the target area, and obtain the area of each connected area;

judging whether the area of each connected region is greater than a first preset threshold;

If the judgment is yes, each sub-region connected by the connected area is regarded as a block to be cleaned; if the judgment is NO, each sub-area connected by the connected area is regarded as a block to be cleaned respectively.

Optionally, determining one or more blocks to be cleaned according to the acquired map of the target area includes:

According to the obtained map of the target area, determine one or more closed openings in the target area, and obtain the length of each closed opening respectively;

judging whether the length of each closed port is greater than a second preset threshold;

If the judgment is yes, each sub-area connected by the closed port is regarded as a block to be cleaned; if the judgment is no, each sub-area connected by the closed port is regarded as a block to be cleaned respectively.

Optionally, according to the determined one or more blocks to be cleaned, planning the cleaning path of the cleaning robot to the target area includes:

According to the determined one or more blocks to be cleaned, plan the cleaning path of the cleaning robot for each block to be cleaned respectively; and determine the cleaning sequence of the area to be cleaned by the cleaning robot.

Optionally, the determining the cleaning sequence of the area to be cleaned by the cleaning robot includes:

Receive the cleaning sequence of the area to be cleaned by the cleaning robot sent by the smart terminal.

Optionally, the method further includes:

After the cleaning robot is controlled to complete the cleaning of one block to be cleaned according to the planned cleaning path, the next block to be cleaned is cleaned according to the cleaning sequence.

According to another aspect of the present invention, a cleaning path planning device for a cleaning robot is provided, wherein the device includes:

an acquisition unit, adapted to acquire a map of the target area;

a determining unit, adapted to determine one or more blocks to be cleaned according to the acquired map of the target area;

The planning unit is adapted to plan the cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.

Optionally,

The acquisition unit is adapted to receive a control instruction for detecting a target area sent by an intelligent terminal; according to the control instruction, detect the target area to obtain detection information of the target area; and determine the target area according to the acquired detection information. A map describing the target area.

Optionally,

The acquisition unit is adapted to generate the detection information of the target area according to the transmitted detection signal and the received reflected signal.

Optionally,

The determining unit is adapted to determine one or more connected areas in the target area according to the obtained map of the target area, and obtain the area of each connected area; and determine whether the area of each connected area is greater than a first preset threshold ; If it is judged as yes, then each sub-region connected by the connected region is regarded as a block to be cleaned; if it is judged as no, then each sub-region connected by the connected region is regarded as a block to be cleaned respectively.

Optionally,

The determining unit is adapted to determine one or more closed openings in the target area according to the acquired map of the target area, and obtain the length of each closed opening respectively; and determine whether the length of each closed opening is greater than a second preset Threshold; if the judgment is yes, each sub-area connected by the closed port is regarded as a block to be cleaned; if the judgment is no, each sub-area connected by the closed port is regarded as a block to be cleaned respectively.

Optionally, the planning unit is adapted to separately plan the cleaning path of the cleaning robot for each area to be cleaned according to the determined one or more blocks to be cleaned; and determine the cleaning sequence of the area to be cleaned by the cleaning robot.

Optionally, the planning unit is adapted to receive the cleaning sequence of the area to be cleaned by the cleaning robot sent by the intelligent terminal.

Optionally, the device also includes:

The control unit is adapted to control the cleaning robot to clean a block to be cleaned according to the planned cleaning path, and then to clean the next block to be cleaned according to the cleaning sequence.

According to yet another aspect of the present invention, an electronic device is provided, wherein the electronic device includes:

processor; and,

A memory arranged to store computer-executable instructions which, when executed, cause the processor to perform a method according to the foregoing.

According to yet another aspect of the present invention, there is provided a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs that, when executed by a processor, implement the foregoing Methods.

According to the technical solution of the present invention, a map of the target area is obtained; according to the obtained map of the target area, one or more blocks to be cleaned are determined; Clean the path. It can be seen that in this technical solution, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used to define the cleaning path of the cleaning robot to the target area, instead of using a fixed block as the cleaning path of the cleaning robot. Cleaning, the planned path is more suitable for the target area, which improves the cleaning efficiency and enhances the user experience.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

FIG. 1 shows a schematic flowchart of a cleaning path planning method for a cleaning robot according to an embodiment of the present invention;

FIG. 2 shows a schematic map of a target area according to an embodiment of the present invention;

3 shows a schematic structural diagram of a cleaning path planning device for a cleaning robot according to an embodiment of the present invention;

FIG. 4 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention;

FIG. 5 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.

FIG. 1 shows a schematic flowchart of a cleaning path planning method for a cleaning robot according to an embodiment of the present invention. As shown in Figure 1, the method includes:

Step S110, acquiring a map of the target area.

Step S120, according to the acquired map of the target area, determine one or more blocks to be cleaned.

Step S130: Plan a cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.

In the prior art, the sweeping robot determines a cleaning path in units of blocks of a fixed size. When the sweeping robot cleans, it repeatedly moves the fixed block size, resulting in low cleaning efficiency.

In this embodiment, the cleaning path of the cleaning robot is planned in units of the determined blocks to be cleaned, instead of using a fixed block as the cleaning path of the cleaning robot for cleaning, which improves cleaning efficiency and enhances user experience. Because the block to be cleaned is determined according to the map of the target area, the determined cleaning path is more suitable for the target area. For example, if the size of the block to be cleaned is determined to be 4*4, then the cleaning path of the sweeping robot can be determined. After cleaning around the wall, the cleaning is repeated in units of 4 meters until the cleaning of the block is completed. If the 2*2 method in the prior art is used, because the block to be cleaned includes four 2*2 cells, the sweeping robot needs to perform 4 repeated cleanings in units of 2 meters. In terms of technical solutions, the cleaning efficiency is revealed.

It can be seen that in this technical solution, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used to define the cleaning path of the cleaning robot to the target area, instead of using a fixed block as the cleaning path of the cleaning robot. Cleaning, the planned path is more suitable for the target area, which improves the cleaning efficiency and enhances the user experience.

In an embodiment of the present invention, acquiring the map of the target area in step S110 of the method shown in FIG. 1 includes: receiving a control instruction for detecting the target area sent by the intelligent terminal; detecting the target area according to the control instruction, and obtaining Detection information of the target area; according to the obtained detection information, determine the map of the target area.

In this embodiment, in order to obtain the map of the target area, the user needs to control the robot to detect in the target area through the intelligent terminal before starting to use the cleaning robot, so that the cleaning robot can determine the map of the target area according to the detection information.

Specifically, the above-mentioned detecting the target area to obtain the detection information of the target area includes: generating the detection information of the target area according to the transmitted detection signal and the received reflected signal.

A detection and induction module is set on the sweeping robot, which can send out detection signals and receive the returned reflected signals during detection, and can generate detection information of the target area, such as where there are walls, where there are obstacles, and where to travel.

In an embodiment of the present invention, in step S120 of the method shown in FIG. 1 , determining one or more blocks to be cleaned according to the acquired map of the target area includes: determining the target area according to the acquired map of the target area one or more connected areas in the connected area, and obtain the area of each connected area; determine whether the area of each connected area is greater than the first preset threshold; if it is determined to be yes, then each sub-area connected by the connected area is regarded as a to-be-cleaned block; if the judgment is negative, each sub-area connected by the connected area is regarded as a block to be cleaned.

The technical solution aims to improve the cleaning efficiency. When determining the blocks to be cleaned, it is necessary to regard the areas that are convenient for simultaneous processing as a block to be cleaned, and the areas that are not convenient for simultaneous processing as a block to be cleaned respectively. In this embodiment, it can be determined by the area of the connected area. If the area of the connected area is larger than the first preset threshold, it means that when each sub-area connected by the connected area is regarded as a block, the sweeping robot can easily pass through repeatedly and clean Efficiency will not be affected, then each sub-area connected by the connected area is regarded as a block to be cleaned; if the area of the connected area is not greater than the first preset threshold, it means that each sub-area connected by the connected area is regarded as a block. For cleaning, it is not easy for the sweeping robot to move, but it will reduce the cleaning efficiency. For example, due to the narrow passage, the action of the sweeping robot will be affected. The area is regarded as a block to be cleaned.

In an embodiment of the present invention, in step S120 of the method shown in FIG. 1 , determining one or more blocks to be cleaned according to the acquired map of the target area includes: determining the target area according to the acquired map of the target area One or more closed ports in the closed port, and obtain the length of each closed port respectively; judge whether the length of each closed port is greater than the second preset threshold; The cleaning block, if the judgment is negative, the sub-regions connected by the closed port are respectively regarded as a block to be cleaned.

In practical applications, the sub-regions in the target region are connected through a closed opening, which is the gap of the peripheral connection line in each sub-region. For example, if a sub-area is a room, which is connected to another room through a door, the room is surrounded by four walls, and one or more walls are provided with a door, then the door is a closed opening, and the length of the closed opening is the width of the door.

In this embodiment, it is determined by setting a second preset threshold whether each sub-area connected by the closed port is used as a to-be-cleaned area or as a to-be-cleaned area respectively. For example, the second preset threshold is set to 1.2 meters. If the length of the closed opening connecting sub-area 1 and sub-area 2 is greater than 1.2 meters, if it is greater than 1.2 meters, then sub-area 1 and sub-area 2 are regarded as block 1 to be cleaned, that is, a block to be cleaned; 1.2 meters, then sub-area 1 is used as block 1 to be cleaned, and sub-area 2 is used as block 2 to be cleaned, that is, as two blocks to be cleaned.

FIG. 2 shows a schematic map of a target area according to an embodiment of the present invention. Combined with the solutions for determining the block to be cleaned in the above two embodiments, the target area shown in FIG. 2 can be divided into blocks. As shown in FIG. 2 , the connected area of the target area is determined according to the map, including a connected area 1, a closed port 2 and a closed port 3; first, the area of the connected area 1 is obtained, and it is determined that the area of the connected area 1 is greater than the first preset threshold , the sub-region 1 and sub-region 2 connected by the connected region 1 are regarded as a block to be cleaned. Then obtain the length of the closed mouth 2 and the length of the closed mouth 3 respectively, and judge whether the length of the closed mouth 2 and the length of the closed mouth 3 are greater than the second preset threshold value; Less than the second preset threshold, then, the sub-region three connected by the closed port 2 is regarded as a block to be cleaned, and the sub-region four connected by the closed port 2 is used as a block to be cleaned; the sub-region one connected by the closed port 3 As a block to be cleaned, the sub-region 3 connected to the closed port 3 is used as a block to be cleaned. Then, for the target area, the determined blocks to be cleaned are block 1 (sub-area 1 and sub-area 2), block 2 (sub-area 3), and block 3 (sub-area 4).

In an embodiment of the present invention, in step S130 of the method shown in FIG. 1 , according to the determined one or more blocks to be cleaned, planning the cleaning path of the cleaning robot to the target area includes: according to the determined one or more For the blocks to be cleaned, plan the cleaning paths of the cleaning robots for the blocks to be cleaned respectively; and determine the cleaning sequence of the areas to be cleaned by the cleaning robots.

In this embodiment, since it is determined that the block to be cleaned can be cleaned as a unit, when the cleaning path of each block to be cleaned is determined, the block to be cleaned can be planned as a whole. For example, for an area to be cleaned For the block, first sweep along the boundary for a circle, take the length or width of the block as the distance of one movement in one direction, and perform a round-trip cleaning until the cleaning of the block is completed. As shown in Figure 2 for sub-area 4 (block 3), the planned path is: first sweep along the wall for a circle, and then perform back-and-forth cleaning from top to bottom until the sub-area 4 is cleaned.

Because it is determined that the number of blocks to be cleaned can be multiple, when planning the cleaning path, it is also necessary to determine the cleaning sequence of the blocks to be cleaned. As shown in Figure 2, the cleaning sequence can be block 3 (sub-area 4) -> block 2 (sub-area 3) -> block 1 (sub-area 1 and sub-area 2), so that the cleaning path of each block to be cleaned and the cleaning sequence of the cleaning block are used as the cleaning path of the entire target area, That is, the planning of the cleaning path of the entire target area is completed.

Specifically, the above-mentioned determining the cleaning sequence of the area to be cleaned by the cleaning robot includes: receiving the cleaning sequence of the area to be cleaned by the cleaning robot sent by the intelligent terminal.

In this embodiment, after the block to be cleaned is determined, the user can set the cleaning sequence of the block to be cleaned according to needs. Specifically, the user can input the cleaning sequence in the smart terminal, so that the smart terminal outputs the cleaning sequence input by the user to the cleaning path planning device of the cleaning robot.

In an embodiment of the present invention, the method shown in FIG. 1 further includes: after controlling the sweeping robot to complete the cleaning of one block to be cleaned according to the planned cleaning path, clean the next block to be cleaned according to the cleaning sequence.

After completing the cleaning path planning of the sweeping robot, the sweeping robot can be controlled to perform cleaning work according to the planned cleaning path. For example, as shown in Figure 2, the cleaning sequence can be block 3 (sub-area 4) -> block 2 (sub-area 3) -> block 1 (sub-area 1 and sub-area 2), thus completing the entire target area planning of cleaning paths. According to the cleaning path of block 3, first sweep along the wall for a circle, then perform round-trip cleaning from top to bottom, control the sweeping robot to complete the cleaning of block 3, and complete the cleaning of block 2 according to the cleaning sequence of block 2 according to the cleaning path of block 2 , and then complete the cleaning of block 1 according to the cleaning path of block 1.

FIG. 3 shows a schematic structural diagram of a cleaning path planning device for a cleaning robot according to an embodiment of the present invention. As shown in FIG. 3 , the cleaning path planning device 300 of the cleaning robot includes:

The obtaining unit 310 is adapted to obtain a map of the target area.

The determining unit 320 is adapted to determine one or more blocks to be cleaned according to the acquired map of the target area.

The planning unit 330 is adapted to plan the cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.

In the prior art, the sweeping robot determines a cleaning path in units of blocks of a fixed size. When the sweeping robot cleans, it repeatedly moves the fixed block size, resulting in low cleaning efficiency.

In this embodiment, the cleaning path of the cleaning robot is planned in units of the determined blocks to be cleaned, instead of using a fixed block as the cleaning path of the cleaning robot for cleaning, which improves cleaning efficiency and enhances user experience. Because the block to be cleaned is determined according to the map of the target area, the determined cleaning path is more suitable for the target area. For example, if the size of the block to be cleaned is determined to be 4*4, then the cleaning path of the sweeping robot can be determined. After cleaning around the wall, the cleaning is repeated in units of 4 meters until the cleaning of the block is completed. If the 2*2 method in the prior art is used, because the block to be cleaned includes four 2*2 cells, the sweeping robot needs to perform 4 repeated cleanings in units of 2 meters. In terms of technical solutions, the cleaning efficiency is revealed.

It can be seen that in this technical solution, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used to define the cleaning path of the cleaning robot to the target area, instead of using a fixed block as the cleaning path of the cleaning robot. Cleaning, the planned path is more suitable for the target area, which improves the cleaning efficiency and enhances the user experience.

In an embodiment of the present invention, the acquiring unit 310 shown in FIG. 3 is adapted to receive a control instruction for detecting the target area sent by the intelligent terminal; according to the control instruction, the target area is detected to obtain the detection information of the target area; The obtained detection information determines a map of the target area.

In this embodiment, in order to obtain the map of the target area, the user needs to control the robot to detect in the target area through the intelligent terminal before starting to use the cleaning robot, so that the cleaning robot can determine the map of the target area according to the detection information.

Specifically, the above-mentioned obtaining unit 310 is adapted to generate the detection information of the target area according to the transmitted detection signal and the received reflected signal.

A detection and induction module is set on the sweeping robot, which can send out detection signals and receive the returned reflected signals during detection, and can generate detection information of the target area, such as where there are walls, where there are obstacles, and where to travel.

In an embodiment of the present invention, the determining unit 320 shown in FIG. 3 is adapted to determine one or more connected areas in the target area according to the obtained map of the target area, and obtain the area of each connected area; Whether the area of the connected region is greater than the first preset threshold; if it is determined to be yes, then each sub-region connected by the connected region is regarded as a block to be cleaned; if it is determined to be no, then each sub-region connected to the connected region is as a block to be cleaned.

The technical solution aims to improve the cleaning efficiency. When determining the blocks to be cleaned, it is necessary to regard the areas that are convenient for simultaneous processing as a block to be cleaned, and the areas that are not convenient for simultaneous processing as a block to be cleaned respectively. In this embodiment, it can be determined by the area of the connected area. If the area of the connected area is larger than the first preset threshold, it means that when each sub-area connected by the connected area is regarded as a block, the sweeping robot can easily pass through repeatedly and clean Efficiency will not be affected, then each sub-area connected by the connected area is regarded as a block to be cleaned; if the area of the connected area is not greater than the first preset threshold, it means that each sub-area connected by the connected area is regarded as a block. For cleaning, it is not easy for the sweeping robot to move, but it will reduce the cleaning efficiency. For example, due to the narrow passage, the action of the sweeping robot will be affected. The area is regarded as a block to be cleaned.

In an embodiment of the present invention, the determining unit 320 shown in FIG. 3 is adapted to determine one or more closed openings in the target area according to the acquired map of the target area, and obtain the length of each closed opening respectively ; Judge whether the length of each closed mouth is greater than the second preset threshold; If judged to be yes, then each sub-area connected by this closed mouth is used as a block to be cleaned, if judged as no, then each of the closed mouths connected The sub-areas are respectively regarded as a block to be cleaned.

In practical applications, the sub-regions in the target region are connected through a closed opening, which is the gap of the peripheral connection line in each sub-region. For example, if a sub-area is a room, which is connected to another room through a door, the room is surrounded by four walls, and one or more walls are provided with a door, then the door is a closed opening, and the length of the closed opening is the width of the door.

In this embodiment, it is determined by setting a second preset threshold whether each sub-area connected by the closed port is used as a to-be-cleaned area or as a to-be-cleaned area respectively. For example, the second preset threshold is set to 1.2 meters. If the length of the closed opening connecting sub-area 1 and sub-area 2 is greater than 1.2 meters, if it is greater than 1.2 meters, then sub-area 1 and sub-area 2 are regarded as block 1 to be cleaned, that is, a block to be cleaned; 1.2 meters, then sub-area 1 is used as block 1 to be cleaned, and sub-area 2 is used as block 2 to be cleaned, that is, as two blocks to be cleaned.

FIG. 2 shows a schematic map of a target area according to an embodiment of the present invention. Combined with the solutions for determining the block to be cleaned in the above two embodiments, the target area shown in FIG. 2 can be divided into blocks. As shown in FIG. 2 , the connected area of the target area is determined according to the map, including a connected area 1, a closed port 2 and a closed port 3; first, the area of the connected area 1 is obtained, and it is determined that the area of the connected area 1 is greater than the first preset threshold , the sub-region 1 and sub-region 2 connected by the connected region 1 are regarded as a block to be cleaned. Then obtain the length of the closed mouth 2 and the length of the closed mouth 3 respectively, and judge whether the length of the closed mouth 2 and the length of the closed mouth 3 are greater than the second preset threshold value; Less than the second preset threshold, then, the sub-region three connected by the closed port 2 is regarded as a block to be cleaned, and the sub-region four connected by the closed port 2 is used as a block to be cleaned; the sub-region one connected by the closed port 3 As a block to be cleaned, the sub-region 3 connected to the closed port 3 is used as a block to be cleaned. Then, for the target area, the determined blocks to be cleaned are block 1 (sub-area 1 and sub-area 2), block 2 (sub-area 3), and block 3 (sub-area 4).

In an embodiment of the present invention, the planning unit 330 shown in FIG. 3 is adapted to plan the cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; The cleaning sequence of the area to be cleaned by the robot.

In this embodiment, since it is determined that the block to be cleaned can be cleaned as a unit, when the cleaning path of each block to be cleaned is determined, the block to be cleaned can be planned as a whole. For example, for an area to be cleaned For the block, first sweep along the boundary for a circle, take the length or width of the block as the distance of one movement in one direction, and perform a round-trip cleaning until the cleaning of the block is completed. As shown in Figure 2 for sub-area 4 (block 3), the planned path is: first sweep along the wall for a circle, and then perform back-and-forth cleaning from top to bottom until the sub-area 4 is cleaned.

Because it is determined that the number of blocks to be cleaned can be multiple, when planning the cleaning path, it is also necessary to determine the cleaning sequence of the blocks to be cleaned. As shown in Figure 2, the cleaning sequence can be block 3 (sub-area 4) -> block 2 (sub-area 3) -> block 1 (sub-area 1 and sub-area 2), thus completing the planning of the cleaning path of the entire target area.

Specifically, the above-mentioned planning unit 330 is adapted to receive the cleaning sequence of the area to be cleaned by the cleaning robot sent by the intelligent terminal.

In this embodiment, after the block to be cleaned is determined, the user can set the cleaning sequence of the block to be cleaned according to needs. Specifically, the user can input the cleaning sequence in the smart terminal, so that the smart terminal outputs the cleaning sequence input by the user to the cleaning path planning device of the cleaning robot.

In an embodiment of the present invention, the device shown in FIG. 3 further includes:

The control unit is adapted to control the cleaning robot to clean a block to be cleaned according to the planned cleaning path, and then to clean the next block to be cleaned according to the cleaning sequence.

After completing the cleaning path planning of the sweeping robot, the sweeping robot can be controlled to perform cleaning work according to the planned cleaning path. For example, as shown in Figure 2, the cleaning sequence can be block 3 (sub-area four) -> block 2 (sub-area three) -> block 1 (sub-area one and sub-area two), thus completing the entire goal Planning of cleaning paths in the area. According to the cleaning path of block 3, first sweep along the wall for a circle, then perform round-trip cleaning from top to bottom, control the sweeping robot to complete the cleaning of block 3, and complete the cleaning of block 2 according to the cleaning sequence of block 2 according to the cleaning path of block 2 , and then complete the cleaning of block 1 according to the cleaning path of block 1.

To sum up, according to the technical solution of the present invention, a map of the target area is obtained; according to the obtained map of the target area, one or more blocks to be cleaned are determined; according to the determined one or more blocks to be cleaned, floor sweeping is planned The cleaning path of the robot to the target area. It can be seen that in this technical solution, the block to be cleaned is determined according to the map of the target area, and then the determined block to be cleaned is used to define the cleaning path of the cleaning robot to the target area, instead of using a fixed block as the cleaning path of the cleaning robot. Cleaning, the planned path is more suitable for the target area, which improves the cleaning efficiency and enhances the user experience.

It should be noted:

The algorithms and displays provided herein are not inherently related to any particular computer, virtual appliance, or other device. Various general-purpose devices can also be used with the teachings based on this. The structure required to construct such a device is apparent from the above description. Furthermore, the present invention is not directed to any particular programming language. It is to be understood that various programming languages may be used to implement the inventions described herein, and that the descriptions of specific languages above are intended to disclose the best mode for carrying out the invention.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or its description. This disclosure, however, should not be construed as reflecting an intention that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the invention within and form different embodiments. For example, in the following claims, any of the claimed embodiments may be implemented in any combination.

Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that, in practice, a microprocessor or a digital signal processor (DSP) may implement some of the cleaning path planning apparatus, electronic device, and computer-readable storage medium of the cleaning robot according to the embodiment of the present invention Or some or all of the functionality of all components. The present invention can also be implemented as apparatus or apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

For example, FIG. 4 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 400 conventionally includes a processor 410 and a memory 420 arranged to store computer-executable instructions (program code). The memory 420 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. Memory 420 has storage space 430 for storing program code 440 for performing any of the method steps shown in FIG. 1 and in various embodiments. For example, storage space 430 for program code may include various program codes 440 for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such a computer program product is typically, for example, computer readable storage medium 500 as depicted in FIG. 5 . The computer-readable storage medium 500 may have storage segments, storage spaces, etc. arranged similarly to the memory 420 in the electronic device of FIG. 4 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit stores program code 510 for carrying out the method steps according to the invention, ie program code readable by a processor such as 410, which, when run by an electronic device, causes the electronic device to execute the various steps in the method described above.

It should be noted that the above-described embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

The present invention discloses A1, a cleaning path planning method for a sweeping robot, wherein the method includes:

Get a map of the target area;

Determine one or more blocks to be cleaned according to the acquired map of the target area;

According to the determined one or more blocks to be cleaned, the cleaning path of the cleaning robot to the target area is planned.

A2. The method of A1, wherein the obtaining the map of the target area includes:

Receive the control command sent by the intelligent terminal to detect the target area;

According to the control instruction, the target area is detected to obtain detection information of the target area;

According to the obtained detection information, a map of the target area is determined.

A3. The method according to A2, wherein the detecting the target area to obtain the detection information of the target area includes:

The detection information of the target area is generated according to the transmitted detection signal and the received reflected signal.

A4. The method according to A1, wherein determining one or more blocks to be cleaned according to the acquired map of the target area includes:

According to the obtained map of the target area, determine one or more connected areas in the target area, and obtain the area of each connected area;

judging whether the area of each connected region is greater than a first preset threshold;

If the judgment is yes, each sub-region connected by the connected area is regarded as a block to be cleaned; if the judgment is NO, each sub-area connected by the connected area is regarded as a block to be cleaned respectively.

A5. The method according to A1, wherein determining one or more blocks to be cleaned according to the acquired map of the target area includes:

According to the obtained map of the target area, determine one or more closed openings in the target area, and obtain the length of each closed opening respectively;

judging whether the length of each closed port is greater than a second preset threshold;

If the judgment is yes, each sub-area connected by the closed port is regarded as a block to be cleaned; if the judgment is no, each sub-area connected by the closed port is regarded as a block to be cleaned respectively.

A6. The method according to A1, wherein, according to the determined one or more blocks to be cleaned, planning the cleaning path of the cleaning robot to the target area includes:

According to the determined one or more blocks to be cleaned, plan the cleaning path of the cleaning robot for each block to be cleaned respectively; and determine the cleaning sequence of the area to be cleaned by the cleaning robot.

A7. The method according to A6, wherein the determining the cleaning sequence of the area to be cleaned by the cleaning robot includes:

Receive the cleaning sequence of the area to be cleaned by the cleaning robot sent by the smart terminal.

A8. The method of A6, wherein the method further comprises:

After the cleaning robot is controlled to complete the cleaning of one block to be cleaned according to the planned cleaning path, the next block to be cleaned is cleaned according to the cleaning sequence.

The present invention discloses B9, a cleaning path planning device for a sweeping robot, wherein the device includes:

an acquisition unit, adapted to acquire a map of the target area;

a determining unit, adapted to determine one or more blocks to be cleaned according to the acquired map of the target area;

The planning unit is adapted to plan the cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned.

B10. The device of B9, wherein,

The acquisition unit is adapted to receive a control instruction for detecting a target area sent by an intelligent terminal; according to the control instruction, detect the target area to obtain detection information of the target area; and determine the target area according to the acquired detection information. A map describing the target area.

B11. The device of B10, wherein,

The acquisition unit is adapted to generate the detection information of the target area according to the transmitted detection signal and the received reflected signal.

B12. The device of B9, wherein,

The determining unit is adapted to determine one or more connected areas in the target area according to the obtained map of the target area, and obtain the area of each connected area; and determine whether the area of each connected area is greater than a first preset threshold ; If it is judged as yes, then each sub-region connected by the connected region is regarded as a block to be cleaned; if it is judged as no, then each sub-region connected by the connected region is regarded as a block to be cleaned respectively.

B13. The device of B9, wherein,

The determining unit is adapted to determine one or more closed openings in the target area according to the acquired map of the target area, and obtain the length of each closed opening respectively; and determine whether the length of each closed opening is greater than a second preset Threshold; if the judgment is yes, each sub-area connected by the closed port is regarded as a block to be cleaned; if the judgment is no, each sub-area connected by the closed port is regarded as a block to be cleaned respectively.

B14. The device according to B9, wherein the planning unit is adapted to plan the cleaning path of the cleaning robot for each block to be cleaned according to the determined one or more blocks to be cleaned; The cleaning sequence of the cleaning area.

B15. The device according to B14, wherein the planning unit is adapted to receive the cleaning sequence of the area to be cleaned by the cleaning robot sent by the intelligent terminal.

B16. The device according to B14, wherein the device further comprises:

The control unit is adapted to control the cleaning robot to clean a block to be cleaned according to the planned cleaning path, and then to clean the next block to be cleaned according to the cleaning sequence.

The present invention also discloses C17, an electronic device, wherein the electronic device includes:

processor; and,

A memory arranged to store computer-executable instructions which, when executed, cause the processor to perform a method according to any of A1-A8.

The present invention also discloses D18, a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and the one or more programs, when executed by the processor, implement the steps in A1 to A8. The method of any one.

Claims (10)

1. A cleaning path planning method for a sweeping robot, wherein the method comprises: Get a map of the target area; Determine one or more blocks to be cleaned according to the acquired map of the target area; According to the determined one or more blocks to be cleaned, the cleaning path of the cleaning robot to the target area is planned. 2. The method of claim 1, wherein the obtaining a map of the target area comprises: Receive the control command sent by the intelligent terminal to detect the target area; According to the control instruction, the target area is detected to obtain detection information of the target area; According to the obtained detection information, a map of the target area is determined. 3. The method of claim 2, wherein the detecting the target area to obtain the detection information of the target area comprises: The detection information of the target area is generated according to the transmitted detection signal and the received reflected signal. 4. The method according to claim 1, wherein, according to the obtained map of the target area, determining one or more blocks to be cleaned comprises: According to the obtained map of the target area, determine one or more connected areas in the target area, and obtain the area of each connected area; judging whether the area of each connected region is greater than a first preset threshold; If the judgment is yes, each sub-region connected by the connected area is regarded as a block to be cleaned; if the judgment is NO, each sub-area connected by the connected area is regarded as a block to be cleaned respectively. 5. The method according to claim 1, wherein, according to the obtained map of the target area, determining one or more blocks to be cleaned comprises: According to the obtained map of the target area, determine one or more closed openings in the target area, and obtain the length of each closed opening respectively; judging whether the length of each closed port is greater than a second preset threshold; If the judgment is yes, each sub-area connected by the closed port is regarded as a block to be cleaned; if the judgment is no, each sub-area connected by the closed port is regarded as a block to be cleaned respectively. 6. The method according to claim 1, wherein, according to the determined one or more blocks to be cleaned, planning the cleaning path of the cleaning robot to the target area comprises: According to the determined one or more blocks to be cleaned, plan the cleaning path of the cleaning robot for each block to be cleaned respectively; and determine the cleaning sequence of the area to be cleaned by the cleaning robot. 7. The method of claim 6, wherein the determining the cleaning sequence of the area to be cleaned by the cleaning robot comprises: Receive the cleaning sequence of the area to be cleaned by the cleaning robot sent by the smart terminal. 8. A cleaning path planning device for a cleaning robot, wherein the device comprises: an acquisition unit, adapted to acquire a map of the target area; a determining unit, adapted to determine one or more blocks to be cleaned according to the acquired map of the target area; The planning unit is adapted to plan the cleaning path of the cleaning robot to the target area according to the determined one or more blocks to be cleaned. 9. An electronic device, wherein the electronic device comprises: processor; and, a memory arranged to store computer-executable instructions which, when executed, cause the processor to perform a method according to any of claims 1-7. 10. A computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs that, when executed by a processor, implement any one of claims 1 to 7 the method described.

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