Cleaning robot control method, equipment and program product

Abstract

The invention discloses a control method and equipment of a cleaning robot and a program product, and relates to the technical field of intelligent cleaning robots. According to the control method of the cleaning robot, an inspection path is determined based on setting information received by input equipment, then an inspection task is executed based on the inspection path, if a dirty area is detected in the execution process of the inspection task, the inspection task is interrupted, a cleaning task is started based on position information of the dirty area, and when execution of the cleaning task is finished, the cleaning robot is started. And recovering the inspection task. According to the method, automatic inspection can be carried out in the large commercial scene, the cleaning task is executed in a targeted mode on the dirty area according to the inspection result, a large amount of time is not needed to clean the whole space, the cleaning time of the large commercial scene is shortened, and therefore the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent cleaning robots, and in particular to a control method, device and program product of a cleaning robot. Background Art

[0002] Traditional household cleaning robots rely on pre-drawn or imported home environment maps for global cleaning. This method is suitable for home environments with relatively fixed spatial structures and small spatial ranges. However, in large commercial scenarios with large areas such as parking lots and shopping malls, if the preset map is used for global cleaning, the cleaning time will be too long, and the long cleaning work will cause the battery life of the robot to decrease, and the working efficiency of the cleaning robot will be reduced.

[0003] Currently, cleaning robots in large commercial scenarios usually require manual inspection to determine the dirty areas, and then manually control the robots to go to the corresponding areas for cleaning. This method of relying on manual inspections consumes a lot of time and cost, and cannot meet the cleaning efficiency requirements of large commercial environments.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a control method, device and program product for a cleaning robot, aiming to solve the technical problem that traditional sweeping robots take too long to clean in large-scale commercial scenarios.

[0006] To achieve the above objectives, the present application proposes a control method for a cleaning robot, which is applied to the cleaning robot. The method comprises: Determine an inspection path based on the setting information received by the input device; Execute inspection tasks based on the inspection path; If a dirty area is detected during the execution of the inspection task, interrupt the inspection task and start a cleaning task based on the location information of the dirty area; When the cleaning task is finished, the inspection task is resumed.

[0007] In one embodiment, the step of determining the inspection path based on the setting information received by the input device includes: Based on the setting information, an area map corresponding to the inspection area is obtained, and an inspection path is constructed according to the inspection field of view of the cleaning robot and the area map; Alternatively, the inspection path is determined based on the setting information.

[0008] In one embodiment, the step of constructing an inspection path according to the inspection field of view of the cleaning robot and the area map includes: According to the inspection field of view, the inspection area is divided into a plurality of grids in the area map; Determine the center coordinates of the center point of the grid; The inspection path is generated based on the center coordinates and the area map, wherein the robot sequentially traverses the center point or alternative points of the center point when moving based on the inspection path.

[0009] In one embodiment, the step of constructing an inspection path according to the inspection field of view of the cleaning robot and the area map includes: Based on the area map, determining a passable area within the inspection area; Constructing an initial inspection route according to the boundary contour of the passable area and the field of view radius of the inspection field of view; The initial inspection route is used as the inspection path; or based on the received inspection route optimization operation, the inspection route is corrected and the corrected inspection route is used as the inspection path.

[0010] In one embodiment, the step of starting the cleaning task based on the location information of the dirty area includes: Determining a cleaning path based on the position information of the dirty area; The cleaning task is performed based on the cleaning path.

[0011] In one embodiment, when the cleaning task is finished, the step of resuming the inspection task includes: If the cleaning times have reached the target cleaning times, it is determined that the cleaning task is finished; Return to the inspection path from the dirty area to resume the inspection task.

[0012] In one embodiment, the step of determining the cleaning path based on the position information of the dirty area includes: Determining a boundary of the dirty area based on the position information of the dirty area; Dividing the boundary of the dirty area based on a preset interval distance to obtain a turning point of the cleaning path; Based on the turning point, the cleaning path is determined.

[0013] In one embodiment, before the step of performing the inspection task based on the inspection path, the method further includes: Based on the setting information, obtaining the current position information of the cleaning robot and the position information of the inspection area; Based on the current position information and the position information of the inspection area, determining the shortest path from the current position to the inspection area; Based on the shortest path, travel from the current location to the inspection area.

[0014] In addition, to achieve the above-mentioned objectives, the present application also proposes a control device for a cleaning robot, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the cleaning robot as described above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the control method of the cleaning robot as described above.

[0016] The present application proposes a control method for a cleaning robot, which determines the inspection path based on the setting information received by the input device, and then performs the inspection task based on the inspection path. If a dirty area is detected during the execution of the inspection task, the inspection task is interrupted, and the cleaning task is started based on the location information of the dirty area. When the cleaning task is completed, the inspection task is resumed. The above method can automatically perform inspections in large commercial scenarios, and perform cleaning tasks on dirty areas in a targeted manner based on the inspection results, without spending a lot of time cleaning the entire space, shortening the cleaning time of large commercial scenarios and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the control method of the cleaning robot of the present application; Figure 2 A flowchart diagram of the third embodiment of the control method of the cleaning robot of the present application; Figure 3 A flowchart diagram of a fourth embodiment of the control method of the cleaning robot of the present application; Figure 4A flowchart diagram of a fifth embodiment of the control method of the cleaning robot of the present application is provided; Figure 5 A flowchart diagram of a sixth embodiment of the control method of the cleaning robot of the present application; Figure 6 A flow chart of the seventh embodiment of the control method of the cleaning robot of the present application; Figure 7 A schematic diagram of a method flow chart provided for Embodiment 8 of the control method for a cleaning robot of the present application; Figure 8 A brief flowchart of a control method for a cleaning robot in an embodiment of the present application; Fig. 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the control method of the cleaning robot in the embodiment of the present application.

[0020] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Traditional household cleaning robots rely on pre-drawn or imported home environment maps for global cleaning. This method is suitable for home environments with relatively fixed spatial structures and small spatial ranges. However, in large commercial scenarios with large areas such as parking lots and shopping malls, if the preset map is used for global cleaning, the cleaning time will be too long, and the long cleaning work will cause the robot's battery life to decrease, and the cleaning robot's work efficiency will be reduced. At present, cleaning robots in large commercial scenarios usually require manual inspections to determine the dirty areas, and then the robots are manually controlled to go to the corresponding areas for cleaning. This method that relies on manual inspections requires a lot of time and cost, and cannot meet the cleaning efficiency requirements of large commercial environments.

[0024] In view of the above problems, the present application proposes a control method for a cleaning robot, which determines the inspection path based on the setting information received by the input device, and then performs the inspection task based on the inspection path. If a dirty area is detected during the execution of the inspection task, the inspection task is interrupted, and the cleaning task is started based on the location information of the dirty area. When the cleaning task is completed, the inspection task is resumed. The above method can automatically perform inspections in large commercial scenarios, and perform cleaning tasks on dirty areas in a targeted manner based on the inspection results, without spending a lot of time cleaning the entire space, shortening the cleaning time of large commercial scenarios and improving cleaning efficiency.

[0025] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a cleaning robot, etc., or an electronic device capable of realizing the above functions, etc. The control system of the cleaning robot is taken as an example to illustrate this embodiment and the following embodiments.

[0026] Based on this, the first embodiment proposed in this application provides a control method for a cleaning robot, which is applied to the cleaning robot. Figure 1 In this embodiment, the control method of the cleaning robot includes steps S10 to S40: Step S10: determining an inspection path based on the setting information received by the input device.

[0027] It should be noted that the input device is a device for receiving user input information, such as a touch screen, remote control, mobile phone application, etc. The setting information is the information input by the user through the input device, including the shape, size, obstacle location, priority area, etc. of the cleaning area. The inspection path is the action route planned by the cleaning robot according to the setting information before performing the cleaning task.

[0028] For example, the cleaning robot first receives the cleaning area information set by the user through a built-in or external input device. This information is processed by an algorithm, such as a path planning algorithm such as Dijkstra, A*, etc., to generate one or more inspection paths. These paths are designed to cover the entire cleaning area while avoiding known obstacles.

[0029] Optionally, when the inspection area is complex, the user can directly draw the cleaning area and obstacles on the touch screen, and the cleaning robot will generate a path based on this information. When the inspection area is an unknown new environment, the cleaning robot can automatically generate a map and path by scanning the environment through sensors such as lidar and cameras when it runs for the first time. When the inspection area is a fixed standardized environment such as a large workshop, several common path layouts such as rectangles and circles are preset through the input device for users to choose, and the robot automatically generates a path based on the selection.

[0030] Step S20: performing an inspection task based on the inspection path.

[0031] Once the inspection paths are determined, the cleaning robot moves along these paths to monitor the environment, including checking whether the ground is clean and whether there are new obstacles.

[0032] Optionally, if the inspection area is an environment that needs to be continuously monitored, the cleaning robot can be set to perform inspection tasks at preset time intervals to ensure that the environment remains clean. Or the cleaning robot can be set to start the inspection task when a specific event occurs, such as detecting abnormal sounds or light changes, to improve the response speed of the cleaning robot. For example, in a large shopping mall, the inspection can be started by detecting abnormal sounds to confirm whether an abnormal event has occurred, such as a trash can overturned or food and drinks in the hands of consumers overturned, causing the ground to be dirty and need to be cleaned.

[0033] Step S30: If a dirty area is detected during the execution of the inspection task, the inspection task is interrupted, and a cleaning task is started based on the location information of the dirty area.

[0034] It should be noted that the dirty area refers to the area on the ground surface of a large commercial scene where stains, dust, etc. need to be cleaned. The position information refers to the coordinates of the dirty area on the map or the position relative to the robot.

[0035] Optionally, the robot detects dirty areas on the ground through sensors such as cameras and infrared sensors. Once a dirty area is detected in the inspection area, the robot interrupts the current inspection task and adjusts its movement path according to the location information of the dirty area to perform the cleaning task.

[0036] For example, when the cleaning robot performs an inspection task, its sensors such as cameras, infrared sensors, laser radars, etc. will continuously monitor the surrounding environment. When the sensor detects a dirty area on the ground or the surface of an object, a dirt detection signal is immediately triggered. Once the dirt detection signal is received, the control system of the cleaning robot will immediately interrupt the current inspection task. The interruption operation includes stopping the current movement, shutting down the inspection-related sensors or functional modules, etc. After that, the cleaning robot determines the specific location information of the dirty area through the built-in positioning system such as GPS (Global Positioning System), SLAM (Simultaneous Localization and Mapping), etc. or in combination with sensor data. The location information includes the coordinates of the dirty area, the distance and direction relative to the robot, etc. According to the location information of the dirty area, the cleaning robot will call the path planning algorithm to generate an optimal path from the current position to the dirty area. Then, the cleaning robot adjusts its moving direction and speed according to the planned path and moves to the dirty area. After arriving at the dirty area, the cleaning robot will start the cleaning function module such as a vacuum cleaner, a brush, a wet mop, etc. to clean the dirty area. During the cleaning process, the cleaning robot can adjust the cleaning force and mode according to the degree of dirt and cleaning effect. After the cleaning task is completed, the cleaning robot will return to the previously interrupted inspection path and continue to perform the remaining inspection tasks.

[0037] Optionally, the cleaning robot can be equipped with a user interaction interface such as a touch screen, mobile phone application, etc., so that the user can monitor the robot's status and task execution in real time. The user can manually interrupt the inspection task, adjust the cleaning mode or path, etc. through the interactive interface.

[0038] Step S40, when the cleaning task is finished, resuming the inspection task.

[0039] After completing the cleaning task, the robot returns to the previously interrupted inspection path and continues to perform the remaining inspection tasks. This ensures continuous monitoring of the entire cleaning area.

[0040] For example, after the cleaning robot completes the cleaning task of the dirty area, it can confirm whether the cleaning is completely completed through the built-in sensor or detection mechanism to ensure that the cleaning robot will not return to the inspection path without completing the cleaning task, resulting in poor cleaning effect. After confirming that the cleaning is completely completed, the cleaning robot will perform a series of state reset operations, such as shutting down the cleaning function module, adjusting the movement speed, etc., to prepare for returning to the inspection path. At the same time, the cleaning robot will check its own status, such as power, sensor status, etc., to ensure that it can continue to perform the inspection task safely and stably.

[0041] When the inspection task is interrupted, the cleaning robot will save the progress of the current inspection path and the location information of the interruption point. When returning to the inspection path, the cleaning robot will determine the starting point or interruption point of the return inspection path based on the saved path information and positioning data, and generate an optimal path from the current position to the interruption point based on the current position and the location information of the interruption point. The navigation module in the control system of the cleaning robot can guide the cleaning robot to move along this path, ensuring that the cleaning robot can return to the inspection path accurately and efficiently. After reaching the interruption point, the cleaning robot will restart the inspection task and continue to monitor and detect along the previously unfinished path.

[0042] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. On this basis, step S10 includes step S11: Step S11, based on the setting information, obtaining a regional map corresponding to the inspection area, and constructing an inspection path according to the inspection field of view of the cleaning robot and the regional map.

[0043] It should be noted that the setting information may also include relevant information of the inspection area set by the user or the control system of the cleaning robot for the cleaning robot, such as the boundaries of the inspection area, obstacle locations, special area markings, etc. The area map is a digital representation of the inspection area, which usually includes geographic location information, obstacle distribution, passable areas, etc.

[0044] Optionally, the user inputs setting information such as boundary coordinates and obstacle locations of the inspection area through a user interface such as a touch screen or a mobile phone application, and the control system of the cleaning robot generates an area map of the inspection area based on the setting information and possible external data sources such as a GPS map, a building plan, etc. The area map can be two-dimensional such as a grid map, a vector map, or three-dimensional such as a point cloud map, a three-dimensional model, depending on the application requirements of the robot.

[0045] Exemplarily, the control system of the cleaning robot automatically interpolates and generates a complete area map based on key points input by the user, such as corners, doorways, etc., or the user imports an existing building floor plan or GPS map, and the control system of the cleaning robot adds or modifies setting information on this basis.

[0046] To better understand the solution provided in this example, this example is further explained in combination with specific application scenarios.

[0047] Suppose a large shopping mall needs to deploy cleaning robots for daily inspection and cleaning. The shopping mall already has a detailed floor plan, which contains key information such as floor layout, store location, corridors, stairs, elevators, etc. The shopping mall manager finds the "Import Map" function through the user interface of the cleaning robot, such as the touch screen, or the dedicated management software, selects the floor plan file to be imported, which can be in PDF, JPG, PNG or CAD format, and uploads it to the system. The system automatically recognizes and parses the map file, converting it into a format that the robot can recognize, such as a vector map or a grid map. Based on the imported floor plan, the manager uses the tools on the user interface, such as the brush, text box, polygon selection, etc. to add or modify the setting information. For example, the manager can mark inaccessible areas such as the interior of the store and the elevator, which will be regarded as obstacles by the robot and avoid entering. At the same time, the manager can also set the robot's inspection starting point, end point, special attention areas such as corridors with high traffic and staircases, as well as the priority and frequency of the inspection. If there is an error in the floor plan or it needs to be updated, such as a change in the store location or the addition of new facilities, the manager can modify it directly on the map to ensure the accuracy and timeliness of the information. After completing the addition or modification of the setting information, the system will automatically calculate and generate the inspection path based on the characteristics and requirements of the cleaning robot. The manager can preview the generated inspection path through the user interface and make fine adjustments or optimizations as needed.

[0048] In a feasible implementation manner, step S10 may further include step S12: Step S12: determining the inspection path based on the setting information.

[0049] Optionally, the user can manually draw the inspection path of the inspection area directly on the user interface.

[0050] Exemplarily, the user accesses the setting interface of the inspection path through the user interface of the cleaning robot, in which the system displays a regional map of the inspection area. The map can be based on the building floor plan, GPS map or system automatic generation previously imported by the user. The user uses tools on the interface such as finger touch, mouse click or special tools to directly select the inspection path on the map. Among them, the user can draw a path along the passable area on the map, or select a preset path template for fine-tuning. The user can also set the starting point, end point, passing point, and the stay time and inspection frequency of each point.

[0051] Optionally, after the user completes the path selection, the control system of the cleaning robot will verify the path to ensure the feasibility, safety and efficiency of the path, such as checking whether the path avoids obstacles, whether it exceeds the moving range of the cleaning robot, whether it meets the time requirements, etc. If the path verification fails, the control system of the cleaning robot will give an error prompt and allow the user to reselect the path. If the path verification is successful, the user can choose to save the path and apply it to the inspection task of the cleaning robot. The control system of the cleaning robot will convert the path selected by the user into a format recognizable by the cleaning robot and store it in the memory of the cleaning robot.

[0052] The way in which users directly select inspection paths on the map and apply them to the inspection tasks of the cleaning robot improves the flexibility and adaptability of the cleaning robot and enables users to make personalized path settings according to actual needs.

[0053] Based on the above embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 2 , step S11 includes steps S111 to S113: Step S111 , dividing the inspection area into a plurality of grids in the area map according to the inspection field of view.

[0054] It should be noted that the inspection field of view refers to the spatial range that the cleaning robot can observe during inspection.

[0055] The inspection area is divided into multiple grids according to certain rules, such as equal distance and equal area. First, the size of the grid is determined according to the inspection field of view to ensure that each grid can be covered by the robot's field of view, while avoiding grids that are too large and lead to low inspection efficiency. Then, the area map is divided according to the determined grid size.

[0056] Optionally, set the side length of the grid to evenly divide the entire area according to this side length, or consider the shape and size of the regional map and divide the area into grids of equal area. At the same time, the size and shape of the grid can be dynamically adjusted according to the location of obstacles on the map to ensure that the grid avoids obstacles.

[0057] Step S112, determining the center coordinates of the center point of the grid.

[0058] It should be noted that the grid center point is the center point inside each grid, which is used as a reference point in path planning. For each divided grid, the coordinates of its center point are calculated.

[0059] Alternatively, when the grid is regular, such as a rectangle or a square, the coordinates of the center point can be determined directly by calculating the arithmetic mean of the grid boundaries. For example, for a rectangular grid with a side length of L, the coordinates of the center point are (L / 2, L / 2).

[0060] Alternatively, for irregularly shaped meshes, the coordinates of the center point can be determined by calculating the geometric center of the mesh boundary. The geometric center can be obtained by calculating the average coordinates of the vertices on the mesh boundary and taking into account the weights of the vertices, such as area or length. For more complex mesh shapes, the coordinates of the center point can be calculated by numerical integration methods, such as sampling points inside the mesh and taking a weighted average of the coordinates of these points to obtain the coordinates of the center point.

[0061] Step S113, generating the inspection path based on the center coordinates and the area map, wherein the robot sequentially traverses the center point or alternative points of the center point when moving based on the inspection path.

[0062] Based on the coordinates of the grid center points, a path planning algorithm is used to generate a shortest path that traverses all center points. At the same time, obstacles and restrictions in the area map are considered and the path is adjusted to avoid these obstacles, improving the accuracy and efficiency of inspections.

[0063] It should be noted that in some cases, such as when blocked by obstacles, the cleaning robot may not be able to directly reach the center point of the grid. In this case, an alternative point can be selected as the access target.

[0064] Optionally, a nearest passable point is found near the obstacle as the replacement point, for example, by calculating the shortest distance from the edge of the obstacle to the center point of the grid to determine the position of the replacement point, or the center point of the grid is projected onto the nearest passable path or area to obtain the coordinates of the replacement point.

[0065] Specifically, first, the position and shape of obstacles in the area map, as well as the navigable paths or areas, are clarified. For each grid center point that cannot be reached directly, the distance from it to the nearest obstacle is calculated, and the boundary of the obstacle is determined. According to the relative position of the grid center point and the obstacle boundary, the projection direction is determined, for example, the projection direction is determined along the shortest path from the grid center point to the obstacle boundary. Along the determined projection direction, the grid center point is projected onto the nearest navigable path or area, thereby obtaining the coordinates of the replacement point.

[0066] Based on the above embodiments of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 3 , step S11 includes steps S114 to S116: Step S114: determining a passable area within the inspection area based on the area map.

[0067] It should be noted that the traversable area refers to the area in the area map where robots or inspection equipment can pass safely and without obstacles.

[0068] Exemplarily, based on the location, shape and size of obstacles on the area map, as well as road information, it is determined which areas are passable by the cleaning robot. The area map can be divided into passable and inpassable parts, and the area map can be binarized. For example, within the grid of the area map, the grid of the passable area is represented by "0" and the grid of the inpassable area is represented by "1".

[0069] Optionally, the map is divided into passable and impassable areas according to preset rules such as obstacle distance, road width, etc. For example, the rules can be set as follows: areas with a distance from obstacles exceeding a certain value are passable areas, areas with a road width exceeding a certain value are passable areas, areas with a ground slope less than a certain value are passable areas, etc. Rule-based division methods are usually more intuitive and simple and easy to implement.

[0070] Optionally, a machine learning algorithm such as a convolutional neural network is used to train the map to automatically identify passable areas. For example, a large amount of map data and corresponding passable area labels are first collected, and then these data are used for training to obtain a model that can identify passable areas. During the inspection process, this model can be used to predict new map data to obtain passable areas. Through a large amount of training data, the machine learning model can learn complex features and patterns, thereby improving the accuracy of recognition.

[0071] Optionally, during the inspection process of the cleaning robot, sensors such as laser radar and cameras are used to detect obstacles in real time and dynamically update the traversable area. For example, a laser radar or camera can be used to detect obstacles and road conditions in front in real time, and the movement trajectory and speed of the cleaning robot can be adjusted according to the detection results. At the same time, the detected obstacle position and shape information can be updated to the map in real time so that these obstacles can be avoided during subsequent inspections. This method can detect obstacles and road information in real time, can promptly detect potential dangers and take corresponding measures, thereby improving the safety of the inspection process.

[0072] Step S115, constructing an initial inspection route according to the boundary contour of the passable area and the field of view radius of the inspection field of view.

[0073] It should be noted that the boundary contour of the passable area refers to the outer boundary shape of the passable area. The field of view radius of the inspection field of view represents the farthest distance that the cleaning robot can observe.

[0074] In the passable area, an initial inspection route that can cover the entire passable area is planned based on the boundary contour and the inspection field of view. The optimal path is selected by calculating the distance from each grid point or path point to the boundary contour and the distance to the visited point to ensure that the inspection route can cover the entire passable area and observe as much area as possible within the field of view radius.

[0075] Optionally, the passable area is divided into grids, and a path planning algorithm is used to select the optimal path between each grid point as the initial inspection route. Exemplarily, the inspection area is divided into a series of grids of equal size, and then path planning is performed based on these grids. First, the passability of each grid is determined, that is, whether there are obstacles in the grid. Then, the path planning algorithm, breadth-first search, etc. are used to find the optimal path between the passable grids.

[0076] Optionally, a series of candidate points are generated in the inspection area by random sampling, and then the inspection path is constructed based on these candidate points. Among them, the random sampling method includes fast random exploration tree, etc. In the sampling process, the number and distribution of sampling points and other parameters can be set as needed. Then, these candidate points are connected using a path planning algorithm such as the RRT (Rapidly-exploring RandomTree) connection algorithm to form an initial inspection route.

[0077] Step S116, using the initial inspection route as the inspection path; or correcting the inspection route based on the received inspection route optimization operation, and using the corrected inspection route as the inspection path.

[0078] After obtaining the initial inspection route, it can be directly executed as the inspection path; or the initial inspection route can be optimized and adjusted according to actual needs such as priority, time limit, etc. to obtain a revised inspection route, which is executed as the inspection path to improve inspection efficiency or meet specific needs.

[0079] Based on the above embodiments of the present application, in the fifth embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 4 , step S20 includes steps S21-S22: Step S21, determining a cleaning path based on the position information of the dirty area.

[0080] It should be noted that the location information of the dirty area is data used to describe the specific location of the dirty area in the inspection area, and may include information such as coordinates, shape, size, etc. The cleaning path refers to the moving path of the cleaning robot planned for cleaning the dirty area.

[0081] Exemplarily, the location information of the dirty area is obtained through sensors or user input, the collected location information is processed and analyzed, the distribution, shape and size of the dirty area are determined, and based on the location information of the dirty area, an optimal or suboptimal cleaning path is planned using a path planning algorithm.

[0082] Optionally, use a camera or other image acquisition device to acquire images of the inspection area, and perform preprocessing operations such as denoising and contrast enhancement on the acquired images to improve the detection accuracy of dirty areas. Use image processing algorithms such as gradient methods and local histogram equalization to detect dirty areas in images. Among them, the gradient method can detect edges by calculating the gradient of the image in the horizontal and vertical directions and fusing and binarizing them; local histogram equalization highlights dirty areas by increasing the image contrast. Then, based on the detected dirty area, use contour detection algorithms such as findContours to obtain and extract its location information, including coordinates, shape, size, etc. Based on the extracted location information of the dirty area, use a path planning algorithm to plan a cleaning path.

[0083] Step S22, executing the cleaning task based on the cleaning path.

[0084] Optionally, according to the instructions of the cleaning path, the movement speed and direction of the cleaning device are controlled, and the cleaning progress is monitored through sensors or user feedback to ensure that the cleaning task is carried out as planned. Based on the monitoring results, the operating mode of the cleaning device such as suction power, brush head speed, etc. is dynamically adjusted to cope with different degrees of dirtiness.

[0085] Alternatively, the cleaning device is moved at a fixed speed and pattern along the planned cleaning path until the entire cleaning task is completed. This method is suitable for inspection areas where the dirt level is uniform and regularly distributed.

[0086] Optionally, during the cleaning process, the cleaning path and cleaning strategy can be dynamically adjusted based on the degree and distribution of dirt monitored in real time. For example, for areas with severe dirt, the number of cleaning times can be increased or the operating mode of the cleaning equipment can be improved. The cleaning strategy can be flexibly adjusted based on actual conditions to improve cleaning efficiency and effectiveness.

[0087] Optionally, the camera acquires environmental images and uses machine learning algorithms to classify garbage in dirty areas, identifying different types of garbage such as plastic bottles, paper, and food residues. Different cleaning strategies are adopted according to different types of garbage, which improves the cleaning effect while saving cleaning time and energy.

[0088] For example, if the stains in the dirty area are in liquid form, such as beverage spills, water stains, oil stains, etc., you can first use the water absorption function, such as a water-absorbing sponge or a water-absorbing brush, to absorb as much liquid dirt as possible to reduce the amount of liquid stains. Prevent the spread of stains and create conditions for subsequent cleaning work. After absorbing water, the robot then uses a mop or similar tool to mop and wash, remove the stains and traces that may be formed after absorbing water, and ensure that the dirty area is thoroughly cleaned. If the stains in the dirty area are in solid form, such as dust, paper scraps, food residues, small particles, etc., the cleaning robot can use a dust pusher to deal with solid dirt. The dust pusher is usually composed of a long handle and a wide flat plate, and the flat plate is covered with fluff or fiber material. The material covered on the flat plate of the dust pusher can effectively capture solid dirt, such as dust and small particles. When the dust pusher is pushed over the ground, these stains will be fixed on the dust pusher by the fluff or fiber. If the dirty area contains both solid stains such as dust, paper scraps, food residues, etc., and liquid stains such as water, beverages, soup, etc., first use a broom or vacuum cleaner to remove the solid dirt and remove most of the solid stains from the dirty area to avoid the solid stains mixing with the liquid stains in the subsequent steps, which will cause greater cleaning difficulties. After cleaning, use a dust mop to further clean the remaining solid stains, and then use a mop and detergent to mop the floor to deal with the liquid dirt. After mopping, use a water absorber or dry mop to absorb the moisture on the floor.

[0089] Based on the above embodiments of the present application, in the sixth embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 5 , step S21 includes steps S211 to S213: Step S211: determining a boundary of the dirty area based on the position information of the dirty area.

[0090] Use a camera or other image acquisition device to obtain an image containing a dirty area, perform preprocessing, use image processing algorithms such as threshold segmentation and edge detection to identify the dirty area in the image, extract the boundary of the dirty area through a contour detection algorithm, and express it in the form of coordinate points. Connect the identified coordinate points as the boundary of the dirty area.

[0091] Step S212, dividing the boundary of the dirty area based on a preset interval distance to obtain a turning point of the cleaning path.

[0092] It should be noted that the preset interval distance is a fixed distance set according to the capacity and cleaning efficiency of the cleaning equipment, and is used to determine the location of the turning point. The turning point refers to the point on the cleaning path where the direction needs to be changed or the cleaning needs to be repeated, which is usually located at equal intervals on the boundary of the dirty area.

[0093] Exemplarily, the boundary points of the dirty area are sorted in a certain order, such as clockwise or counterclockwise, and the position of the turning point is calculated on the sorted boundary points according to a preset interval distance.

[0094] Optionally, the total length of the boundary points is measured, the number of the turning points is calculated according to a preset interval distance, and then the boundary points are divided into equal intervals to obtain the turning points.

[0095] Optionally, the curvature of the boundary points is calculated, and the preset interval distance is adjusted according to the change in curvature, so that more turning points are set in areas with larger curvatures, such as corners, to better adapt to irregularly shaped dirty areas and improve the cleaning coverage.

[0096] Optionally, the dirty area is divided into multiple small areas, the preset interval distance is adjusted according to the area and shape of each small area, and then the turning point is determined to more accurately control the cleaning path, which is suitable for dirty areas with large areas and complex shapes.

[0097] Step S213: determining the cleaning path based on the turning point.

[0098] Exemplarily, the turning points are connected in order to form a cleaning path, and a path optimization algorithm such as TSP (Travelling Salesman Problem) algorithm, genetic algorithm, etc. can be used to optimize the initial cleaning path to reduce repeated and redundant paths, and then the optimized path is converted into instructions or trajectories executable by the cleaning equipment.

[0099] Alternatively, if the number of turning points is small and evenly distributed, the turning points can simply be connected in sequence to form a continuous cleaning path.

[0100] Optionally, if there are a large number of turning points and their distribution is complex, the turning points are sorted and the path is optimized using the TSP algorithm to ensure that the cleaning path is the shortest and covers all the turning points, or the connection order of the turning points is iteratively optimized using a genetic algorithm, and the optimal solution is gradually approached through operations such as selection, crossover, and mutation to reduce the length of the cleaning path and the cleaning time.

[0101] Based on the above embodiments of the present application, in the seventh embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 6 , step S40 includes steps S41-S42: Step S41, if the cleaning times have reached the target cleaning times, it is determined that the cleaning task is finished.

[0102] It should be noted that the target cleaning times is a preset cleaning times threshold. When the actual cleaning times reach or exceed this threshold, the cleaning task is considered completed. After each cleaning operation is completed, the current cleaning times are updated, and the current cleaning times are compared with the target cleaning times. If the current cleaning times reach or exceed the target cleaning times, the cleaning task is considered completed.

[0103] Optionally, the user is allowed to input a target number of cleaning times according to actual needs, and the control system of the cleaning robot makes a judgment based on the user input.

[0104] Step S42, returning from the dirty area to the inspection path to resume the inspection task.

[0105] After completing the cleaning task, a return path is planned based on the current position and the starting point or the nearest point of the inspection path. The cleaning robot moves along the planned return path until it returns to the inspection path. After the cleaning robot returns to the inspection path, it continues to monitor and detect according to the preset inspection plan.

[0106] Optionally, a path planning algorithm is used to calculate the shortest path from the current position to the inspection path; or the path taken when entering the dirty area is returned to reduce the return time.

[0107] Based on the above embodiments of the present application, in the eighth embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 7 , before step S20, further comprising steps S50 to S70: Step S50: Based on the setting information, obtain the current position information of the cleaning robot and the position information of the inspection area.

[0108] Step S60: determining the shortest path from the current position to the inspection area based on the current position information and the position information of the inspection area.

[0109] Step S70: moving from the current position to the inspection area based on the shortest path.

[0110] For example, after the cleaning robot is started, it first reads the setting information stored in the internal memory or received through the network, and uses the built-in GPS, SLAM system, odometer or other positioning technology to obtain the current location information of the cleaning robot on the map. The location information of the inspection area is extracted from the setting information, which is usually expressed in the form of a coordinate set, polygon or other geometric shape.

[0111] The current position of the cleaning robot, the position of the inspection area, and possible connections between them, such as roads and corridors, are represented as a graph, where nodes represent positions and edges represent connections. A path planning algorithm is applied to the graph model to calculate the shortest path from the current position to the inspection area. The shortest path is converted into a sequence of instructions that the cleaning robot can understand, such as steering angle, moving distance, etc. The cleaning robot moves along the shortest path according to the instruction sequence by controlling its drive system, such as motors, wheels, tracks, etc. During the journey, the cleaning robot can adjust the route according to real-time sensor data, such as obstacle detection and collision warning, to ensure safe arrival at the inspection area.

[0112] For example, in order to help understand the implementation process of the control method of the cleaning robot obtained by combining this embodiment with the above embodiments, please refer to Figure 8 , Figure 8 A brief flow chart of a control method for a cleaning robot is provided, specifically: The cleaning robot starts working and first checks whether it is the scheduled time for inspection. If so, it triggers navigation planning to the starting point of the first inspection area; if not, it guides the robot to navigate to the inspection preparation point. After the robot arrives at the inspection preparation point, it enters the inspection mode and waits to receive the cleaning task. After that, the robot determines whether a dirty area is detected. If so, it senses and provides the coordinate information of the dirty area, such as four coordinate points, and navigates to the starting point of the dirty area according to the planned path, starts the cleaning equipment and performs the cleaning operation. After the cleaning is completed, the cleaning equipment is turned off and switched back to the navigation planning mode, returning to the main road closest to the dirty area or returning to the original starting point. After that, it determines whether the current area has been inspected. If not, it continues to perform the inspection task. After completing the inspection task of a target area, it determines whether there are still inspection areas that have not been inspected. If so, it navigates to the next designated inspection area as needed. If all areas have been inspected, the navigation planning returns to the water station or charging point, and then the whole process ends.

[0113] The present application provides a control device for a cleaning robot, the control device for the cleaning robot comprising: at least one processor and a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the control method for the cleaning robot in the above-mentioned embodiment one.

[0114] Reference below Fig. 9 , which shows a schematic diagram of the structure of a control device of a cleaning robot suitable for implementing the embodiment of the present application. The control device of the cleaning robot in the embodiment of the present application may include but is not limited to a mobile terminal such as a sweeping robot, a sweeping device, etc. Fig. 9The control device of the cleaning robot shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Fig. 9 As shown, the control device of the cleaning robot may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the control device of the cleaning robot are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, and a microphone; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the control device of the cleaning robot to communicate wirelessly or wired with other devices to exchange data. Although the control device of the cleaning robot with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided alternatively.

[0116] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0117] The control device of the cleaning robot provided by the present application adopts the control method of the cleaning robot in the above embodiment, which can solve the technical problem that the cleaning time of the traditional sweeping robot is too long in large-scale commercial scenarios. Compared with the prior art, the beneficial effects of the control device of the cleaning robot provided by the present application are the same as the beneficial effects of the control method of the cleaning robot provided by the above embodiment, and the other technical features of the control device of the cleaning robot are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0118] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0119] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0120] The present application also provides a computer program product, including a computer program, which implements the steps of the control method of the cleaning robot as described above when executed by a processor.

[0121] The computer program product provided by this application can solve the technical problem that the cleaning time of traditional sweeping robots is too long in large-scale commercial scenarios. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the control method of the cleaning robot provided by the above embodiment, which will not be repeated here.

[0122] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: Applied to a cleaning robot, the method comprises: Determine an inspection path based on the setting information received by the input device; Execute inspection tasks based on the inspection path; If a dirty area is detected during the execution of the inspection task, interrupt the inspection task and start a cleaning task based on the location information of the dirty area; When the cleaning task is finished, the inspection task is resumed.

2. The control method of the cleaning robot according to claim 1, characterized in that: The step of determining the inspection path based on the setting information received by the input device includes: Based on the setting information, an area map corresponding to the inspection area is obtained, and an inspection path is constructed according to the inspection field of view of the cleaning robot and the area map; Alternatively, the inspection path is determined based on the setting information.

3. The control method of the cleaning robot according to claim 2, characterized in that: The step of constructing an inspection path according to the inspection field of view of the cleaning robot and the area map comprises: According to the inspection field of view, the inspection area is divided into a plurality of grids in the area map; Determine the center coordinates of the center point of the grid; The inspection path is generated based on the center coordinates and the area map, wherein the robot sequentially traverses the center point or alternative points of the center point when moving based on the inspection path.

4. The control method of the cleaning robot according to claim 2, characterized in that: The step of constructing an inspection path according to the inspection field of view of the cleaning robot and the area map comprises: Based on the area map, determining a passable area within the inspection area; Constructing an initial inspection route according to the boundary contour of the passable area and the field of view radius of the inspection field of view; The initial inspection route is used as the inspection path; or based on the received inspection route optimization operation, the inspection route is corrected and the corrected inspection route is used as the inspection path.

5. The control method of the cleaning robot according to claim 1, characterized in that: The step of starting the cleaning task based on the position information of the dirty area includes: Determining a cleaning path based on the position information of the dirty area; The cleaning task is performed based on the cleaning path.

6. The control method of the cleaning robot according to claim 5, characterized in that: When the cleaning task is finished, the step of resuming the inspection task includes: If the cleaning times have reached the target cleaning times, it is determined that the cleaning task is finished; Return to the inspection path from the dirty area to resume the inspection task.

7. The control method of the cleaning robot according to claim 5, characterized in that: The step of determining a cleaning path based on the position information of the dirty area comprises: Determining a boundary of the dirty area based on the position information of the dirty area; Dividing the boundary of the dirty area based on a preset interval distance to obtain a turning point of the cleaning path; Based on the turning point, the cleaning path is determined.

8. The control method of the cleaning robot according to claim 1, characterized in that: Before the step of performing the inspection task based on the inspection path, the method further includes: Based on the setting information, obtaining the current position information of the cleaning robot and the position information of the inspection area; Based on the current position information and the position information of the inspection area, determining the shortest path from the current position to the inspection area; Based on the shortest path, travel from the current location to the inspection area.

9. A control device for a cleaning robot, characterized in that: The control device of the cleaning robot comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the control method of the cleaning robot according to any one of claims 1 to 8.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the control method of the cleaning robot according to any one of claims 1 to 8 are implemented.

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