Method, device and computer equipment for implementing robot cleaning path planning

Abstract

The present application discloses a method for implementing a cleaning path planning of a robot, comprising: obtaining an area to be cleaned based on user voice information, and recording it as a priority cleaning area; driving the sweeper to the priority cleaning area; obtaining a local area where a target is located in the priority cleaning area, and obtaining a first cleaning area, wherein the first cleaning area is within the range of the priority cleaning area; obtaining a shape of the first cleaning area based on a preset sensor in the robot; matching an optimal cleaning path according to the shape of the first cleaning area; cleaning the first cleaning area according to the optimal cleaning path, and accurately locating the target area through the sound source, and determining the optimal cleaning path according to the general outline of the stain for cleaning. This can solve the problem that existing sweeping robots are difficult to cope with local dirt and wetness, resulting in troublesome operation and relatively low cleaning efficiency.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and for example, to a method, device, and computer equipment for implementing a cleaning path planning of a robot. Background Art

[0002] In daily life, sometimes water or dust is accidentally spilled on the ground. At this time, the user will take a mop to mop the floor, and then dry the mop after mopping the floor, which consumes a lot of user time and energy. Therefore, sweeping robots came into being. When cleaning is needed, sweeping robots generally clean the whole house or the user manually places the sweeper in the area where water or dust is spilled for cleaning. However, when faced with sudden local dirt and wet conditions, this operation is more troublesome and the cleaning efficiency is relatively low. Summary of the Invention

[0003] The present application provides a method, device and computer equipment for implementing a robot's cleaning path planning, aiming to solve the problem that existing sweeping robots generally clean the entire house or users manually place the sweeping robots in areas where water or dust has been spilled for cleaning, but are unable to deal with local dirt and wetness, resulting in cumbersome operation and relatively low cleaning efficiency.

[0004] To achieve the above-mentioned invention problem, in a first aspect, this article provides a method for implementing a cleaning path planning of a robot, comprising:

[0005] Based on the user's voice information, the area that needs to be cleaned is obtained and recorded as the priority cleaning area;

[0006] Driving the sweeper to the priority cleaning area;

[0007] Acquire a local area where the target in the priority cleaning area is located to obtain a first cleaning area, wherein the first cleaning area is within the scope of the priority cleaning area;

[0008] Acquiring a shape of the first cleaning area based on a preset sensor in the robot;

[0009] matching an optimal cleaning path according to the shape of the first cleaning area;

[0010] The first cleaning area is cleaned according to the optimal cleaning path.

[0011] Preferably, after the step of driving the sweeper to the priority cleaning area, the method further comprises:

[0012] Obtain environmental parameters of the sweeper on its way to the priority cleaning area;

[0013] The area where the environmental parameter is greater than the preset value is marked in the built-in map and recorded as a secondary cleaning area, wherein the cleaning priority level of the priority cleaning area is higher than the cleaning priority level of the secondary cleaning area.

[0014] Preferably, the step of obtaining the area to be cleaned based on the user's voice information and recording it as the priority cleaning area includes:

[0015] Obtaining a first voice command;

[0016] Determining whether the first voice command includes a preset regional keyword;

[0017] When the first voice command does not include the regional keyword, generating a first response command according to the first voice command and recording the sending time of the first response command as a first time;

[0018] receiving a second voice command answered within a preset time after the first answer command is sent, and recording a second time when the second voice command is received;

[0019] Based on sound source positioning, the sound source location area of ​​the first voice command is obtained according to the first time and the second time, and recorded as the priority cleaning area.

[0020] Preferably, the step of obtaining the shape of the first cleaning area based on a preset sensor in the robot includes:

[0021] driving the sweeper to circle around the first cleaning area;

[0022] The track of the sweeping machine when it circles the first cleaning area is marked on a preset map, and the track marked on the preset map after the sweeping machine circles the first cleaning area is used as the shape of the first cleaning area.

[0023] Preferably, the step of matching the optimal cleaning path according to the shape of the first cleaning area includes:

[0024] determining a shape of the first cleaning area;

[0025] When the shape of the first cleaning area is quasi-circular, the circular cleaning path corresponding to the circular area is matched as the optimal cleaning path.

[0026] Preferably, after the step of determining the shape of the first cleaning area, the method further includes:

[0027] When the shape of the first cleaning area is a rectangle, the bow-shaped cleaning path matched with the rectangular area is matched as the optimal cleaning path.

[0028] Preferably, after the step of determining the shape of the first cleaning area, the method further includes:

[0029] When the shape of the first cleaning area is irregular, depicting the overall area shape of the first cleaning area;

[0030] obtaining a plurality of scattering regions in the overall region shape;

[0031] Taking one of the scattering areas as a working starting point and performing cleaning, after cleaning, calculating the distance between the adjacent scattering areas and the scattering area where the working starting point is located;

[0032] Determining whether a distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value;

[0033] When the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the sweeper is directly driven to the adjacent scattering area for cleaning.

[0034] Preferably, after the step of determining whether the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the method further includes:

[0035] When the distance between the adjacent scattering area and the scattering area where the work starting point is located is greater than a preset value, starting from the scattering area where the work starting point is located, after reaching the adjacent scattering area, performing a path traversal within the adjacent scattering area, and calculating the navigation distance after clearing the remaining scattering areas;

[0036] The traversal path with the shortest navigation distance is matched as the optimal cleaning path.

[0037] Preferably, after the step of determining whether the first voice instruction contains a preset regional keyword, the following steps are included:

[0038] When the first voice instruction includes the regional keyword, the area including the regional keyword is recorded as a priority cleaning area.

[0039] In a second aspect, the present disclosure further provides a robot cleaning path planning implementation device, comprising:

[0040] A priority cleaning area acquisition module is used to acquire the area that needs to be cleaned based on the user's voice information and record it as the priority cleaning area;

[0041] A driving module, configured to drive the sweeper to the priority cleaning area;

[0042] A first cleaning area acquisition module is configured to acquire a local area where a target in the priority cleaning area is located to obtain a first cleaning area, wherein the first cleaning area is within the scope of the priority cleaning area;

[0043] a shape acquisition module, configured to acquire the shape of the first cleaning area based on a preset sensor in the robot;

[0044] a cleaning path matching module, configured to match an optimal cleaning path according to the shape of the first cleaning area;

[0045] A cleaning module is used to clean the first cleaning area according to the optimal cleaning path.

[0046] The present application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is characterized in that when the computer program is executed by a processor, the steps of the method for implementing the cleaning path planning of the robot as described in any one of the above items are implemented.

[0047] The present invention discloses a method for implementing a cleaning path planning for a robot. By calling the sweeping robot, after performing steps of human-machine interaction such as waking up, instructing, and responding, the robot can obtain a rough priority cleaning area based on the user's voice information, and after arriving at the priority cleaning area, obtain the local area where the cleaning target is located (i.e., the specific area of ​​the target) through sensors and other means, and record it as the first cleaning area. After obtaining the shape of the first cleaning area based on a preset sensor, the robot plans the best cleaning path suitable for the shape, selects the most appropriate route planning, and cleans the spilled stains on the ground as quickly as possible, thereby solving the problem that existing sweeping robots generally clean the whole house or the user manually places the sweeping robot in the area where water or dust is spilled for cleaning, and it is difficult to deal with local dirt and wetness, resulting in troublesome operation and relatively low cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic flow chart of a method for implementing a cleaning path planning of a robot according to an embodiment;

[0049] Figure 2 A schematic diagram of the structure of a device for implementing a cleaning path planning of a robot according to an embodiment;

[0050] Figure 3 The figure is a schematic block diagram of the structure of a computer device according to an embodiment.

[0051] The realization of the objectives, functional features and advantages of the present disclosure will be further explained with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0053] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "above", and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present disclosure refers to the presence of features, integers, steps, operations, elements, units, units and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, units, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0054] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which this disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0055] Reference Figure 1 , is a flow chart of a method for implementing a robot cleaning path planning disclosed in this solution, including:

[0056] S1: Based on the user's voice information, the area that needs to be cleaned is obtained and recorded as the priority cleaning area;

[0057] S2: driving the sweeper to the priority cleaning area;

[0058] S3: Acquire a local area where the target in the priority cleaning area is located to obtain a first cleaning area, wherein the first cleaning area is within the scope of the priority cleaning area;

[0059] S4: Acquire the shape of the first cleaning area based on a preset sensor in the robot;

[0060] S5: matching an optimal cleaning path according to the shape of the first cleaning area;

[0061] S6: Cleaning the first cleaning area according to the optimal cleaning path.

[0062] The method for implementing a cleaning path planning of a robot mentioned in this embodiment can be achieved by calling the sweeping robot. After the steps of waking up, instructing, and responding, the robot can obtain a rough priority cleaning area based on the user's voice information, and after reaching the priority cleaning area, obtain the local area where the cleaning target is located (that is, the specific area of ​​the target) through sensors and other means, and record it as the first cleaning area. After obtaining the shape of the first cleaning area based on the preset sensor, the best cleaning path suitable for the shape is planned, and the most appropriate route planning is selected to clean the spilled stains on the ground as quickly as possible, so as to solve the problem that existing sweeping robots generally clean the whole house or the user manually places the sweeping robot in the area where water or dust is spilled for cleaning, and it is difficult to deal with local dirt and wetness, resulting in troublesome operation and relatively low cleaning efficiency.

[0063] In a preferred embodiment of this scheme, after performing the steps of human-machine interaction such as awakening, commanding, and responding, the robot can accurately locate the location of the sound source through the sound source. Then, based on the general outline of the water stains, it can process and determine which method of mopping and drying the floor will save the most time, select the most appropriate route planning, and wipe up the spilled water stains as quickly as possible.

[0064] As an example, specifically, as described in S1 to S2 above, when the user spills water or dust on the ground in room A, the user shouts the first voice command "Robot, water is spilled here". This can be a wake-up command or a command command. In order to prevent accidental shouting, you can call the "name" before shouting the cleaning execution command. For example, when water is spilled, the user can first shout the robot's name "robot". At this time, the robot will recognize the command and reply "Here". Then the user says "Water is spilled here, come and clean it up". Based on the sound source positioning system, when recording the time difference between the robot's first reply and the second time it receives the user's command, the direction and distance of the user's sound source can be known, and therefore the area where the water stain is located can be known. At this time, the sweeper will be driven from the base station or other location to room A (the area where water or dust is spilled) as soon as possible to prepare for cleaning or drying operations.

[0065] In the above S3 to S6, preferably, as an example, when the sweeping robot arrives at room A, it will use the precision humidity detection device set at the edge of the robot to constantly detect the humidity changes in the floor of room A to determine the specific area of ​​the water stain (the first cleaning area). Furthermore, it is also possible to set lasers, cameras, infrared imaging and other devices on the sweeping robot, and use lasers, cameras, infrared imaging and other methods to enable the sweeping robot to walk around the edge of the humidity area, circle the area with water stains and draw a rough outline, and mark the walking path of the sweeping robot in the built-in map. After the detour, the general area has been determined, and the general shape of the water stain is judged according to the shape of the water stain roughly drawn by the robot. If it is a similar circle, the mopping method is adopted to circle and gradually shrink. When it shrinks to a point, it gradually walks around in a circle to expand and do a drying strategy. If it is a rectangular area, a bow-shaped mopping and drying strategy is executed. If it is a very irregular shape, such as scattered, the cleaning is started with one of the scattered areas as the starting point according to the approximate area of ​​the area where the water stain is located, and the distance between the adjacent scattered areas and the current cleaning area is calculated. If the distance between the two is less than the preset value, the sweeper will ignore the interval area between the two adjacent scattering areas and drive directly to dry. At this time, the middle area between the interval areas of adjacent scattering areas is not large, which will not cause too large a wet area, nor will it take more cleaning time due to the large middle area. If the distance between the two is too large, a water stain point is selected as the starting point for cleaning, and multiple simulated navigations of different paths are performed on all water stain points in the entire area. The route with the shortest navigation distance is taken as the optimal cleaning path for cleaning.

[0066] In one embodiment, after the step of driving the sweeper to the priority cleaning area, the following steps are included:

[0067] Obtain environmental parameters of the sweeper on its way to the priority cleaning area;

[0068] The area where the environmental parameter is greater than the preset value is marked in the built-in map and recorded as a secondary cleaning area, wherein the cleaning priority level of the priority cleaning area is higher than the cleaning priority level of the secondary cleaning area.

[0069] As mentioned above, when the robot vacuum cleaner goes to room A for cleaning, on the way to room A, it is very easy for the user to bring water to other places after accidentally spilling water. Therefore, on the way to the designated sound source, the robot vacuum cleaner will detect whether there are water stains on the way to room A. Specifically, a precision humidity detection device can be set on the robot vacuum cleaner to detect humidity changes at all times. When encountering water stains, the places with water stains on the way will be marked as secondary cleaning areas on the built-in map and saved to the cloud map. After solving the water stains in the sound source area that is the user's first need, the secondary cleaning area marked on the cloud map will be used to determine the shape of the water stains and clean them in the above-mentioned cleaning method.

[0070] In one embodiment, after the step of cleaning the first cleaning area according to the optimal cleaning path, the method further includes:

[0071] Acquire a local area where the target in the secondary cleaning area is located to obtain a second cleaning area, wherein the second cleaning area is within the scope of the secondary cleaning area;

[0072] Acquire the shape of the second cleaning area;

[0073] matching a second optimal cleaning path according to the shape of the second cleaning area;

[0074] Clean the second cleaning area according to the second optimal cleaning path.

[0075] As mentioned above, when the robot vacuum cleaner goes to room A for cleaning, on the way to room A, it will detect whether there are water stains in the middle of the way because the user can easily bring water to other places after accidentally spilling water. Therefore, on the way to room A, the robot vacuum cleaner will detect whether there are water stains in the middle. Specifically, a precision humidity detection device can be set on the robot vacuum cleaner to detect humidity changes at all times. When encountering water stains, the water stains will be marked on the built-in map first, and marked as secondary cleaning areas and saved in the cloud map. After cleaning the water stains in the priority cleaning area, that is, the sound source, the robot vacuum cleaner will be driven to the secondary cleaning area marked on the cloud map, and the above-mentioned cleaning method will be used to match the best cleaning path according to the shape of the water stains for cleaning.

[0076] In one embodiment, the step of obtaining the area to be cleaned based on the user's voice information and recording it as the priority cleaning area includes:

[0077] Obtaining a first voice command;

[0078] Determining whether the first voice command includes a preset regional keyword;

[0079] When the first voice command does not include the regional keyword, generating a first response command according to the first voice command and recording the sending time of the first response command as a first time;

[0080] receiving a second voice command answered within a preset time after the first answer command is sent, and recording a second time when the second voice command is received;

[0081] Based on sound source positioning, the sound source location area of ​​the first voice command is obtained according to the first time and the second time, and recorded as the priority cleaning area.

[0082] As mentioned above, if the owner shouts a command to the sweeper for the first time, for example, "Robot, water is spilled in the master bedroom", the sweeper will directly take the master bedroom as the destination and navigate there to clean it. Therefore, the corresponding operation can be performed according to whether the user's command contains keywords such as "bedroom A". If the user's command contains "regional keywords", the sweeper will set the "regional keywords" in the user's command as the target location. If the user's command does not contain "regional keywords", it will locate the corresponding location based on the user's sound source position and process it first. Based on the sound source positioning system, a sound receiver can be set on each side of the sweeper. The time difference between the left and right receivers receiving a sound event can help confirm the direction. Combined with the previous distance, positioning can be achieved. This is an existing sound source positioning technology. By recording the time difference between the robot's first reply and the second time it receives the user's command, the direction and distance of the user's sound source can be known, and therefore the area where the water stain is located can be known. Specifically, when the user's voice command does not contain regional keywords, the user first calls The robot wakes up, for example, by saying "robot." The robot receives the wake-up command and determines the location of the sound source. The robot then responds, for example, "I'm here," and records the time t1 when the robot sends "I'm here." To minimize errors, after the robot sends the "I'm here" response, the user needs to respond immediately or within a predetermined timeframe after hearing the robot's voice, issuing the second command, "Water is spilled here." The robot then records the time t2 when it receives the command, "Water is spilled here." The time t from the robot sending "I'm here" to the robot receiving the command, "Water is spilled here," is t = t2 - t1. Using t1 and t2, as well as the speed of sound propagation in air, we can roughly determine how far the sound source is from the robot. To further minimize errors, the user's reaction time after hearing the "I'm here" command can be eliminated. The average human reaction time is typically 0.1-0.3 seconds. Therefore, t = t2 - t1 - T (human reaction time). This allows the robot to accurately and quickly reach the sound source, i.e., the location where the water is spilled.

[0083] In one embodiment, the step of obtaining the shape of the first cleaning area based on a preset sensor in the robot includes:

[0084] driving the sweeper to circle around the first cleaning area;

[0085] The track of the sweeping machine when it circles the first cleaning area is marked on a preset map, and the track marked on the preset map after the sweeping machine circles the first cleaning area is used as the shape of the first cleaning area.

[0086] As mentioned above, when the robot reaches an area where water is confirmed to have been spilled, the robot will constantly detect humidity changes through a precision humidity detection device installed at the edge of the robot. The robot will then circle around the edge of the water stain and record the robot's trajectory on a preset map. This is also an existing tracking technology, so the water spilled area can be determined. The shape of the water spilled area marked on the map is the shape of the area that needs to be cleaned.

[0087] In one embodiment, the step of matching the optimal cleaning path according to the shape of the first cleaning area includes:

[0088] determining a shape of the first cleaning area;

[0089] When the shape of the first cleaning area is quasi-circular, the circular cleaning path corresponding to the circular area is matched as the optimal cleaning path.

[0090] As mentioned above, after circling, the general area has been revealed. According to the shape of the water stain roughly drawn by the robot, the approximate shape of the water stain is judged. If it is a similar circle, the robot will adopt the method of mopping the floor in a circling and gradually shrinking manner. When it shrinks to a point, it will gradually walk in a circle and expand to perform the drying strategy operation.

[0091] In one embodiment, after the step of determining the shape of the first cleaning area, the method further includes:

[0092] When the shape of the first cleaning area is a rectangle, the bow-shaped cleaning path matched with the rectangular area is matched as the optimal cleaning path.

[0093] As described above, if the area is similar to a rectangle, a bow-shaped mopping and drying strategy is implemented, so that drying or wiping can be performed as quickly as possible.

[0094] In one embodiment, after the step of determining the shape of the first cleaning area, the method further includes:

[0095] When the shape of the first cleaning area is irregular, depicting the overall area shape of the first cleaning area;

[0096] obtaining a plurality of scattering regions in the overall region shape;

[0097] Taking one of the scattering areas as a working starting point and performing cleaning, after cleaning, calculating the distance between the adjacent scattering area and the scattering area where the working starting point is located;

[0098] Determining whether a distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value;

[0099] When the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the sweeper is directly driven to the adjacent scattering area for cleaning.

[0100] As mentioned above, when the sweeper reaches the location of the sound source, if it is a very irregular shape, such as scattered, it will start cleaning based on the approximate area of ​​the area where the water stain is located, taking one of the scattered areas as the starting point, and calculate the distance between the adjacent scattering areas and the current cleaning area. If the distance between the two is less than the preset value, the sweeper will ignore the interval area between the two adjacent scattering areas and drive directly to dry.

[0101] In one embodiment, after the step of determining whether the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the method further includes:

[0102] When the distance between the adjacent scattering area and the scattering area where the work starting point is located is greater than a preset value, starting from the scattering area where the work starting point is located, after reaching the adjacent scattering area, performing a path traversal within the adjacent scattering area, and calculating the navigation distance after clearing the remaining scattering areas;

[0103] The traversal path with the shortest navigation distance is matched as the optimal cleaning path.

[0104] As mentioned above, if the shape is very irregular and the distance between adjacent scattering areas is too large, a water stain point is selected as the starting point for cleaning, and multiple simulated navigations with different paths are performed on all water stain points in the entire area. The route with the shortest navigation distance is selected as the optimal cleaning path for cleaning.

[0105] In one embodiment, after the step of determining whether the first voice instruction contains a preset regional keyword, the following steps are included:

[0106] When the first voice command includes the regional keyword, the area including the regional keyword is recorded as a priority cleaning area.

[0107] As mentioned above, if the user's instruction contains "regional keywords", the sweeping robot will set the "regional keywords" in the user's instruction as the target location. If the user's instruction does not contain "regional keywords", it will locate the corresponding location based on the user's sound source position and process it first. After determining the corresponding water-stained area, it will be cleaned according to the method in the above embodiment. After cleaning the area where the user's instruction is located, the water-stained area marked on the cloud map will be cleaned in the above-mentioned cleaning method.

[0108] In one embodiment, the environmental parameter values ​​include humidity and dust particle density.

[0109] As mentioned above, the environmental parameter values ​​include humidity and dust particle density, which means that both water stains and dust can be processed. When processing dust, a device for accurately detecting the dust particle density will be used.

[0110] Refer to the attached Figure 2 The present disclosure also provides a robot cleaning path planning implementation device, comprising:

[0111] The priority cleaning area acquisition module 100 is used to acquire an area that needs to be cleaned based on the user's voice information and record it as the priority cleaning area;

[0112] A driving module 200 is used to drive the sweeper to the priority cleaning area;

[0113] The first cleaning area acquisition module 300 is configured to acquire a local area where the target in the priority cleaning area is located to obtain a first cleaning area, wherein the first cleaning area is within the scope of the priority cleaning area;

[0114] A shape acquisition module 400 is configured to acquire the shape of the first cleaning area based on a preset sensor in the robot;

[0115] A cleaning path matching module 500, configured to match an optimal cleaning path according to the shape of the first cleaning area;

[0116] The cleaning module 600 is configured to clean the first cleaning area according to the optimal cleaning path.

[0117] In one embodiment, the robot's cleaning path planning implementation device further includes an environmental parameter acquisition module, which is used to:

[0118] Obtain environmental parameters of the sweeper on its way to the priority cleaning area;

[0119] The area where the environmental parameter is greater than the preset value is marked in the built-in map and recorded as a secondary cleaning area, wherein the cleaning priority level of the priority cleaning area is higher than the cleaning priority level of the secondary cleaning area.

[0120] In one embodiment, the robot's cleaning planning path implementation device further includes a second cleaning area acquisition module, and the second cleaning area acquisition module is used to:

[0121] Acquire a local area where the target in the secondary cleaning area is located to obtain a second cleaning area, wherein the second cleaning area is within the scope of the secondary cleaning area;

[0122] Acquire the shape of the second cleaning area;

[0123] matching a second optimal cleaning path according to the shape of the second cleaning area;

[0124] Clean the second cleaning area according to the second optimal cleaning path.

[0125] In one embodiment, the priority cleaning area acquisition module 100 is further configured to:

[0126] Obtaining a first voice command;

[0127] Determining whether the first voice command includes a preset regional keyword;

[0128] When the first voice command does not include the regional keyword, generating a first response command according to the first voice command and recording the sending time of the first response command as a first time;

[0129] receiving a second voice command answered within a preset time after the first answer command is sent, and recording a second time when the second voice command is received;

[0130] Based on sound source positioning, the sound source location area of ​​the first voice command is obtained according to the first time and the second time, and recorded as the priority cleaning area.

[0131] In one embodiment, the shape acquisition module 400 is further configured to:

[0132] driving the sweeper to circle around the first cleaning area;

[0133] The track of the sweeping machine when it circles the first cleaning area is marked on a preset map, and the track marked on the preset map after the sweeping machine circles the first cleaning area is used as the shape of the first cleaning area.

[0134] In a real-time example, the cleaning path matching module 500 includes a first matching module, which is configured to:

[0135] determining a shape of the first cleaning area;

[0136] When the shape of the first cleaning area is quasi-circular, the circular cleaning path corresponding to the circular area is matched as the optimal cleaning path.

[0137] In one embodiment, the cleaning path matching module 500 includes a second matching module, and the second matching module is configured to:

[0138] When the shape of the first cleaning area is a rectangle, the bow-shaped cleaning path matched with the rectangular area is matched as the optimal cleaning path.

[0139] In one embodiment, the cleaning path matching module 500 further includes a third matching module, which is configured to:

[0140] When the shape of the first cleaning area is irregular, depicting the overall area shape of the first cleaning area;

[0141] obtaining a plurality of scattering regions in the overall region shape;

[0142] Taking one of the scattering areas as a working starting point and performing cleaning, after cleaning, calculating the distance between the adjacent scattering area and the scattering area where the working starting point is located;

[0143] Determining whether a distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value;

[0144] When the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the sweeper is directly driven to the adjacent scattering area for cleaning.

[0145] In one embodiment, the third matching module is further configured to:

[0146] When the distance between the adjacent scattering area and the scattering area where the work starting point is located is greater than a preset value, starting from the scattering area where the work starting point is located, after reaching the adjacent scattering area, performing a path traversal within the adjacent scattering area, and calculating the navigation distance after clearing the remaining scattering areas;

[0147] The traversal path with the shortest navigation distance is matched as the optimal cleaning path.

[0148] In one embodiment, the second matching module is further configured to:

[0149] When the first voice command includes the regional keyword, the area including the regional keyword is recorded as a priority cleaning area.

[0150] Reference Figure 3 In the embodiment of the present disclosure, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer design is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for the robot's cleaning planning path implementation data, etc. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for implementing a robot's cleaning planning path is implemented.

[0151] Those skilled in the art will understand that Figure 3 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present disclosure and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied.

[0152] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements a method for planning a cleaning path for a robot. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0153] In summary, the robot cleaning path planning implementation method, system and computer equipment provided in the embodiments of the present invention can call the sweeping robot, and after the steps of awakening, commanding, responding and other human-machine interactions, the robot can accurately locate the location of the sound source through the sound source. Then, based on the general outline of the bypassed water stains, it can be processed to determine which method of mopping and drying the floor saves the most time, select the most appropriate route planning, and wipe off the spilled water stains as quickly as possible. At the same time, when the sweeping robot goes to the location of the sound source to clean water stains or dust, it will record whether there are water stains along the way. If so, it will be marked on the built-in map or stored in the cloud. After cleaning the water stains or dust at the location of the sound source, it will come back to clean the water stains or dust along the way. It is particularly smart and practical.

[0154] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in the present disclosure and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0155] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0156] The above description is only a preferred embodiment of the present disclosure and does not limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure and the drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A method for implementing a robot's cleaning path planning, characterized in that: include: Based on the user's voice information, the area that needs to be cleaned is obtained and recorded as the priority cleaning area; Driving the sweeper to the priority cleaning area; Acquire a local area where the target in the priority cleaning area is located to obtain a first cleaning area, wherein the first cleaning area is within the scope of the priority cleaning area; Acquiring a shape of the first cleaning area based on a preset sensor of the robot; matching an optimal cleaning path according to the shape of the first cleaning area; cleaning the first cleaning area according to the optimal cleaning path; The step of obtaining the area to be cleaned based on the user's voice information and recording it as the priority cleaning area includes: Obtaining a first voice command; Determining whether the first voice command includes a preset regional keyword; When the first voice command does not include the regional keyword, generating a first response command according to the first voice command and recording the sending time of the first response command as a first time; receiving a second voice command answered within a preset time after the first answer command is sent, and recording a second time when the second voice command is received; The reaction time of a normal person is recorded as the third time; Based on sound source positioning, the sound source location area of ​​the first voice command is obtained according to the first time, the second time, and the third time, and recorded as the priority cleaning area; The step of matching the optimal cleaning path according to the shape of the first cleaning area includes: determining a shape of the first cleaning area; Wherein, after the step of determining the shape of the first cleaning area, the method further includes: When the shape of the first cleaning area is irregular, depicting the overall area shape of the first cleaning area; obtaining a plurality of scattering regions in the overall region shape; Taking one of the scattering areas as a working starting point and performing cleaning, after cleaning, calculating the distance between the adjacent scattering area and the scattering area where the working starting point is located; Determining whether a distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value; When the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the sweeper is directly driven to the adjacent scattering area for cleaning; Wherein, after the step of determining whether the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the method further includes: When the distance between the adjacent scattering area and the scattering area where the work starting point is located is greater than a preset value, starting from the scattering area where the work starting point is located, after reaching the adjacent scattering area, performing a path traversal within the adjacent scattering area, and calculating the navigation distance after clearing the remaining scattering areas; Match the traversal path with the shortest navigation distance as the optimal cleaning path; Wherein, after the step of driving the sweeper to the priority cleaning area, the method further includes: Detect humidity changes at all times; Mark water-stained areas along the way as secondary cleaning areas on the built-in map and save them to the cloud map; After completing the water stains in the sound source area of ​​the first requirement, determine the shape of the water stains in the secondary cleaning area marked on the cloud map and clean them.

2. The method for implementing a cleaning path planning of a robot according to claim 1, wherein: After the step of driving the sweeper to the priority cleaning area, the method further includes: Obtain environmental parameters of the sweeper on its way to the priority cleaning area; The area where the environmental parameter is greater than the preset value is marked in the built-in map and recorded as a secondary cleaning area, wherein the cleaning priority level of the priority cleaning area is higher than the cleaning priority level of the secondary cleaning area.

3. The method for implementing a cleaning path planning of a robot according to claim 1, wherein: The step of obtaining the shape of the first cleaning area based on a preset sensor of the robot includes: driving the sweeper to circle around the first cleaning area; The track of the sweeping machine when it circles the first cleaning area is marked on a preset map, and the track marked on the preset map after the sweeping machine circles the first cleaning area is used as the shape of the first cleaning area.

4. The method for implementing a cleaning path planning of a robot according to claim 1, wherein: The step of matching the optimal cleaning path according to the shape of the first cleaning area includes: When the shape of the first cleaning area is quasi-circular, the circular cleaning path corresponding to the circular area is matched as the optimal cleaning path.

5. The method for implementing a cleaning path planning of a robot according to claim 4, characterized in that: After the step of determining the shape of the first cleaning area, the method further includes: When the shape of the first cleaning area is a rectangle, the bow-shaped cleaning path matched with the rectangular area is matched as the optimal cleaning path.

6. A robot cleaning path planning implementation device, characterized in that: include: A priority cleaning area acquisition module is used to acquire the area that needs to be cleaned based on the user's voice information and record it as the priority cleaning area; A driving module, configured to drive the sweeper to the priority cleaning area; A first cleaning area acquisition module is configured to acquire a local area where a target in the priority cleaning area is located to obtain a first cleaning area, wherein the first cleaning area is within the scope of the priority cleaning area; a shape acquisition module, configured to acquire the shape of the first cleaning area based on a preset sensor of the robot; a cleaning path matching module, configured to match an optimal cleaning path according to the shape of the first cleaning area; a cleaning module, configured to clean the first cleaning area according to the optimal cleaning path; The step of matching the optimal cleaning path according to the shape of the first cleaning area includes: determining a shape of the first cleaning area; Wherein, after the step of determining the shape of the first cleaning area, the method further includes: When the shape of the first cleaning area is irregular, depicting the overall area shape of the first cleaning area; obtaining a plurality of scattering regions in the overall region shape; Taking one of the scattering areas as a working starting point and performing cleaning, after cleaning, calculating the distance between the adjacent scattering area and the scattering area where the working starting point is located; Determining whether a distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value; When the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the sweeper is directly driven to the adjacent scattering area for cleaning; Wherein, after the step of determining whether the distance between the adjacent scattering area and the scattering area where the working starting point is located is less than a preset value, the method further includes: When the distance between the adjacent scattering area and the scattering area where the work starting point is located is greater than a preset value, starting from the scattering area where the work starting point is located, after reaching the adjacent scattering area, performing a path traversal within the adjacent scattering area, and calculating the navigation distance after clearing the remaining scattering areas; The traversal path with the shortest navigation distance is matched as the optimal cleaning path.

7. A computer-readable storage medium, characterized in that A computer program is stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method for realizing a cleaning path planning of a robot according to any one of claims 1 to 5.

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