Method and device for determining initial cleaning area of sweeping robot, computer device and medium

Abstract

The application relates to a method and device for determining an initial cleaning area of a sweeper, computer equipment and a medium, and belongs to the field of intelligent robots. The method comprises the following steps: acquiring map information of an environment in which the sweeper is located; acquiring boundary information in a horizontal direction and a vertical direction of a first position in which the sweeper is located based on the map information; and determining an initial cleaning area of the sweeper based on the boundary information. Through the technical solution, the division of a working space can be reduced, and the cleaning efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent robots, in particular to a method and device for determining an initial cleaning area of a robot vacuum cleaner, a computer device and a storage medium. BACKGROUND

[0002] A robot vacuum cleaner is a kind of intelligent household appliance. With the functions of automatic cleaning and automatic obstacle avoidance, it has a higher and higher status in the hearts of consumers and becomes an essential tool for cleaning in most families. For most robot vacuum cleaners, the initial cleaning area during operation is generally fixed. Most robot vacuum cleaners on the market have a cleaning area of 4*4. This requires the operation space to be divided as much as possible, which affects the cleaning efficiency of the robot vacuum cleaner. Therefore, how to reduce the division of the operation space and improve the cleaning efficiency is a technical problem to be solved by those skilled in the art. SUMMARY

[0003] The main purpose of the present application is to provide a method and device for determining an initial cleaning area of a robot vacuum cleaner, a computer device and a storage medium, which aims to reduce the division of the operation space and improve the cleaning efficiency.

[0004] In order to achieve the above-mentioned purpose of the application, a method for determining an initial cleaning area of a robot vacuum cleaner is provided, which comprises the following steps:

[0005] Obtaining map information of an environment in which a robot vacuum cleaner is located;

[0006] Based on the map information, obtaining boundary information in the horizontal direction and the vertical direction of a first position where the robot vacuum cleaner is located;

[0007] Determining an initial cleaning area of the robot vacuum cleaner based on the boundary information.

[0008] Further, the step of determining the initial cleaning area of the robot vacuum cleaner based on the boundary information comprises:

[0009] Analyzing the boundary information to obtain a horizontal boundary and a vertical boundary corresponding to the first position where the robot vacuum cleaner is located;

[0010] When there is a horizontal boundary in the horizontal direction and a vertical boundary in the vertical direction, determining a minimum boundary value based on the horizontal boundary and the vertical boundary; and constructing the initial cleaning area according to the minimum boundary value;

[0011] When there is no boundary in the horizontal direction and the vertical direction, obtaining a map boundary value in the map information;

[0012] Constructing the initial cleaning area according to the map boundary value;

[0013] When there is only one single boundary in the horizontal direction and the vertical direction, a single boundary value is obtained based on the single boundary;

[0014] The initial cleaning area is constructed according to the single boundary value.

[0015] Further, when there is a horizontal boundary in the horizontal direction and a vertical boundary in the vertical direction, a minimum boundary value is determined based on the horizontal boundary and the vertical boundary, including:

[0016] determining whether the boundary value of the horizontal boundary is less than or equal to the boundary value of the vertical boundary;

[0017] If yes, the boundary value of the horizontal boundary is taken as the minimum boundary value;

[0018] If no, the boundary value of the vertical boundary is taken as the minimum boundary value.

[0019] Further, the step of obtaining the map information of the environment where the robot cleaner is located includes:

[0020] based on a first position where the robot cleaner is located, controlling the radar to emit a first radar wave, determining a first area based on the first radar wave, and selecting a second position in the first area;

[0021] controlling the robot cleaner to move to the second position, controlling the radar to emit a second radar wave, and determining a second area based on the second radar wave;

[0022] generating the map information based on the first area and the second area;

[0023] wherein the position farthest from the first position in the first area is selected as the second position.

[0024] Further, after the step of obtaining the map information of the environment where the robot cleaner is located, including:

[0025] based on the map information, obtaining boundary information of a room where the robot cleaner is located;

[0026] constructing an initial cleaning sliding window;

[0027] obtaining the intersection between the boundary information of the initial cleaning sliding window and the boundary information of the room where the robot cleaner is located;

[0028] obtaining target position information of the initial cleaning sliding window corresponding to the maximum value of the intersection;

[0029] determine an initial cleaning area of the cleaning robot based on the boundary information.

[0030] Further, before the step of obtaining boundary information in a horizontal direction and a vertical direction of a first position where the cleaning robot is located based on the map information, the method further comprises:

[0031] obtaining obstacle information in the map information;

[0032] deleting the obstacle in the map information based on the obstacle information.

[0033] Further, after the step of determining the initial cleaning area of the cleaning robot based on the boundary information, the method further comprises:

[0034] determining whether the cleaning robot is in the initial cleaning area;

[0035] if the cleaning robot is in the initial cleaning area, starting a cleaning mode of the cleaning robot, gradually cleaning the working space based on the initial cleaning area, and completing the cleaning task of the working space;

[0036] if the cleaning robot is not in the initial cleaning area, obtaining a current position of the cleaning robot, determining a boundary closest to the current position based on the current position and the boundary information, and moving the cleaning robot to the boundary and gradually cleaning the working space based on the initial cleaning area corresponding to the boundary to complete the cleaning task of the working space.

[0037] A recommendation device for determining an initial cleaning area of a cleaning robot, comprising:

[0038] a map information obtaining module configured to obtain map information of an environment where the cleaning robot is located;

[0039] a boundary information obtaining module configured to obtain boundary information in a horizontal direction and a vertical direction of a first position where the cleaning robot is located based on the map information;

[0040] an initial cleaning area determining module configured to determine an initial cleaning area of the cleaning robot based on the boundary information.

[0041] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for determining an initial cleaning area of a cleaning robot according to any one of the above embodiments when executing the computer program.

[0042] The application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the method for determining an initial cleaning area of a cleaning robot according to any one of the above embodiments.

[0043] The embodiment of the present application provides a method for determining an initial cleaning area of a sweeping machine, map information of an environment where the sweeping machine is located is acquired; boundary information in a horizontal direction and a vertical direction of a first position where the sweeping machine is located is acquired based on the map information; and an initial cleaning area of the sweeping machine is determined based on the boundary information. Through the technical solution, the segmentation of a working space can be reduced, and the cleaning efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 An embodiment flow diagram of a method for determining an initial cleaning area of a sweeping machine is provided.

[0045] Figure 2 An embodiment structure diagram of a device for determining an initial cleaning area of a sweeping machine is provided.

[0046] Figure 3 An embodiment structure diagram of a computer device is provided. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] Reference Figure 1 The embodiment of the present application provides a method for determining an initial cleaning area of a sweeping machine, which comprises steps S10-S30. The detailed description of each step of the method for determining an initial cleaning area of a sweeping machine is as follows.

[0049] S10, acquiring map information of an environment where the sweeping machine is located;

[0050] In this embodiment, the map information of the environment where the sweeping robot is located is obtained, including: based on the first position where the sweeping robot is located, controlling the radar to emit radar waves, determining a first area based on the radar waves, obtaining a second position detected by the radar, when the sweeping robot moves to the second position for operation, controlling the radar to emit the radar waves, determining a second area based on the radar waves; and obtaining the map information based on the first area and the second area. The first position is a preset point of the sweeping robot in the environment; and the second position is the farthest distance detected by the radar waves from the first position. In this embodiment, the sweeping robot is equipped with a laser radar sensor, which can monitor the surrounding environment in real time, and process the data obtained by the laser radar sensor through a SLAM algorithm (instant navigation and map construction) to construct a map. Based on the map, global path planning of the sweeping robot is realized. The special laser radar of the sweeping robot generates a point cloud image with a high ranging frequency (which can construct a more accurate map), a scanning frequency (which can more sensitively detect moving obstacles), and a low angle resolution (which can accurately capture environmental details), to assist the intelligent sweeping robot to easily realize tasks such as mapping and obstacle avoidance.

[0051] S20, based on the map information, obtaining boundary information in the horizontal direction and the vertical direction of the first position where the sweeping robot is located;

[0052] In this embodiment, the boundary information in the horizontal direction and the vertical direction of the first position where the sweeping robot is located is obtained based on the map information, including: the boundary information is determined based on the radar emitted by the sweeping robot. The radar can be divided into over-the-horizon radar, microwave radar, millimeter wave radar, and laser radar according to frequency bands. It is an electronic device that uses electromagnetic waves to detect targets. The radar emits electromagnetic waves to irradiate the target and receives the echo, thereby obtaining information such as the distance, distance change rate (radial velocity), azimuth, height, etc. of the target to the electromagnetic wave emission point. In this embodiment, the radar is a laser radar. Laser radar is a radar system that uses laser beams to detect the position, velocity, etc. of a target. Its working principle is to emit a detection signal (laser beam) to the target, then compare the received signal (target echo) reflected from the target with the emitted signal, and after appropriate processing, the relevant information of the target can be obtained, such as target distance, azimuth, height, velocity, attitude, even shape, etc. It is composed of a laser transmitter, an optical receiver, a turntable, and an information processing system. The laser transmitter converts electrical pulses into optical pulses for emission. The optical receiver restores the optical pulses reflected from the target into electrical pulses and sends them to the display.

[0053] S30, determining an initial cleaning area of the sweeping robot based on the boundary information.

[0054] In this embodiment, the determining of the initial cleaning area of the sweeping robot based on the boundary information comprises: when there is a horizontal boundary in the horizontal direction and there is a vertical boundary in the vertical direction, determining a minimum boundary value based on the horizontal boundary and the vertical boundary; constructing the initial cleaning area according to the minimum boundary value; when there is no boundary in the horizontal direction and the vertical direction, obtaining a map boundary value in the map information; constructing the initial cleaning area according to the map boundary value; and when there is only one single boundary in the horizontal direction and the vertical direction, obtaining a single boundary value based on the single boundary; and constructing the initial cleaning area according to the single boundary value. In this embodiment, the sweeping robot establishes a rectangular coordinate system at a first position in the environment, marks the horizontal direction as x and the vertical direction as y; and the minimum boundary value is the minimum value of the boundary value in the horizontal direction and the boundary value in the vertical direction. According to the method, the initial cleaning area of the sweeping robot is maximized by establishing the initial cleaning area according to the space environment under different working space conditions.

[0055] The embodiment provides a method for determining an initial cleaning area of a sweeping robot, and belongs to the field of intelligent robots. Map information of an environment in which the sweeping robot is located is obtained; boundary information in a horizontal direction and a vertical direction of a first position in which the sweeping robot is located is obtained based on the map information; and an initial cleaning area of the sweeping robot is determined based on the boundary information. Through the technical solution, the segmentation of a working space is reduced, and the cleaning efficiency is improved.

[0056] In one embodiment, the step S20 of determining the initial cleaning area of the sweeping robot based on the boundary information comprises:

[0057] The boundary information is analyzed to obtain a horizontal boundary and a vertical boundary corresponding to the first position in which the sweeping robot is located;

[0058] When there is a horizontal boundary in the horizontal direction and there is a vertical boundary in the vertical direction, a minimum boundary value is determined based on the horizontal boundary and the vertical boundary;

[0059] The initial cleaning area is constructed according to the minimum boundary value;

[0060] When there is no boundary in the horizontal direction and the vertical direction, a map boundary value in the map information is obtained;

[0061] The initial cleaning area is constructed according to the map boundary value;

[0062] When there is only one single boundary in the horizontal direction and the vertical direction, a single boundary value is obtained based on the single boundary;

[0063] constructing the initial cleaning area according to the single boundary value.

[0064] In the embodiment, the first position is an arbitrary position selected by the user on the working ground, and the robot cleaner is placed at the position. The horizontal boundary information and the vertical boundary information of the first position on the working ground are obtained according to the boundary information. The boundary value is determined by the boundary information. The radar wave is used to obtain the point cloud data in front of the robot cleaner. The boundary information of the working space is determined according to the point cloud data. The point cloud data in front of the robot cleaner refers to a set of vectors in a three-dimensional coordinate system. The point cloud data refers to a set of vectors in a three-dimensional coordinate system. The scanning data is recorded in the form of points. Each point contains three-dimensional coordinates. Some may contain color information (RGB) or intensity information (Intensity). The intensity information includes the surface material, roughness, incident angle direction of the target, and the emission energy, laser wavelength, and the like of the instrument. The boundary information is obtained by the laser radar point cloud data of the robot cleaner. The initial area of the robot cleaner is constructed according to the boundary information. Specifically, in an embodiment, when the robot cleaner detects that there is a horizontal boundary in the horizontal direction and there is a vertical boundary in the vertical direction, the sizes of the two boundary values are compared. An initial area is constructed based on the smallest boundary value. The initial area is a square cleaning area. When there is no boundary in the horizontal direction and the vertical direction, the boundary information in the map information is extracted. The initial cleaning area is constructed according to the boundary value of the map. When there is only a single boundary in the horizontal direction and the vertical direction, the robot cleaner and the map information construct a two-dimensional coordinate system on the ground. The horizontal direction has left and right directions, that is, the x-axis direction of the coordinate system. The vertical direction has up and down directions, that is, the y-axis direction of the coordinate system. The robot cleaner detects a boundary information in the horizontal direction and obtains the boundary value in the direction. When a boundary information is detected in the vertical direction, the boundary value in the direction is obtained. The initial cleaning area is constructed according to the boundary values in the horizontal direction and the vertical direction. Through the above method, the initial cleaning area is maximized, the segmentation of the room by the robot cleaner when cleaning the room is reduced, and the cleaning efficiency is improved.

[0065] In one implementation, the method for determining the minimum boundary value based on the horizontal boundary and the vertical boundary when the horizontal boundary exists in the horizontal direction and the vertical boundary exists in the vertical direction includes:

[0066] determining whether the boundary value of the horizontal boundary is less than or equal to the boundary value of the vertical boundary;

[0067] if yes, taking the boundary value of the horizontal boundary as the minimum boundary value;

[0068] If not, the boundary value of the vertical boundary is taken as the minimum boundary value.

[0069] In this embodiment, by comparing the boundary value of the horizontal boundary and the boundary value of the vertical boundary, when the boundary value of the horizontal boundary is less than or equal to the boundary value of the vertical boundary, the robot vacuum cleaner constructs a square initial cleaning area with the boundary value of the horizontal boundary; when the boundary value of the horizontal boundary is greater than or equal to the boundary value of the vertical boundary, the robot vacuum cleaner constructs a square initial cleaning area with the boundary value of the vertical boundary, the boundary value being determined by the boundary information, the boundary information being the wall information detected by the robot vacuum cleaner through the emission of radar waves, the boundary of the initial cleaning area being determined according to the detected wall information.

[0070] In one embodiment, the above S10 of acquiring the map information of the environment where the robot vacuum cleaner is located comprises:

[0071] Based on the first position where the robot vacuum cleaner is located, the radar is controlled to emit a first radar wave, a first area is determined based on the first radar wave, and a second position is selected in the first area;

[0072] The robot vacuum cleaner is controlled to move to the second position, the radar is controlled to emit a second radar wave, and a second area is determined based on the second radar wave;

[0073] The map information is generated based on the first area and the second area;

[0074] In the first area, the position farthest from the first position is selected as the second position.

[0075] In this embodiment, when the robot vacuum cleaner is performing the step of constructing the initial cleaning area, the robot vacuum cleaner is preset to a first position in the environment, when the robot vacuum cleaner moves to the second position for operation, the robot vacuum cleaner controls the radar to emit the radar wave, in the step of determining the second area based on the radar wave, the robot vacuum cleaner moves to the second position through the laser radar navigation system, the robot vacuum cleaner determines the second area by emitting the radar wave in the second position, the map acquisition module of the robot vacuum cleaner generates a map according to the first area and the second area, through the step, the robot vacuum cleaner completes the mapping, returns to the first position, and the navigation system of the robot vacuum cleaner includes: 1, inertial navigation: according to the default route to do cleaning work, through collision to transfer direction, without global view, in a slightly complex environment, it is easy to turn around in one place, cannot generate a whole house map, and cannot set a virtual wall; only by increasing the traditional ultrasonic or infrared detection technology can a whole house map be generated, but this technology cannot be compared with laser navigation. 2, visual navigation: through light detection of the surrounding environment, generating a whole house map, and intelligently generating a cleaning route, the disadvantage is that in places with weak light, obstacles that cannot be detected by light (such as glass), the scanning will not be accurate, it seems to have a little myopia; but if it increases the AI recognition function, it will increase its intelligence level, because the difference between different brands of this technology is very large, so there are products with different levels of intelligence. 3, laser navigation: 1) LDS laser navigation: uses laser to detect the surrounding environment, is not affected by light source, can scan a larger range, and generate a more accurate map; 2) dTof laser navigation: first applied in space technology, compared with LDS laser navigation, can scan a larger range, and the accuracy of the detected objects is improved by 4 times, which is a technology that can only be configured in high-end products. 4, iRobot's unique navigation system: iAdapt navigation system. Through the step, the map is preliminarily established, which provides a basis for constructing the initial cleaning area.

[0076] The second position is detected by radar waves emitted by the sweeping machine, and then the radar echoes reflected back from the object are received, and the distance of the measured object from the sweeping machine is calculated by the time of the round trip of the radar waves. The main working process of its detection distance is that first, the laser radar emits a laser beam, which is reflected back after being hit by an obstacle and is received and processed by the laser receiving system to know the time between the time of laser emission and reflection and reception, i.e. the time of flying laser. According to the time of flight, the distance of the obstacle can be calculated. According to the different forms of the emitted laser signal, the laser ranging method can be divided into two types: pulse method laser ranging and phase method laser ranging.(1) Pulse method laser ranging: the pulse method is that after the laser radar emits a laser beam, part of the laser is reflected back to the obstacle and is received by the receiver of the laser radar. At the same time, the time interval between sending and receiving can be recorded in the laser radar, and the distance to be measured can be calculated according to the speed of light. (2) Phase method laser ranging: the phase method is a continuous laser signal modulated by the laser transmitter. After being illuminated by the obstacle, it is reflected back. The measuring beam will produce a phase change in the round trip. The distance of the obstacle is converted by calculating the phase difference between the laser signal in the radar and the object flying back and forth. According to this method of detecting the second position, it provides a basis for the establishment of the map of the sweeping machine.

[0077] In one embodiment, after the step of acquiring map information of an environment in which the sweeping machine is located, the method further comprises:

[0078] Based on the map information, acquiring boundary information of a room in which the sweeping machine is located;

[0079] Constructing an initial cleaning sliding window;

[0080] Acquiring an intersection between boundary information of the initial cleaning sliding window and the boundary information of the room in which the sweeping machine is located;

[0081] Acquiring target position information of the initial cleaning sliding window corresponding to a maximum value of the intersection;

[0082] Determining an initial cleaning area of the sweeping machine based on the target position information.

[0083] In this embodiment, the boundary information of the map is obtained through the map information, and an initial cleaning sliding window is constructed. The size of the sliding window can be set by itself or constructed according to the boundary of the map of the specific working space. Specifically, in an embodiment, the initial cleaning sliding window has a size of 4*4, but is not limited to 4*4. When the initial cleaning sliding window slides on the map, when the boundary of the sliding window coincides with the boundary of the map by two or more boundaries, the area of the sliding window coinciding with the map is obtained. The sliding window is traversed on the map, and the area where the boundary of the sliding window intersects with the boundary of the map by two or more boundaries is obtained. The size of the intersection area is judged, the maximum intersection area is obtained, and the position information of the sliding window corresponding to the maximum intersection area is obtained. According to the position information, an initial cleaning area is constructed by the sweeping mechanism. The sliding window is a rectangular frame in computer vision, which slides on the picture from left to right and from top to bottom to extract each region in the picture. Through the above technical solution, the segmentation of the room can be reduced.

[0084] It should be noted that the above-mentioned intersection can be the number of grids in the grid map where the boundary of the sliding window intersects with the boundary of the map. If the intersection is the number of grids, the position information of the sliding window corresponding to the maximum number of grids is obtained, and the initial cleaning area is constructed by the sweeping mechanism according to the position information.

[0085] In one embodiment, before the step of obtaining boundary information S20 of the first position of the sweeping robot in the horizontal direction and the vertical direction based on the map information, the method comprises:

[0086] Obtaining obstacle information in the map information;

[0087] Deleting the obstacles in the map information based on the obstacle information.

[0088] In this embodiment, the obstacle information in the map information is obtained by identifying the obstacles by the laser radar. Fundamentally, it is the processing of single-frame multi-line laser radar data, which is similar to the traditional image processing method. However, here it is not a single-frame image returned by a camera, but a three-dimensional point cloud image. The processing method of the point cloud image can be divided into directly calculating the point cloud data, converting the point cloud data into other data for calculation, or a combination of the two to identify the obstacle information. According to this step, the obstacle information in the map information is deleted, so as to further detect the wall information and construct the initial cleaning area.

[0089] In one embodiment, after the step of determining the initial cleaning area S30 of the sweeping robot based on the boundary information, the method comprises:

[0090] When the sweeping machine is in the initial cleaning area, a cleaning mode is started;

[0091] The working space is gradually cleaned based on the initial cleaning area, and the cleaning task of the working space is completed.

[0092] In the embodiment, when the sweeping machine is in the initial cleaning area, a cleaning mode is started; the working space is gradually cleaned based on the initial cleaning area, and the cleaning task of the working space is completed, including: the sweeping machine sequentially traverses all working spaces according to the initial cleaning area, matches the boundary length data and the boundary direction data, and splices the map of all working spaces according to the position information of the boundary. Through the above technical solution, a precise map of the working space can be obtained, and the method is relatively real-time and efficient, and the working efficiency is high.

[0093] Referring to Figure 2 The application provides a sweeping machine initial cleaning area determination device, which includes:

[0094] A map information acquisition module 10 is configured to acquire a map of an environment in which a sweeping machine is located.

[0095] A boundary information acquisition module 20 is configured to acquire boundary information in a horizontal direction and a vertical direction of a first position in which the sweeping machine is located based on the map.

[0096] An initial cleaning area determination module 30 is configured to determine an initial cleaning area of the sweeping machine based on the boundary information.

[0097] As described above, it can be understood that each component of the sweeping machine initial cleaning area determination device proposed in the application can realize the function of any one of the sweeping machine initial cleaning area determination methods described above.

[0098] In one embodiment, the map information acquisition module 10 further includes the following steps:

[0099] Based on the first position in which the sweeping machine is located, a first radar wave is emitted by a radar, a first area is determined based on the first radar wave, and a second position is selected in the first area;

[0100] The sweeping machine is controlled to move to the second position, a second radar wave is emitted by the radar, and a second area is determined based on the second radar wave;

[0101] The map information is generated based on the first area and the second area;

[0102] In the first area, the position farthest from the first position is selected as the second position.

[0103] In an embodiment, the map obtaining module 10 further comprises performing:

[0104] obtaining boundary information of a room in which the robot cleaner is located based on the map information;

[0105] constructing an initial cleaning sliding window;

[0106] obtaining an intersection between boundary information of the initial cleaning sliding window and the boundary information of the room in which the robot cleaner is located;

[0107] obtaining target position information of the initial cleaning sliding window corresponding to a maximum value of the intersection;

[0108] determining an initial cleaning area of the robot cleaner based on the target position information.

[0109] In an embodiment, the map information obtaining module 10 further comprises performing:

[0110] obtaining obstacle information in the map information;

[0111] deleting the obstacle in the map information based on the obstacle information.

[0112] In an embodiment, the initial cleaning area determining module 30 further comprises performing:

[0113] parsing the boundary information to obtain a horizontal boundary corresponding to a first position of the robot cleaner and a vertical boundary;

[0114] when there is a horizontal boundary in the horizontal direction and there is a vertical boundary in the vertical direction, determining a minimum boundary value based on the horizontal boundary and the vertical boundary, and constructing the initial cleaning area according to the minimum boundary value;

[0115] when there is no boundary in the horizontal direction and in the vertical direction, obtaining a map boundary value in the map information;

[0116] constructing the initial cleaning area according to the map boundary value;

[0117] when there is only one single boundary in the horizontal direction and in the vertical direction, obtaining a single boundary value based on the single boundary;

[0118] constructing the initial cleaning area according to the single boundary value.

[0119] In an embodiment, the initial cleaning area determining module 30 further comprises performing:

[0120] judging whether a boundary value of the horizontal boundary is less than or equal to a boundary value of the vertical boundary;

[0121] If yes, the boundary value of the horizontal boundary is taken as the minimum boundary value;

[0122] If no, the boundary value of the vertical boundary is taken as the minimum boundary value.

[0123] In one embodiment, the initial cleaning area determination module 30 further includes performing:

[0124] determining whether the robot is in the initial cleaning area;

[0125] If the robot is in the initial cleaning area, starting the cleaning mode of the robot, gradually cleaning the working space based on the initial cleaning area, and completing the cleaning task of the working space;

[0126] If the robot is not in the initial cleaning area, obtaining the current position of the robot, determining the boundary closest to the current position based on the current position and the boundary information, and moving the robot to the boundary and gradually cleaning the working space based on the initial cleaning area corresponding to the boundary, and completing the cleaning task of the working space.

[0127] With reference to Figure 3 , the present application also provides a computer device, the internal structure of which can be as shown in Figure 3 . The computer device includes a processor, a memory, a network interface, a display device, and an input device connected through a system bus. The network interface of the computer device is used to communicate with an external terminal through a network connection. The display device of the computer device is used to display an interactive page. The input device of the computer device is used to receive user input. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium. The non-volatile storage medium stores an operating system, a computer program, and a database. The database of the computer device is used to store raw data. The computer program is executed by the processor to implement a robot initial cleaning area determination method. The processor executes the above-mentioned robot initial cleaning area determination method, which includes: obtaining map information of an environment in which a robot is located; based on the map information, obtaining boundary information in a horizontal direction and a vertical direction of a first position of the robot; and based on the boundary information, determining an initial cleaning area of the robot.

[0128] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to realize a method for determining an initial cleaning area of a sweeping machine. The application relates to a method, device, computer equipment and medium for determining an initial cleaning area of a sweeping machine, and belongs to the field of intelligent robots. The method comprises the following steps: acquiring map information of an environment in which the sweeping machine is located; acquiring boundary information in a horizontal direction and a vertical direction of a first position where the sweeping machine is located based on the map information; and determining an initial cleaning area of the sweeping machine based on the boundary information. Through the technical solution, the division of a working space can be reduced, and the cleaning efficiency can be improved. The computer readable storage medium provides a method for determining an initial cleaning area of a sweeping machine. The method comprises the following steps: acquiring map information of an environment in which the sweeping machine is located; acquiring boundary information in a horizontal direction and a vertical direction of a first position where the sweeping machine is located based on the map information; and determining an initial cleaning area of the sweeping machine based on the boundary information. Through the technical solution, the division of a working space can be reduced, and the cleaning efficiency can be improved.

[0129] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments can be included. Any reference to memory, storage, database or other medium provided by the application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM) and the like.

[0130] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without further restriction, exclude the existence of additional elements of the process, method, article, or apparatus that comprises the element.

[0131] The preferred embodiments of the present application have been described above with the specific details of the preferred embodiments to provide complete understanding of the application. However, it will be apparent to persons having ordinary skill in the technology that, without departing from the spirit and scope of the application, they can make equivalent changes or modifications to the preferred embodiments and variations based on the technical contents of the present application as well as prior art technology and that such changes or modifications also fall within the scope of the present application.

Claims

1. A method for determining the initial cleaning area of ​​a sweeping machine, characterized in that, The method includes: Obtain map information about the environment where the robot vacuum cleaner is located; The step of obtaining map information about the environment in which the sweeping robot is located includes: Based on the first position of the sweeping robot, the control radar emits a first radar wave, the first area is determined based on the first radar wave, and a second position is selected in the first area. The sweeper is controlled to move to the second position, and the radar is controlled to emit a second radar wave, and the second area is determined based on the second radar wave. The map information is generated based on the first region and the second region; In this context, the location that is furthest from the first location in the first region is selected as the second location; The step of obtaining map information about the environment where the robot vacuum cleaner is located includes: Based on the map information, obtain the boundary information of the room where the robot vacuum is located; Construct the initial cleaning sliding window; Obtain the intersection between the boundary information of the initial cleaning sliding window and the boundary information of the room where the sweeping machine is located; Obtain the target position information of the initial cleaning sliding window corresponding to the maximum value of the intersection; The initial cleaning area of ​​the sweeper is determined based on the target location information; Specifically, when the initial cleaning sliding window slides on the map, if the boundary of the sliding window overlaps with two or more map boundaries, the area of ​​the overlap between the sliding window and the map is obtained. The sliding window is then traversed across the map to obtain the intersection area generated when the boundary of the sliding window overlaps with two or more map boundaries. The size of the intersection area is determined, and the maximum intersection area is obtained. Based on the target position information of the sliding window corresponding to the maximum intersection area, the initial cleaning area of ​​the robot vacuum is constructed.

2. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method for determining the initial cleaning area of ​​a sweeping machine as described in claim 1.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for determining the initial cleaning area of ​​the sweeping machine as described in claim 1.

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