A cleaning robot repositioning cleaning method and device

Abstract

The present invention discloses a cleaning robot repositioning and cleaning method and system. The method and system can select a corresponding partition planning strategy according to the relationship between the new position of the cleaning robot after successful repositioning and the original position and the position relationship of the cleaned partitions. The method and system can solve the problems of the robot needing to return a long distance due to the repositioning distance being too far during the cleaning process, or the partition being easily disordered or repeated cleaning caused when planning a new partition at the current position. The method enables the cleaning robot to plan a more efficient cleaning route and strategy after repositioning, thereby improving the cleaning efficiency of the cleaning robot.

Description

Technical Field

[0001] The present invention relates to the field of cleaning robots, and more particularly, to a cleaning robot repositioning cleaning method and equipment. Background Art

[0002] During the cleaning process, the cleaning robot may sometimes encounter problems such as being picked up and taken to another location or losing its position. At this time, it is necessary to use the robot repositioning method to regain the new current position of the cleaning robot and restart cleaning to complete the established cleaning plan.

[0003] A commonly used method at present is to return the robot to the position before repositioning to resume scanning at the breakpoint. However, when the new position of the robot is too far away from the original position, the robot needs to travel a long distance to return, which affects the cleaning efficiency. Another method is to directly re-plan the cleaning at the new position when the new position is too far away. However, the cleaning area planned at the new position is likely to overlap with the cleaned area during the subsequent cleaning process, causing repeated cleaning problems. Especially in the cleaning method of partitioning by specified length, it will also lead to chaotic and disordered planning of the cleaning partition positions, thereby affecting the cleaning efficiency and cleaning coverage. Summary of the Invention

[0004] The present invention overcomes the problems of long return distance and repeated cleaning that are easy to occur in the prior art repositioning, and provides a cleaning robot repositioning cleaning method and equipment.

[0005] The present invention provides a cleaning robot repositioning cleaning method, comprising the following steps:

[0006] After the cleaning robot detects that the non-autonomous movement has ended, it starts repositioning and obtains the current position;

[0007] The cleaning robot determines whether its current position and the position before relocation are in the same partition. If they are in the same partition, it returns to the position before relocation and continues cleaning.

[0008] If they are not in the same partition, calculate whether the distance between the cleaning robot's current position and the edge of the nearest cleaned partition is less than a threshold;

[0009] If it is less, the edge of the most recently cleaned partition is used as one of the edges of the new clean partition and the clean partition is redefined;

[0010] If it is not less than, the current position of the cleaning robot is used as the endpoint of the new cleaning zone and the cleaning zone is redefined;

[0011] Cleaning shall be carried out according to the newly planned cleaning zones.

[0012] Through the above steps, the cleaning robot can return to its original position to clean directly after moving if it is not far from its original position. When it is far away from its original position, the distance between the current position and the edge of the nearest cleaned partition is calculated, and the cleaning partition is re-planned based on the distance result. This avoids the robot returning to its original cleaning position again when it is far away from its original position, thereby improving cleaning efficiency.

[0013] A further technical solution is that after the new cleaning partition is replanned, the following steps are performed:

[0014] Determine whether the portion of the redefined cleaning zone where the cleaning robot is currently located is within the cleaned zone;

[0015] If part of the area is within the cleaned partition, the partition where the current position is located is reduced to the edge of the cleaned partition and the cleaned partition is redefined.

[0016] If no partial area is within the cleaned partition, the partition where the current position is located is expanded to the edge of the cleaned partition and the clean partition is redefined.

[0017] The above steps can avoid the part of the cleaned partition being included in the new clean partition, thereby avoiding repeated cleaning of the cleaned partition.

[0018] A further technical solution is that the calculating whether the distance between the current position of the cleaning robot and the edge of the cleaned partition is less than a threshold specifically includes the following steps:

[0019] Traverse all cleaned partitions, calculate the difference between the x and y coordinates of the cleaning robot's current position and the edge coordinates of the cleaned partition, and determine whether the difference is less than the threshold.

[0020] A further technical solution is that the step of using the edge of the most recently cleaned partition as one of the edges of the new cleaned partition specifically includes the following steps:

[0021] Obtain the edge coordinates of all cleaned partition edges within the threshold that are closest to the current position of the cleaning robot. If the nearest edge coordinates are less than or equal to the current position coordinates of the cleaning robot, then use the nearest edge as the minimum coordinate of the new partition edge; otherwise, use it as the maximum coordinate.

[0022] A further technical solution is that using the current position of the cleaning robot as the endpoint of the new cleaning zone specifically includes the following steps:

[0023] The current position of the cleaning robot is used as the minimum coordinate endpoint of the new cleaning partition, and the partition length is a fixed partition length.

[0024] The present invention also provides a cleaning robot repositioning cleaning device, comprising:

[0025] The motion monitoring module is used to monitor whether the robot's non-autonomous movement has ended;

[0026] Positioning module, used to obtain the current position of the cleaning robot;

[0027] A distance calculation module is used to calculate the distance between the current position of the cleaning robot or the edge of the partition where the current position is located and the edge of the nearest cleaned partition;

[0028] Partition module, used to re-plan new cleaning partitions.

[0029] Compared with the existing technology, the present invention has at least the following beneficial effects: by selecting the corresponding partition planning strategy based on the relationship between the new position of the cleaning robot after successful repositioning and the original position and the position relationship of the cleaned partitions, it can solve the problems of the robot needing to return a long distance due to the long repositioning distance during cleaning, or easily causing partition chaos or repeated cleaning when planning new partitions at the current position. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a flow chart of the first embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] Example 1:

[0033] A cleaning robot repositioning and cleaning method comprises the following steps:

[0034] 101: After the cleaning robot detects that the non-autonomous movement has ended, it starts repositioning and obtains the current position;

[0035] 102: The cleaning robot determines whether the current position and the position before relocation are in the same partition. If so, step 103 is executed; if not, step 104 is executed.

[0036] 103: Return to the position before repositioning to continue cleaning, and the process ends;

[0037] 104: Calculate whether the distance between the current position of the cleaning robot and the edge of the nearest cleaned partition is less than a threshold. Specifically, traverse all cleaned partitions, calculate the difference between the x and y coordinates of the current position of the cleaning robot and the coordinates of the edge of the cleaned partition, and determine whether the difference is less than the threshold. If not, execute step 105; if less, execute step 106.

[0038] 105: The current position of the cleaning robot is used as the endpoint of the new cleaning partition. Specifically, the current position of the cleaning robot is used as the minimum coordinate endpoint of the new cleaning partition, and its corresponding maximum coordinate endpoint is where the new partition size is the set partition size. The cleaning partition is redefined, and cleaning is performed according to the re-planned new cleaning partition. The process ends.

[0039] 106: Using the edge of the most recently cleaned partition as one of the edges of the new cleaning partition. Specifically, obtaining the edge coordinates of all the edges of the cleaned partitions within the threshold that are closest to the current position of the cleaning robot. If the coordinates of the closest edge are less than or equal to the coordinates of the current position of the cleaning robot, then using the closest edge as the minimum coordinate of the new partition edge; otherwise, using the closest edge as the maximum coordinate, and redrawing the cleaning partition.

[0040] 107: After the cleaning zone is redefined, it is determined whether the partial area of the redefined cleaning zone where the cleaning robot is currently located is within the cleaned zone. If the partial area is within the cleaned zone, step 108 is executed; if no partial area is within the cleaned zone, step 109 is executed.

[0041] 108: The partition where the current position is located is reduced to the edge of the cleaned partition, and the cleaning partition is redefined. Cleaning is performed according to the newly planned cleaning partition, and the process ends.

[0042] 109: Expand the partition where the current location is located to the edge of the cleaned partition, re-define the clean partition, and perform cleaning according to the re-planned new clean partition. The process ends.

[0043] Example 2:

[0044] A cleaning robot repositioning cleaning device, comprising:

[0045] The motion monitoring module is used to monitor whether the robot's non-autonomous movement has ended;

[0046] Positioning module, used to obtain the current position of the cleaning robot;

[0047] A distance calculation module is used to calculate the distance between the current position of the cleaning robot or the edge of the partition where the current position is located and the edge of the nearest cleaned partition;

[0048] Partition module, used to re-plan new cleaning partitions.

[0049] The device's motion monitoring module detects that the non-autonomous movement has ended, and the positioning module starts repositioning to obtain the current position;

[0050] The positioning module determines whether the current position and the position before repositioning are in the same partition. If they are in the same partition, it returns to the position before repositioning to continue cleaning;

[0051] If they are not in the same partition, the distance calculation module calculates whether the distance between the current position of the cleaning robot and the edge of the nearest cleaned partition is less than a threshold;

[0052] If it is less, the partitioning module uses the edge of the most recently cleaned partition as one of the edges of the new clean partition and redraws the clean partition;

[0053] If it is not less than, the partitioning module will use the current position of the cleaning robot as the endpoint of the new cleaning partition, re-define the cleaning partition, and the cleaning robot will clean according to the re-planned new cleaning partition.

[0054] Although the present invention has been described herein with reference to illustrative embodiments of the present invention, it will be appreciated that those skilled in the art may devise numerous other modifications and implementations that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope disclosed herein, various variations and improvements may be made to the components and / or layout of the subject combination layout. In addition to variations and improvements made to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A cleaning robot repositioning cleaning method, characterized in that: The following steps are involved: After the cleaning robot detects that the non-autonomous movement has ended, it starts repositioning and obtains the current position; The cleaning robot determines whether its current position and the position before relocation are in the same partition. If they are in the same partition, it returns to the position before relocation and continues cleaning. If they are not in the same partition, calculate whether the distance between the cleaning robot's current position and the edge of the nearest cleaned partition is less than a threshold; If it is less, the edge of the most recently cleaned partition is used as one of the edges of the new clean partition and the clean partition is redefined; If it is not less than, the current position of the cleaning robot is used as the endpoint of the new cleaning zone and the cleaning zone is redefined; Cleaning shall be carried out according to the newly planned cleaning zones.

2. A cleaning robot repositioning cleaning method according to claim 1, characterized in that: After re-planning the new cleaning partition, perform the following steps: Determine whether the portion of the redefined cleaning zone where the cleaning robot is currently located is within the cleaned zone; If part of the area is within the cleaned zone, the zone where the current location is located is reduced to the edge of the cleaned zone and the cleaned zone is redefined; If no partial area is within the cleaned partition, the partition where the current position is located is expanded to the edge of the cleaned partition and the clean partition is redefined.

3. A cleaning robot repositioning cleaning method according to claim 1, characterized in that: The calculation of whether the distance between the current position of the cleaning robot and the edge of the cleaned partition is less than a threshold specifically includes the following steps: Traverse all cleaned partitions, calculate the difference between the x and y coordinates of the cleaning robot's current position and the edge coordinates of the cleaned partition, and determine whether the difference is less than the threshold.

4. A cleaning robot repositioning cleaning method according to claim 1, characterized in that: The method of using the edge of the most recently cleaned partition as one of the edges of the new cleaned partition specifically includes the following steps: Obtain the edge coordinates of all cleaned partition edges within the threshold that are closest to the current position of the cleaning robot. If the nearest edge coordinates are less than or equal to the current position coordinates of the cleaning robot, then use the nearest edge as the minimum coordinate of the new partition edge; otherwise, use it as the maximum coordinate.

5. The cleaning robot repositioning and cleaning method according to claim 1, characterized in that: The method of using the current position of the cleaning robot as the endpoint of the new cleaning partition specifically includes the following steps: The current position of the cleaning robot is used as the minimum coordinate endpoint of the new cleaning partition, and the partition length is a fixed partition length.

6. A cleaning robot repositioning cleaning device, characterized in that: The repositioning and cleaning method according to any one of claims 1 to 5 comprises: The motion monitoring module is used to monitor whether the robot's non-autonomous movement has ended; Positioning module, used to obtain the current position of the cleaning robot; A distance calculation module is used to calculate the distance between the current position of the cleaning robot or the edge of the partition where the current position is located and the edge of the nearest cleaned partition; Partition module, used to re-plan new cleaning partitions.

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