Cleaning robot cleaning method, apparatus, terminal device, and storage medium
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN YUNSHI ROBOT CO LTD
- Filing Date
- 2023-04-11
- Publication Date
- 2026-06-26
Smart Images
Figure CN116269056B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and in particular to a cleaning robot cleaning method, apparatus, terminal device, and storage medium. Background Technology
[0002] With the continuous development of science and technology and the improvement of people's living standards, users' demand for cleaning robots is constantly growing. Cleaning robots have a very broad market prospect due to their wide range of applications. At the same time, users have put forward higher requirements for the intelligence and efficiency of cleaning robots for whole-house cleaning.
[0003] When existing cleaning robots clean in a home environment, the default zoning logic of the cleaning robot may cause a certain virtual area to cover multiple rooms. As a result, the cleaning robot is prone to entering and leaving rooms during cleaning, which reduces cleaning efficiency and intelligence.
[0004] In summary, existing cleaning robot cleaning methods suffer from technical problems such as low cleaning efficiency and low intelligence. Summary of the Invention
[0005] The main objective of this invention is to provide a cleaning robot cleaning method, apparatus, terminal device, and storage medium, which aims to optimize the cleaning logic of the cleaning robot to improve cleaning efficiency and intelligence.
[0006] To achieve the above objectives, the present invention provides a cleaning robot cleaning method, the cleaning robot cleaning method comprising:
[0007] Control the cleaning robot to record the current cleaning map information when cleaning unknown environments;
[0008] The current cleaning map information is divided into various room areas to obtain the room-specific cleaning areas of the cleaning robot;
[0009] When it is determined that the cleaning robot has started in the room cleaning area, the target cleaning point is determined according to the current position of the cleaning robot;
[0010] Obtain the cleaning area information corresponding to the target cleaning point, and perform cleaning based on the cleaning area information.
[0011] Optionally, the step of dividing the current cleaning map information into various room areas to obtain the room-specific cleaning areas of the cleaning robot includes:
[0012] When the cleaning robot is charging, the current cleaning map information is divided into various room areas, and the status value corresponding to each room area is determined.
[0013] Determine the newly added room cleaning area corresponding to the status value, and obtain the original room cleaning area of the cleaning robot;
[0014] The newly added room cleaning area and the original room cleaning area are combined to obtain the room cleaning area.
[0015] Optionally, the step of obtaining the cleaning area information corresponding to the target cleaning point includes:
[0016] Determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning;
[0017] If so, then determine the cleaning area information corresponding to the target cleaning point.
[0018] Optionally, the step of cleaning based on the cleaning area information includes:
[0019] The cleaning robot is controlled to move to the target cleaning point based on the cleaning area information;
[0020] After determining that the cleaning robot has reached the target cleaning point, the wall-side no-go zone of the room where the target cleaning point is located is obtained;
[0021] The cleaning robot is controlled to clean the restricted area along the wall.
[0022] Optionally, the step of controlling the cleaning robot to clean the restricted area along the wall includes:
[0023] The cleaning robot is controlled to perform wall-following operations based on the wall-following restricted area.
[0024] When the cleaning robot completes the wall-following operation, control the cleaning robot to clean the wall-following restricted area.
[0025] Optionally, after controlling the cleaning robot to clean the restricted area along the wall, the method includes:
[0026] Once the room where the target cleaning point is located is marked as cleaned, return to the step of determining the target cleaning point based on the current position of the cleaning robot.
[0027] Optionally, after the steps of obtaining the cleaning area information corresponding to the target cleaning point and cleaning according to the cleaning area information, the method includes:
[0028] When the cleaning robot performs the wall-following operation, it is detected whether the cleaning robot obtains coordinates that do not belong to the room-specific cleaning area;
[0029] If so, control the cleaning robot to move to the coordinates and determine the new environment corresponding to the coordinates;
[0030] The cleaning robot is controlled to clean the new environment according to a preset default cleaning logic.
[0031] Furthermore, to achieve the above objectives, the present invention also provides a cleaning robot cleaning device, which includes:
[0032] The recording module is used to control the cleaning robot to record the current cleaning map information when cleaning unknown environments;
[0033] The partitioning module is used to divide the current cleaning map information into various room areas to obtain the room-specific cleaning areas of the cleaning robot;
[0034] The startup module is used to determine the target cleaning point based on the current position of the cleaning robot when it is determined that the cleaning robot will start in the room cleaning area.
[0035] The cleaning module is used to obtain the cleaning area information corresponding to the target cleaning point and to perform cleaning based on the cleaning area information.
[0036] Each functional module of the cleaning robot cleaning device of the present invention implements the steps of the cleaning robot cleaning method of the present invention as described above during operation.
[0037] In addition, to achieve the above objectives, the present invention also provides a terminal device, the terminal device including a memory, a processor, and a cleaning robot cleaning program stored in the memory and executable on the processor, wherein the cleaning robot cleaning program, when executed by the processor, implements the steps of the above-described cleaning robot cleaning method.
[0038] In addition, to achieve the above objectives, the present invention also provides a storage medium storing a cleaning robot cleaning program, which, when executed by a processor, implements the steps of the cleaning robot cleaning method described above.
[0039] After cleaning an unknown environment, the cleaning robot of this invention first saves the current cleaning map information. Then, after the cleaning robot returns to its charging station, it automatically identifies each room in the current cleaning map information and determines the corresponding state value according to the location of each room to update the room-specific cleaning area. When it is determined that the cleaning robot starts within the room-specific cleaning area, the current position of the cleaning robot can be obtained, and the target cleaning point can be obtained by expanding outward based on the current position. Then, the whole house cleaning operation is performed in the room where the target cleaning point is located.
[0040] Unlike existing cleaning robots, this invention's cleaning robot, after activating within its designated room-specific cleaning area, obtains its current location and expands outwards to find the target cleaning point. It then performs whole-house cleaning within the room containing the target point. This effectively avoids the problem of existing cleaning robots' default zoning logic potentially causing a virtual area to cover multiple rooms, leading to the robot repeatedly entering already cleaned rooms. This invention divides the room into separate cleaning areas and assigns different state values to different areas, thereby optimizing the cleaning robot's cleaning logic and effectively improving its cleaning efficiency and intelligence. Attached Figure Description
[0041] Figure 1 This is a flowchart illustrating the first embodiment of the cleaning robot cleaning method of the present invention;
[0042] Figure 2 This is a schematic diagram of a wall-side restricted area involved in an embodiment of the cleaning robot cleaning method of the present invention;
[0043] Figure 3 This is a schematic diagram of a new environment involved in an embodiment of the cleaning robot cleaning method of the present invention;
[0044] Figure 4 This is a schematic diagram of the cleaning robot cleaning device module of the present invention;
[0045] Figure 5 This is a schematic diagram of the structure of the terminal device involved in the embodiment of the present invention;
[0046] Figure 6 This is a schematic diagram of the structure of the storage medium involved in the embodiment of the present invention.
[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0048] This invention provides a cleaning robot cleaning method, referring to... Figure 1 As shown, Figure 1 This is a flowchart illustrating the first embodiment of the cleaning robot cleaning method of the present invention.
[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.
[0050] In this embodiment, the cleaning robot cleaning method of the present invention is applied to a terminal device for cleaning the cleaning robot, and is specifically executed by the control center of the terminal device. The cleaning robot cleaning method of the present invention includes:
[0051] Step S10: Control the cleaning robot to record the current cleaning map information when cleaning unknown environments;
[0052] In this embodiment, the control center controls the cleaning robot to record the current cleaning map information when cleaning the unknown environment according to the preset default cleaning logic, and after the cleaning robot finishes cleaning the unknown environment, the control center saves the current cleaning map information recorded by the cleaning robot to the cleaning robot's memory.
[0053] It should be noted that cleaning robots can be understood as special robots that serve humans, mainly engaged in household cleaning and washing. Depending on the application scope and purpose, there are different types of cleaning robots, such as household sweeping robots, mopping robots, sweeping and mopping robots, and floor scrubbing robots, which are used for cleaning household floors.
[0054] The unknown environment can be understood as the cleaning area that is not recorded by the cleaning robot; the preset default cleaning logic is different from the cleaning robot's logic of cleaning according to the cleaning area.
[0055] The room-specific cleaning area can be understood as a map that automatically identifies different rooms in the current cleaning map information of the unknown environment after the cleaning robot returns to its charging station, and assigns different state values (1, 2, 3, etc.) to the areas where different rooms are located. The room-specific cleaning area can also include a map that has already been assigned state values to the areas where each room is located based on the existing storage of the cleaning robot before identifying the unknown environment. In other words, every time the control center determines that the robot has finished cleaning the unknown environment, it will divide and assign values to the unknown environment to update the room-specific cleaning area.
[0056] Step S20: Divide the current cleaning map information into various room areas to obtain the room-specific cleaning areas of the cleaning robot;
[0057] In this embodiment, once it is determined that the cleaning robot has returned to its charging station, the control center will divide the current cleaning map information into various room areas to obtain the cleaning robot's room-specific cleaning area.
[0058] Step S30: When it is determined that the cleaning robot has started in the room cleaning area, the target cleaning point is determined according to the current position of the cleaning robot;
[0059] In this embodiment, when it is determined that the cleaning robot starts within the area of the room cleaning zone, the control center first determines the current position of the cleaning robot, and then controls the cleaning robot to move outward from the current position as the center; when the cleaning robot traverses to the nearest target cleaning coordinates, it controls the cleaning robot to stop moving, and then uses the target cleaning coordinates as the target cleaning point.
[0060] It should be noted that starting the cleaning robot can be understood as either starting it directly with a button or remotely starting it via a mobile phone. Once started, it will begin operating. You can also schedule the robot's start time on your mobile phone and choose a suitable time to clean the room.
[0061] Step S40: Obtain the cleaning area information corresponding to the target cleaning point, and perform cleaning according to the cleaning area information.
[0062] In this embodiment, the control center first determines whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning. If so, it determines the cleaning area information corresponding to the target cleaning point and controls the cleaning robot to go to the target cleaning point based on the cleaning area information. After determining that the cleaning robot has reached the target cleaning point, it determines the wall-following no-go zone of the room where the target cleaning point is located according to the preset search algorithm. Then, it performs wall-following operation based on the wall-following no-go zone. After determining that the cleaning robot has completed one circle along the wall according to the wall-following operation, it controls the cleaning robot to perform whole-house cleaning in an I-shaped cleaning pattern.
[0063] It should be noted that the conditions for the cleaning robot to perform cleaning can be understood as the cleaning robot performing cleaning according to the cleaning logic of the room-by-room cleaning area; the cleaning area information can be understood as the target cleaning point's status value belonging to the room status (1, 2, 3...), and the room to which the target cleaning point belongs has not been cleaned; in addition, the target cleaning point also needs to be close to a wall or close to another room; the fact that it is close to a wall or close to another room is to ensure that the cleaning robot can smoothly enter the wall-following mode.
[0064] Reference Figure 2 , Figure 2 This is a schematic diagram of a wall-following no-go zone in an embodiment of the cleaning robot cleaning method of the present invention. The wall-following no-go zone can be understood as the first boundary of the room where the target cleaning point is located, determined by a preset search algorithm, has been filled with the state value corresponding to that room (e.g., ...). Figure 2 (as shown in the box in the image), and then determine the second boundary based on the first boundary, thus obtaining the restricted area along the wall (as shown in the box in the image). Figure 2 (as shown in the irregular shape).
[0065] In this embodiment, the control center expands outward based on the current position to obtain the nearest target cleaning point for the cleaning robot, thereby determining the no-go zones along the walls of the room where the target cleaning point is located, and then performing whole-house cleaning operations based on the no-go zones along the walls, thus effectively improving the cleaning efficiency and intelligence of the cleaning robot.
[0066] In summary, after cleaning an unknown environment, the cleaning robot of this invention first saves the current cleaning map information. Then, after the cleaning robot returns to its charging station, it automatically identifies each room in the current cleaning map information and determines the corresponding state value based on the location of each room to update the room-specific cleaning area. When it is determined that the cleaning robot starts within the room-specific cleaning area, the current position of the cleaning robot can be obtained, and the target cleaning point can be obtained by traversing outward based on the current position. Finally, the whole house cleaning operation is performed in the room where the target cleaning point is located.
[0067] Unlike existing cleaning robots, this invention's cleaning robot, after activating within its designated room-specific cleaning area, obtains its current location and expands outwards to find the target cleaning point. It then performs whole-house cleaning within the room containing the target point. This effectively avoids the problem of existing cleaning robots' default zoning logic potentially causing a virtual area to cover multiple rooms, leading to the robot repeatedly entering already cleaned rooms. This invention divides the room into separate cleaning areas and assigns different state values to different areas, thereby optimizing the cleaning robot's cleaning logic and effectively improving its cleaning efficiency and intelligence.
[0068] Furthermore, based on the first embodiment of the cleaning robot of the present invention, a second embodiment of the cleaning robot of the present invention is proposed.
[0069] In this embodiment, step S10 above: dividing the current cleaning map information into various room areas to obtain the room-specific cleaning areas of the cleaning robot, may further include:
[0070] Step S101: When the cleaning robot is in a charging state, the current cleaning map information is divided into various room areas, and the status value corresponding to each room area is determined.
[0071] In this embodiment, after the cleaning robot returns to its charging station, i.e. after the cleaning robot is in a charging state, the control center automatically identifies each room in the current cleaning map information, divides the room into areas according to each room, and then determines the corresponding status value according to the area where each room is located.
[0072] It should be noted that the charging status can be understood as the state in which the cleaning robot automatically returns to the charging dock to recharge and store energy through ultrasonic positioning, Bluetooth positioning, infrared signals, etc. The charging dock refers to the charging base. The charging dock can continuously emit signals, which can be received by the cleaning robot's receiver, so that it can find its way home (to enter a charging hibernation state).
[0073] Step S102: Determine the newly added room cleaning area corresponding to the status value, and obtain the original room cleaning area of the cleaning robot;
[0074] In this embodiment, the control center first determines the newly added room cleaning area corresponding to the state value, and then obtains the original room cleaning area of the cleaning robot.
[0075] It should be noted that the original room cleaning area can be understood as the room cleaning area that has been recorded in the cleaning robot's memory, i.e., the old version of the room cleaning area.
[0076] Step S103: Combine the newly added room cleaning area and the original room cleaning area to obtain the room cleaning area.
[0077] In this embodiment, the control center combines the newly added room cleaning area and the original room cleaning area to obtain the room cleaning area.
[0078] In some feasible embodiments, if the cleaning robot does not acquire the original room-specific cleaning area, the control center will directly define the newly added room-specific cleaning area as the room-specific cleaning area.
[0079] Furthermore, in some other feasible embodiments, step S40 above: obtaining the cleaning area information corresponding to the target cleaning point, may further include:
[0080] Step S401: Determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning;
[0081] In this embodiment, the control center needs to determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning, that is, whether the target cleaning point simultaneously meets the following three elements: whether the status value of the target cleaning point belongs to the room status (1, 2, 3...); whether the room to which the target cleaning point belongs has not been cleaned; and whether the target cleaning point is close to a wall or close to other rooms.
[0082] Step S402: If yes, then determine the cleaning area information corresponding to the target cleaning point.
[0083] In this embodiment, if so, the cleaning robot is controlled to move to the target cleaning point, and after the cleaning robot has reached the target cleaning point, the wall-adjacent restricted area of the room where the target cleaning point is located is determined according to a preset search algorithm.
[0084] In this embodiment, if the control center determines that the target cleaning point simultaneously meets the above three elements, it can determine that the target cleaning point exists, and then control the cleaning robot to move to the coordinates corresponding to the target cleaning point. After determining that the cleaning robot has reached the target cleaning point, it refers to... Figure 2 As shown, the cleaning robot is first controlled to find the outline of the first boundary according to the preset search algorithm (i.e., Figure 2 The box shown is used to define the boundary of the second boundary, which is the restricted area along the wall, based on the outline of the first boundary and the preset search algorithm. Figure 2 (The irregular shape shown).
[0085] Furthermore, in this embodiment, if the target cleaning point does not meet the above three elements, the control center can determine that the target cleaning point does not exist. If the target cleaning point does not exist, that is, all rooms in the room-by-room cleaning area have been cleaned, the control center records the coordinates of the room that does not have a wall-following signal and does not belong to the room-by-room cleaning area when the cleaning robot performs wall-following operations. The coordinates indicate that the control center has obtained a new environment, that is, a new unknown environment. Then, after determining that the cleaning robot has gone to the new environment corresponding to the coordinates, the control center controls the cleaning robot to clean according to the preset default cleaning logic.
[0086] Furthermore, in some feasible embodiments, step S40 above: cleaning according to the cleaning area information may further include:
[0087] Step 403: Control the cleaning robot to move to the target cleaning point according to the cleaning area information;
[0088] In this embodiment, the control center first confirms the existence of the target cleaning point by determining the cleaning area information corresponding to the target cleaning point, and then controls the cleaning robot to go to the room where the target cleaning point is located.
[0089] Step 404: After determining that the cleaning robot has reached the target cleaning point, obtain the no-go zone along the wall of the room where the target cleaning point is located;
[0090] In this embodiment, after determining that the cleaning robot has reached the target cleaning point, the control center determines the no-go zones along the walls of the room where the target cleaning point is located according to a preset search algorithm, referring to... Figure 2 As shown, the cleaning robot is first controlled to find the outline of the first boundary according to the preset search algorithm (i.e., Figure 2The box shown represents the wall of the room where the target is located. Then, based on the outline of the first boundary and the preset search algorithm, the outline of the second boundary is determined, namely the restricted area along the wall. Figure 2 (The irregular shape shown).
[0091] It should be noted that, referring to Figure 2 The distance between the outline of the first boundary and the outline of the second boundary can be understood as the distance between the room and the no-go zone along the wall; if there is no such distance, the cleaning robot will not be able to properly distinguish between the room wall and the no-go zone along the wall when it is cleaning along the wall.
[0092] Step 405: Control the cleaning robot to clean the restricted area along the wall.
[0093] In this embodiment, the control center controls the cleaning robot to perform wall-following operations based on the wall-following no-go zone, and after the cleaning robot completes one circle along the wall according to the wall-following operation, the control center controls the cleaning robot to perform whole-house cleaning in an I-shaped cleaning pattern.
[0094] Furthermore, in some other feasible embodiments, step 405 above: controlling the cleaning robot to clean the restricted area along the wall may further include:
[0095] Step 4051: Control the cleaning robot to perform wall-following operations based on the wall-following restricted area;
[0096] In this embodiment, the control center controls the cleaning robot to move and clean along the boundary of the wall-mounted restricted area in a wall-mounted operation manner.
[0097] Step 4052: When the cleaning robot completes the wall-following operation, control the cleaning robot to clean the wall-following restricted area.
[0098] In this embodiment, the control center determines that after the cleaning robot completes one lap around the wall, that is, after completing one lap around the wall, it then controls the cleaning robot to clean in an I-shaped cleaning pattern.
[0099] Furthermore, in some other feasible embodiments, after step 4052: controlling the cleaning robot to clean the restricted area along the wall, the cleaning robot cleaning method may further include:
[0100] Step A10: Mark that the room where the target cleaning point is located has been cleaned, and return to execute the step of determining the target cleaning point based on the current position of the cleaning robot.
[0101] In this embodiment, the control center needs to mark that the area of the room where the target cleaning point is located has been cleaned, and then return to execute the step of determining the target cleaning point based on the current position of the cleaning robot when it is determined that the cleaning robot has started in the room cleaning area.
[0102] Furthermore, in some feasible embodiments, after step A10 above: marking that the room where the target cleaning point is located has been cleaned and returning to execute the step of determining the target cleaning point based on the current position of the cleaning robot, the cleaning robot cleaning method may further include:
[0103] Step B10: When the cleaning robot is performing the wall-following operation, detect whether the cleaning robot has obtained coordinates that do not belong to the room-specific cleaning area;
[0104] In this embodiment, when the cleaning robot is performing wall-following operations, if the control center does not obtain the coordinates of the wall-following signal, it will detect whether the cleaning robot has obtained coordinates that do not belong to the room-by-room cleaning area. Here, coordinates that do not belong to the room-by-room cleaning area can be understood as the state value that the coordinates do not belong to any room in the room-by-room cleaning area.
[0105] Step B20: If yes, control the cleaning robot to move to the coordinates and determine the new environment corresponding to the coordinates;
[0106] In this embodiment, refer to Figure 3 , Figure 3 This is a schematic diagram of a new environment involved in an embodiment of the cleaning robot cleaning method of the present invention. The control center controls the cleaning robot to move to the coordinates and determines the new environment corresponding to the coordinates, which means that the cleaning robot has arrived at a new unknown environment.
[0107] Step B30: Control the cleaning robot to clean the new environment according to the preset default cleaning logic.
[0108] In this embodiment, the control center controls the cleaning robot to clean according to a preset default cleaning logic, wherein the default cleaning logic no longer follows the logic principle of cleaning areas by room.
[0109] In addition, in some feasible embodiments, after cleaning the new unknown environment, the process returns to the step of controlling the cleaning robot to record the current cleaning map information while cleaning the unknown environment.
[0110] In summary, this invention designs room-specific cleaning zones to clean the areas of each room. After all room areas in the zone are cleaned, when the cleaning robot performs wall-following operations, it records the coordinates of areas without wall-following signals and not belonging to the room-specific cleaning zones. This allows it to determine the new environment (a new unknown environment). After the cleaning robot finishes cleaning this new environment, it returns to the step of controlling the cleaning robot to record the current cleaning map information when cleaning the unknown environment. This effectively improves the cleaning efficiency and intelligence of the cleaning robot.
[0111] Furthermore, the present invention also provides a cleaning robot cleaning device. (See reference...) Figure 3 , Figure 3 This is a schematic diagram of the cleaning robot cleaning device module of the present invention.
[0112] The cleaning robot cleaning device of the present invention includes:
[0113] The recording module H01 is used to control the cleaning robot to record the current cleaning map information when cleaning unknown environments;
[0114] The partitioning module H02 is used to divide the current cleaning map information into various room areas to obtain the room-specific cleaning areas of the cleaning robot;
[0115] The startup module H03 is used to determine the target cleaning point based on the current position of the cleaning robot when it is determined that the cleaning robot has started in the room cleaning area.
[0116] The cleaning module H04 is used to obtain the cleaning area information corresponding to the target cleaning point and to perform cleaning based on the cleaning area information.
[0117] Optionally, module H02 may also include:
[0118] The area division unit is used to divide the current cleaning map information into various room areas when the cleaning robot is in a charging state, and to determine the status value corresponding to each room area.
[0119] The newly added unit is used to determine the newly added room cleaning area corresponding to the status value and to obtain the original room cleaning area of the cleaning robot;
[0120] The summarization unit is used to summarize the newly added room cleaning area and the original room cleaning area to obtain the room cleaning area.
[0121] Optionally, the cleaning module H04 may also include:
[0122] The judgment unit is used to determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning;
[0123] The information determination unit is used to determine the cleaning area information corresponding to the target cleaning point if the condition is met.
[0124] Optionally, the cleaning module H04 may also include:
[0125] The control unit is used to control the cleaning robot to move to the target cleaning point based on the cleaning area information;
[0126] The wall-side restricted area acquisition unit is used to acquire the wall-side restricted area of the room where the target cleaning point is located after determining that the cleaning robot has reached the target cleaning point;
[0127] The cleaning robot is controlled to clean the restricted area along the wall.
[0128] Optionally, the cleaning module H04 may also include:
[0129] An execution unit is used to control the cleaning robot to perform wall-following operations based on the wall-following restricted area;
[0130] The wall-following cleaning unit is used to control the cleaning robot to clean the wall-following restricted area when the cleaning robot completes the wall-following operation.
[0131] Optionally, the cleaning module H04 may also include:
[0132] The marking unit is used to mark that the room where the target cleaning point is located has been cleaned, and then return to the step of determining the target cleaning point based on the current position of the cleaning robot.
[0133] Optionally, the cleaning module H04 may also include:
[0134] The detection unit is used to detect whether the cleaning robot has obtained coordinates that do not belong to the room cleaning area when the cleaning robot is performing the wall-following operation;
[0135] The new environment determination unit is used to control the cleaning robot to move to the coordinates if the condition is met, and to determine the new environment corresponding to the coordinates.
[0136] The default cleaning unit is used to control the cleaning robot to clean the new environment according to the preset default cleaning logic.
[0137] Each functional module of the cleaning robot cleaning device of the present invention implements the steps of the cleaning robot cleaning method of the present invention as described above during operation.
[0138] Furthermore, the present invention also provides a terminal device. Please refer to... Figure 5 , Figure 5This is a schematic diagram of the terminal device involved in an embodiment of the present invention. Specifically, the terminal device in this embodiment can be a device for a locally operating cleaning robot.
[0139] like Figure 5 As shown, the terminal device in this embodiment of the invention may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).
[0140] The memory 1005 is disposed on the main body of the terminal device. The memory 1005 stores a program that performs corresponding operations when executed by the processor 1001. The memory 1005 is also used to store parameters for use by the terminal device. The memory 1005 can be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 can also be a storage device independent of the aforementioned processor 1001.
[0141] Those skilled in the art will understand that Figure 5 The terminal device structure shown does not constitute a limitation on the terminal device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0142] like Figure 5 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a smart connection program for terminal devices.
[0143] exist Figure 5 In the terminal device shown, the processor 1001 can be used to call the intelligent connection program of the terminal device stored in the memory 1005 and execute the steps of various embodiments of the cleaning robot cleaning method of the present invention. The cleaning robot cleaning method may include:
[0144] Control the cleaning robot to record the current cleaning map information when cleaning unknown environments;
[0145] The current cleaning map information is divided into various room areas to obtain the room-specific cleaning areas of the cleaning robot;
[0146] When it is determined that the cleaning robot has started in the room cleaning area, the target cleaning point is determined according to the current position of the cleaning robot;
[0147] Obtain the cleaning area information corresponding to the target cleaning point, and perform cleaning based on the cleaning area information.
[0148] Further, the step of dividing the current cleaning map information into various room areas to obtain the room-specific cleaning areas for the cleaning robot includes:
[0149] When the cleaning robot is charging, the current cleaning map information is divided into various room areas, and the status value corresponding to each room area is determined.
[0150] Determine the newly added room cleaning area corresponding to the status value, and obtain the original room cleaning area of the cleaning robot;
[0151] The newly added room cleaning area and the original room cleaning area are combined to obtain the room cleaning area.
[0152] Furthermore, the step of obtaining the cleaning area information corresponding to the target cleaning point includes:
[0153] Determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning;
[0154] If so, then determine the cleaning area information corresponding to the target cleaning point.
[0155] Furthermore, the step of cleaning based on the cleaning area information includes:
[0156] The cleaning robot is controlled to move to the target cleaning point based on the cleaning area information;
[0157] After determining that the cleaning robot has reached the target cleaning point, the wall-side no-go zone of the room where the target cleaning point is located is obtained;
[0158] The cleaning robot is controlled to clean the restricted area along the wall.
[0159] Furthermore, the step of controlling the cleaning robot to clean the restricted area along the wall includes:
[0160] The cleaning robot is controlled to perform wall-following operations based on the wall-following restricted area.
[0161] When the cleaning robot completes the wall-following operation, control the cleaning robot to clean the wall-following restricted area.
[0162] Furthermore, after controlling the cleaning robot to clean the restricted area along the wall, the method includes:
[0163] Once the room where the target cleaning point is located is marked as cleaned, return to the step of determining the target cleaning point based on the current position of the cleaning robot.
[0164] Further, after the steps of obtaining the cleaning area information corresponding to the target cleaning point and cleaning according to the cleaning area information, the method includes:
[0165] When the cleaning robot performs the wall-following operation, it is detected whether the cleaning robot obtains coordinates that do not belong to the room-specific cleaning area;
[0166] If so, control the cleaning robot to move to the coordinates and determine the new environment corresponding to the coordinates;
[0167] The cleaning robot is controlled to clean the new environment according to a preset default cleaning logic.
[0168] Furthermore, the present invention also provides a storage medium. Please refer to... Figure 6 , Figure 6 This is a schematic diagram of the structure of the storage medium involved in the embodiment of the present invention.
[0169] Control the cleaning robot to record the current cleaning map information when cleaning unknown environments;
[0170] The current cleaning map information is divided into various room areas to obtain the room-specific cleaning areas of the cleaning robot;
[0171] When it is determined that the cleaning robot has started in the room cleaning area, the target cleaning point is determined according to the current position of the cleaning robot;
[0172] Obtain the cleaning area information corresponding to the target cleaning point, and perform cleaning based on the cleaning area information.
[0173] Further, the step of dividing the current cleaning map information into various room areas to obtain the room-specific cleaning areas for the cleaning robot includes:
[0174] When the cleaning robot is charging, the current cleaning map information is divided into various room areas, and the status value corresponding to each room area is determined.
[0175] Determine the newly added room cleaning area corresponding to the status value, and obtain the original room cleaning area of the cleaning robot;
[0176] The newly added room cleaning area and the original room cleaning area are combined to obtain the room cleaning area.
[0177] Furthermore, the step of obtaining the cleaning area information corresponding to the target cleaning point includes:
[0178] Determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning;
[0179] If so, then determine the cleaning area information corresponding to the target cleaning point.
[0180] Furthermore, the step of cleaning based on the cleaning area information includes:
[0181] The cleaning robot is controlled to move to the target cleaning point based on the cleaning area information;
[0182] After determining that the cleaning robot has reached the target cleaning point, the wall-side no-go zone of the room where the target cleaning point is located is obtained;
[0183] The cleaning robot is controlled to clean the restricted area along the wall.
[0184] Furthermore, the step of controlling the cleaning robot to clean the restricted area along the wall includes:
[0185] The cleaning robot is controlled to perform wall-following operations based on the wall-following restricted area.
[0186] When the cleaning robot completes the wall-following operation, control the cleaning robot to clean the wall-following restricted area.
[0187] Furthermore, after controlling the cleaning robot to clean the restricted area along the wall, the method includes:
[0188] Once the room where the target cleaning point is located is marked as cleaned, return to the step of determining the target cleaning point based on the current position of the cleaning robot.
[0189] Further, after the steps of obtaining the cleaning area information corresponding to the target cleaning point and cleaning according to the cleaning area information, the method includes:
[0190] When the cleaning robot performs the wall-following operation, it is detected whether the cleaning robot obtains coordinates that do not belong to the room-specific cleaning area;
[0191] If so, control the cleaning robot to move to the coordinates and determine the new environment corresponding to the coordinates;
[0192] The cleaning robot is controlled to clean the new environment according to a preset default cleaning logic.
[0193] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0194] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0195] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.
[0196] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.
Claims
1. A cleaning robot cleaning method, characterized in that, The cleaning robot cleaning method includes: Control the cleaning robot to record the current cleaning map information when cleaning unknown environments; The current cleaning map information is divided into various room areas to obtain the room-specific cleaning areas of the cleaning robot; When it is determined that the cleaning robot has started in the room cleaning area, the target cleaning point is determined according to the current position of the cleaning robot; Obtain the cleaning area information corresponding to the target cleaning point, and perform cleaning according to the cleaning area information; The step of obtaining the cleaning area information corresponding to the target cleaning point includes: Determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning, wherein the conditions for the cleaning robot to perform cleaning include: the status value of the target cleaning point belongs to the room status, the room to which the target cleaning point belongs has not been cleaned, and the target cleaning point is close to a wall or close to other rooms. If so, then determine the cleaning area information corresponding to the target cleaning point; The step of cleaning based on the cleaning area information includes: Based on the cleaning area information, the cleaning robot is controlled to proceed to the target cleaning point; after the cleaning robot arrives at the target cleaning point, the wall-adjacent restricted area of the room where the target cleaning point is located is obtained; the cleaning robot is then controlled to clean the wall-adjacent restricted area.
2. The cleaning robot cleaning method as described in claim 1, characterized in that, The step of dividing the current cleaning map information into various room areas to obtain the room-specific cleaning areas for the cleaning robot includes: When the cleaning robot is charging, the current cleaning map information is divided into various room areas, and the status value corresponding to each room area is determined. Determine the newly added room cleaning area corresponding to the status value, and obtain the original room cleaning area of the cleaning robot; The newly added room cleaning area and the original room cleaning area are combined to obtain the room cleaning area.
3. The cleaning robot cleaning method as described in claim 1, characterized in that, The step of controlling the cleaning robot to clean the restricted area along the wall includes: The cleaning robot is controlled to perform wall-following operations based on the wall-following restricted area. When the cleaning robot completes the wall-following operation, control the cleaning robot to clean the wall-following restricted area.
4. The cleaning robot cleaning method as described in claim 3, characterized in that, After controlling the cleaning robot to clean the restricted area along the wall, the method further includes: Once the room where the target cleaning point is located is marked as cleaned, return to the step of determining the target cleaning point based on the current position of the cleaning robot.
5. The cleaning robot cleaning method as described in claim 3, characterized in that, After the steps of obtaining the cleaning area information corresponding to the target cleaning point and cleaning according to the cleaning area information, the method further includes: When the cleaning robot performs the wall-following operation, it is detected whether the cleaning robot obtains coordinates that do not belong to the room-specific cleaning area; If so, control the cleaning robot to move to the coordinates and determine the new environment corresponding to the coordinates; The cleaning robot is controlled to clean the new environment according to a preset default cleaning logic.
6. A cleaning robot sweeping device, characterized in that, The cleaning robot cleaning device includes: The recording module is used to control the cleaning robot to record the current cleaning map information when cleaning unknown environments; The partitioning module is used to divide the current cleaning map information into various room areas to obtain the room-specific cleaning areas of the cleaning robot; The startup module is used to determine the target cleaning point based on the current position of the cleaning robot when it is determined that the cleaning robot will start in the room cleaning area. The cleaning module is used to acquire cleaning area information corresponding to the target cleaning point and perform cleaning based on the cleaning area information. The cleaning module is also used to determine whether the target cleaning point meets the conditions for the cleaning robot to perform cleaning, wherein the conditions for the cleaning robot to perform cleaning include: the target cleaning point's status value is within the room's status, the room to which the target cleaning point belongs has not been cleaned, and the target cleaning point is close to a wall or close to another room. If so, the cleaning area information corresponding to the target cleaning point is determined. The cleaning module is also used to control the cleaning robot to move to the target cleaning point based on the cleaning area information. After determining that the cleaning robot has reached the target cleaning point, the module acquires the wall-adjacent restricted area of the room where the target cleaning point is located; and controls the cleaning robot to clean the wall-adjacent restricted area.
7. A terminal device, characterized in that, The terminal device includes a memory, a processor, and a cleaning robot cleaning program stored in the memory and executable on the processor. When the processor executes the cleaning robot cleaning program, it implements the steps of the cleaning robot cleaning method as described in any one of claims 1 to 5.
8. A storage medium, characterized in that, The storage medium stores a cleaning robot cleaning program, which, when executed by a processor, implements the steps of the cleaning robot cleaning method as described in any one of claims 1 to 5.