Partition planning method and device for cleaning robot to unconnected areas

Abstract

The partition planning method and device for cleaning robots to deal with unconnected areas relate to the field of cleaning robots, and in order to realize planning of unconnected areas, the technical scheme is that whether the partitions exist unconnected conditions is determined by judging the passable map points of the partition overlapping edges, so that the problem that the cleaning robot cannot accurately judge the unconnected areas during the partition cleaning process due to the fact that one partition is separated into multiple completely unconnected areas by walls and other obstacles, resulting in missed scanning and planning confusion, is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to a partition planning method and equipment for non-connected areas of a cleaning robot. BACKGROUND

[0002] In recent years, the cleaning strategy of cleaning robots has gradually developed from random and disordered cleaning to bow-shaped and orderly cleaning, especially with the introduction of environmental detection algorithms such as laser radar SLAM, cleaning robots mostly adopt the cleaning strategy of dividing the entire environment into multiple fixed-size rectangular partitions. However, the planning method with fixed partition size is prone to cause missed scanning of non-connected areas in some special environments, for example, a partition may be separated by walls and other obstacles into multiple completely non-connected areas, and the current many partition planning methods do not accurately judge the non-connected areas, which leads to problems such as missed scanning and planning confusion of cleaning robots during cleaning. SUMMARY

[0003] In order to realize the planning of non-connected areas, the present application provides a partition planning method and equipment for non-connected areas of a cleaning robot.

[0004] The technical scheme adopted by the present application to solve the above problems is:

[0005] The partition planning method for non-connected areas of a cleaning robot comprises:

[0006] Step 1, setting an initial cleaning partition;

[0007] Step 2, the cleaning robot enters the cleaning partition, detects all the passable map points in the cleaning partition to form a passable map point set, and enters step 3;

[0008] Step 3, after completing the detection of the current cleaning partition, it is judged whether the current cleaning partition exists the last cleaning partition, if not, it enters step 4; if yes, the passable map points of the current cleaning partition and the last cleaning partition on the corresponding cleaning partition common edge are respectively acquired, recorded as the first point set and the second point set, and step 5 is entered;

[0009] Step 4, planning the next cleaning partition based on the current cleaning partition, and entering step 2, the next cleaning partition has at least one common edge with the current cleaning partition;

[0010] Step 5, judging whether the points in the first point set all exist in the second point set,

[0011] If no, the first set of non-passable map points not belonging to the last cleaning partition is added to the set of passable map points of the last cleaning partition, and a detection starting point is determined based on the newly added passable map points to complete detection of the last cleaning partition, and step 4 is entered until a next cleaning partition cannot be planned.

[0012] If yes, the second set of non-passable map points not belonging to the current cleaning partition is added to the set of passable map points of the current cleaning partition, and a detection starting point is determined based on the newly added passable map points to complete detection of the current cleaning partition, and step 4 is entered until a next cleaning partition cannot be planned.

[0013] Further, the step 4 of planning a next cleaning partition comprises planning a size and a detection starting point of the next cleaning partition.

[0014] Further, a length of the non-common edge of the cleaning partition is adaptive.

[0015] Further, the detection starting point is any point of the passable map points on the common edge.

[0016] Further, the step 2 detects the passable map points by using an obstacle detection sensor and / or a radar.

[0017] Further, the step 2 specifically detects all passable map points in the cleaning partition according to a cleaning route.

[0018] Further, the cleaning partition is a rectangle.

[0019] The application discloses a partition planning device for a cleaning robot and a partition planning method thereof.

[0020] An initial cleaning partition setting module is configured to set an initial cleaning partition.

[0021] A passable map point detection module is configured to detect passable map points in the cleaning partition.

[0022] A cleaning partition planning module is configured to plan a next cleaning partition according to a current cleaning partition.

[0023] A cleaning partition judgment module is configured to judge whether a last cleaning partition exists in a current cleaning partition, and if no, the cleaning partition planning module is called, and if yes, the passable map point judgment module is called.

[0024] The passable map point judgment module is configured to judge a difference set of passable map point sets of two cleaning partitions, complete corresponding cleaning partition detection according to the difference set, and then call the cleaning partition planning module.

[0025] Further, the passable map point detection module at least includes an obstacle detection sensor and / or a radar detection unit.

[0026] The present application has the beneficial effect compared to the prior art: by judging the passable map points of the partition overlapping edge, whether the partition exists the unconnected condition is determined, effectively solving the problem that the cleaning robot is divided into multiple completely unconnected areas due to one partition being separated by walls and other obstacles during the partition cleaning process, resulting in inaccurate judgment of unconnected areas and causing missed scanning and planning confusion. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The flow chart of the partition planning method for the unconnected area of the cleaning robot;

[0028] Figure 2 The schematic diagram of the partition. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0030] As shown in the figure, the partition planning method for the unconnected area of the cleaning robot comprises: Figure 1

[0031] Step 1, setting an initial cleaning partition;

[0032] Step 2, the cleaning robot enters the cleaning partition, detects all passable map points in the cleaning partition to form a passable map point set, and enters step 3;

[0033] Step 3, after completing the detection of the current cleaning partition, it is judged whether the current cleaning partition exists the last cleaning partition, if not, it enters step 4; if yes, the passable map points of the current cleaning partition and the last cleaning partition on the corresponding cleaning partition common edge are obtained respectively, recorded as the first point set and the second point set, and step 5 is entered;

[0034] Step 4, planning the next cleaning partition based on the current cleaning partition, and entering step 2, the next cleaning partition and the current cleaning partition have at least one common edge;

[0035] Step 5, judging whether the points in the first point set all exist in the second point set,

[0036] ​If no, the first set of non-passable map points not belonging to the last cleaning partition is added to the set of passable map points of the last cleaning partition, and a detection starting point is determined based on the newly added passable map points to complete detection of the last cleaning partition, and step 4 is entered until a next cleaning partition cannot be planned.

[0037] If yes, the second set of non-passable map points not belonging to the current cleaning partition is added to the set of passable map points of the current cleaning partition, and a detection starting point is determined based on the newly added passable map points to complete detection of the current cleaning partition, and step 4 is entered until a next cleaning partition cannot be planned.

[0038] Further, the step 4 of planning a next cleaning partition comprises planning a size and a detection starting point of the next cleaning partition.

[0039] Further, a length of the non-common edge of the cleaning partition is adaptive.

[0040] Further, the detection starting point is any point of the passable map points on the common edge.

[0041] Further, the step 2 detects the passable map points by using an obstacle detection sensor and / or a radar.

[0042] Further, the step 2 specifically detects all passable map points in the cleaning partition according to a cleaning route.

[0043] Further, the cleaning partition is a rectangle.

[0044] A partition planning device for a cleaning robot for non-connected areas, for implementing a partition planning method for a cleaning robot for non-connected areas, comprises:

[0045] An initial cleaning partition setting module for setting an initial cleaning partition;

[0046] A passable map point detection module for detecting passable map points in a cleaning partition;

[0047] A cleaning partition planning module for planning a next cleaning partition according to a current cleaning partition;

[0048] A cleaning partition judgment module for judging whether a current cleaning partition has a last cleaning partition, if no, calling the cleaning partition planning module, and if yes, calling a passable map point judgment module;

[0049] The passable map point judgment module is for judging a difference set of passable map point sets of two cleaning partitions, and completing corresponding cleaning partition detection according to the difference set, and then calling the cleaning partition planning module.

[0050] Further, the passable map point detection module comprises at least an obstacle detection sensor and / or a radar detection unit.

[0051] Embodiment 1

[0052] As shown in the figure, the partition planning method for cleaning robot to clean the unconnected area comprises: Figure 2

[0053] Step 1: Set the initial cleaning partition as C area.

[0054] Step 2: The cleaning robot enters the C area, detects all the passable map points in the C area to form a passable map point set, and enters Step 3. In this embodiment, all the passable map points in the C area are detected in real time based on the cleaning route. The cleaning route can be set as a mode of first performing partition along the edge and then performing arch-shaped cleaning in the partition, or other modes can be used, which are not limited herein. The passable map point refers to a point that the cleaning robot can normally reach and complete cleaning. If a non-obstacle point (low accuracy) is obtained during detection, a plurality of continuous non-obstacle points need to be judged to ensure that the cleaning robot can reach and complete cleaning.

[0055] Step 3: After the detection of the C area is completed, it is judged whether the C area has the last cleaning partition. In this embodiment, there is no last cleaning partition, and Step 4 is entered.

[0056] Step 4: The next cleaning partition is planned based on the current cleaning partition, and the next cleaning partition has at least one common edge with the current cleaning partition. In addition, the detection starting point needs to be specified, which is any point in the passable map points on the common edge, i.e. any point on ab or cd. It should be noted that the points on the common edge belong to both the current cleaning partition and the next cleaning partition.

[0057] In this embodiment, the next cleaning partition is AB area, but the AB area is divided into two independent areas A and B by the obstacle, and Step 2 is entered. It is assumed that the cleaning robot first enters the A area, i.e. the detection starting point is any point on ab. After the cleaning of the A area is completed, since the A area has the last cleaning partition C area, the passable map points of the AB area and the C area on the corresponding cleaning partition common edge ad are obtained, which are recorded as the first point set and the second point set. The first point set contains the points on ab, and the second point set contains the points on ab and cd, and Step 5 is entered.

[0058] ​Step 5: Determine if all points in the first point set exist in the second point set. In this embodiment, the condition is met. Therefore, add the passable map points (i.e., points on segment cd) in the second point set that do not belong to area AB to the passable map point set of the current cleaning zone. Determine the detection starting point based on the newly added passable map points to complete the cleaning zone detection. The detection starting point is any point among the newly added passable map points. At this point, the passable map point detection for area B is complete. Plan the next cleaning zone based on area B until the planning of all cleaning zones is completed.

[0059] Example 2

[0060] like Figure 2 As shown, the zoning planning method for non-connected areas of the cleaning robot includes:

[0061] Step 1: Set the initial cleaning zone as area AB, but area AB is divided into two independent areas A and B by obstacles;

[0062] Step 2: Assuming the cleaning robot first enters area A, it detects passable map points in area A in real time based on the cleaning route to form a passable map point set, and cleans based on the passable map point set; Since area B is blocked by obstacles, the cleaning robot will mistakenly believe that it has completed cleaning area AB after completing the cleaning of area A, and thus proceed to the next step.

[0063] Step 3: After cleaning area A, determine whether there is a previous cleaning zone in area A. In this embodiment, there is no such zone, proceed to step 4.

[0064] Step 4: Based on the current cleaning partition, plan the next cleaning partition, i.e., region C. The starting point for detection is any point on ab. Proceed to step 2. After cleaning region C, obtain the passable map points on the common edge ad of the current cleaning partition and the previous cleaning partition respectively. These are denoted as the first point set and the second point set. The first point set contains points on segments ab and cd, and the second point set contains points on segment ab. Proceed to step 5.

[0065] Step 5: Determine if all points in the first point set exist in the second point set. In this embodiment, the condition is not met, indicating that the clean zone contains disconnected areas. Therefore, add the traversable map points (points in segment cd) from the first point set that do not belong to region AB to the traversable map point set of region AB. Based on the newly added traversable map points, complete the previous clean zone detection. That is, determine the detection starting point based on the newly added traversable map points to complete the clean zone detection. The detection starting point is any point among the newly added traversable map points. At this point, the traversable map point detection for region B is complete. Plan the next clean zone based on region C, until the planning of all clean zones is completed.

[0066] Embodiment 3

[0067] In this embodiment, on the basis of Embodiment 1 or 2, the initial cleaning partition size is set to a square with a fixed side length of 4 m, and the next cleaning partition is a rectangle with the other side length adaptively set to between 2-6 m, and the specific value can be confirmed according to the obstacle. In the process of detecting the passable map points, the obstacle detection sensor and / or radar detection can be used. In order to improve the detection accuracy, this embodiment uses a combination of obstacle detection sensors and radar detection to determine the obstacle, so as to determine the passable map points.

[0068] Embodiment 4

[0069] The embodiment provides a partition planning device for a cleaning robot, which is carried on the cleaning robot and is used to implement a partition planning method for a non-connected area of the cleaning robot, and the device comprises:

[0070] An initial cleaning partition setting module is configured to set an initial cleaning partition.

[0071] A passable map point detection module is configured to detect passable map points in the cleaning partition.

[0072] A cleaning partition planning module is configured to plan a next cleaning partition according to a current cleaning partition.

[0073] A cleaning partition judgment module is configured to judge whether the current cleaning partition has a previous cleaning partition, and if not, the cleaning partition planning module is called; if yes, the passable map point judgment module is called.

[0074] A passable map point judgment module is configured to judge a difference set of passable map point sets of two cleaning partitions, and complete corresponding cleaning partition detection according to the difference set, and then call the cleaning partition planning module.

[0075] Specifically, the passable map point detection module comprises at least an obstacle detection sensor and / or a radar detection unit.

Claims

1. A zoning planning method for non-connected areas of a cleaning robot, characterized in that, The application relates to a cleaning robot and a cleaning method thereof. The method comprises the following steps: step 1, setting an initial cleaning subarea; step 2, entering the cleaning robot into the cleaning subarea, detecting all the passable map points in the cleaning subarea to form a passable map point set, and entering step 3; step 3, after the detection of the current cleaning subarea is completed, judging whether the current cleaning subarea has a previous cleaning subarea, if not, entering step 4; if yes, respectively acquiring the passable map points of the current cleaning subarea and the previous cleaning subarea on the common edge of the corresponding cleaning subareas, denoted as a first point set and a second point set, and entering step 5; step 4, planning a next cleaning subarea based on the current cleaning subarea, and entering step 2, wherein the next cleaning subarea has at least one common edge with the current cleaning subarea; step 5, judging whether all the points in the first point set exist in the second point set, if not, adding the passable map points in the first point set which do not belong to the previous cleaning subarea into the passable map point set of the previous cleaning subarea, determining a detection starting point based on the newly added passable map points to complete the detection of the previous cleaning subarea, entering step 4, and continuing until a next cleaning subarea cannot be planned; if yes, adding the passable map points in the second point set which do not belong to the current cleaning subarea into the passable map point set of the current cleaning subarea, determining a detection starting point based on the newly added passable map points to complete the detection of the current cleaning subarea, entering step 4, and continuing until a next cleaning subarea cannot be planned. The step 4 of planning the next cleaning subarea comprises the following steps: planning the size of the next cleaning subarea and a detection starting point. The edge length of the non-common edge of the cleaning subarea is adaptive. The detection starting point is any point of the passable map points on the common edge. The step 2 adopts an obstacle detection sensor to detect the passable map points. The step 2 specifically detects all the passable map points in the cleaning subarea according to a cleaning route. The cleaning subarea is a rectangle. The application further relates to a cleaning robot.

2. The method of claim 1, wherein, An initial cleaning subarea setting module is used for setting an initial cleaning subarea. 3.The method of claim 2, wherein, A passable map point detection module is used for detecting the passable map points in the cleaning subarea. 4.The method of claim 2, wherein, A cleaning subarea planning module is used for planning a next cleaning subarea according to a current cleaning subarea. 5.The method of claim 1, wherein, A cleaning subarea judgment module is used for judging whether the current cleaning subarea has a previous cleaning subarea, if not, the cleaning subarea planning module is called; if yes, a passable map point judgment module is called. 6.The method of claim 5, wherein, The passable map point judgment module is used for judging the difference set of the passable map point sets of two cleaning subareas, and completing the detection of the corresponding cleaning subarea according to the difference set, and then calling the cleaning subarea planning module.

7. The method of claim 1-6, wherein, The passable map point detection module at least comprises an obstacle detection sensor.

8. A partition planning apparatus for a cleaning robot for an unconnected area, for implementing the partition planning method for a cleaning robot for an unconnected area according to any one of claims 1 to 7, characterized by, ​ ​ ​ ​ ​ ​ ​ 9.The device of claim 8, wherein, ​

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