Recharging navigation method and device for sweeping robot

Abstract

The present application provides a recharging navigation method and device for a sweeping robot, which belongs to the field of intelligent device control technology. The method includes: when it is determined that recharging is needed, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; when the current position of the sweeping robot is within the monitoring range of a smart home camera, controlling the smart home camera to collect recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging. The smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.

Description

Technical Field

[0001] The present application relates to the field of intelligent device control technology, and in particular to a recharging navigation method and device for a sweeping robot. Background Art

[0002] With the rapid development of the smart home industry, sweeping robots, as a typical application of smart homes, can automatically complete floor cleaning tasks in the room through built-in sensors, algorithms and navigation systems, freeing people from heavy housework.

[0003] Existing sweeping robots can automatically return to the charging base for charging (i.e., recharging) after completing the cleaning task or when the battery is low. However, due to cost constraints, low-end sweeping robots on the market are usually not equipped with more advanced sensors (such as visual sensors) and can only rely on collision sensors and infrared sensors for obstacle detection and avoidance operations. As a result, the sweeping robots are unable to efficiently plan a reasonable recharging route during the recharging process, which in turn leads to the low recharging efficiency of the sweeping robots. Summary of the invention

[0004] The present application provides a recharging navigation method and device for a sweeping robot to maximize the recharging efficiency of a low-end sweeping robot.

[0005] The present application provides a recharging navigation method for a sweeping robot, the method comprising:

[0006] When it is determined that recharging is required, the current position of the sweeping robot is determined based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot;

[0007] When the current position of the sweeping robot is within the monitoring range of the smart home camera, the smart home camera is controlled to collect a recharging-related image of the sweeping robot, and a recharging route of the sweeping robot is determined based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging;

[0008] Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0009] According to a recharging navigation method of a sweeping robot provided by the present application, the method further includes:

[0010] When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera;

[0011] Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera.

[0012] According to a recharging navigation method for a sweeping robot provided in the present application, the method of determining a preparatory recharging route based on the current position of the sweeping robot and the monitoring range of a smart home camera specifically includes:

[0013] Determine the shortest route between the current position and the monitoring range of the smart home camera based on the current position of the sweeping robot and the monitoring range of the smart home camera;

[0014] Based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.

[0015] According to a recharging navigation method for a sweeping robot provided in the present application, the smart home camera is controlled to collect recharging-related images of the sweeping robot, and a recharging route of the sweeping robot is determined based on the recharging-related images of the sweeping robot, specifically including:

[0016] Based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, an initial shooting posture of the smart home camera is determined, and a first recharging associated image of the sweeping robot is acquired based on the initial shooting posture; the sweeping robot is located at the middle position of the top end of the first recharging associated image;

[0017] Determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route;

[0018] In the process of controlling the cleaning robot to return along the initial recharging route, a recharging-related image sequence of the cleaning robot is continuously collected, and the initial recharging route is corrected based on the recharging-related image sequence.

[0019] According to a recharging navigation method for a sweeping robot provided in the present application, the initial shooting posture of the smart home camera is determined based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, specifically including:

[0020] Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera;

[0021] Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.

[0022] According to a recharging navigation method for a sweeping robot provided by the present application, determining an initial recharging route of the sweeping robot based on the first recharging associated image specifically includes:

[0023] In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of ​​the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment;

[0024] When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.

[0025] According to a recharging navigation method for a sweeping robot provided in the present application, the recharging transfer point in the corresponding area of ​​the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task.

[0026] The present application also provides a recharging navigation device for a sweeping robot, the device comprising:

[0027] A recharging starting point determination module is used to determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is determined that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot;

[0028] A recharging navigation module, which is used to control the smart home camera to collect recharging-related images of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determine the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return trip and starts charging;

[0029] Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0030] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the recharging navigation method of the sweeping robot as described in any one of the above are implemented.

[0031] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned recharging navigation methods for a sweeping robot.

[0032] The recharging navigation method and device for a sweeping robot provided in the present application, when it is judged that recharging is needed, determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, control the smart home camera to collect recharging-related images of the sweeping robot, and determine the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base, so that the smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a flowchart of the recharging navigation method of the sweeping robot provided by the present application;

[0035] Figure 2 It is a schematic diagram of the process of determining the preliminary recharging route provided by this application;

[0036] Figure 3 It is a schematic diagram of the process of determining the recharging route provided by this application;

[0037] Figure 4 It is a structural schematic diagram of the recharging navigation device of the sweeping robot provided in the present application;

[0038] Figure 5 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] Figure 1 A schematic diagram of the flow chart of the recharging navigation method of the sweeping robot provided in this application, such as Figure 1 As shown, the method includes:

[0041] Step 101, when it is determined that recharging is needed, the current position of the sweeping robot is determined based on the starting point of the current cleaning task, the historical route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot.

[0042] Specifically, based on the above content, it can be known that the existing sweeping robots can automatically return to the charging station for charging (i.e., recharging) after completing the cleaning work or when the battery is low. However, due to cost constraints, low-end sweeping robots on the market are usually not equipped with more advanced sensors (such as visual sensors), and can only rely on collision sensors and infrared sensors for obstacle detection and obstacle avoidance operations, resulting in the sweeping robot being unable to efficiently plan a reasonable recharging route during the recharging process, thereby resulting in the sweeping robot's recharging efficiency being too low. In response to this problem, the present application has found through research that for families equipped with sweeping robots at home, they usually have higher requirements for the quality of life. Some of these families usually further equip the living room with smart home cameras for anti-theft, pet or baby safety monitoring considerations. Based on this, the present application proposes a recharging navigation method for a sweeping robot based on the collaboration of smart home cameras, which can call the smart home camera to act as a visual sensor of the sweeping robot, and then efficiently plan the recharging route of the sweeping robot, thereby improving the recharging efficiency of the low-end sweeping robot.

[0043] More specifically, when it is determined that recharging is required, the embodiment of the present application first determines the current position of the sweeping robot based on the starting point of the current cleaning task, the historical route and the preset floor plan. It can be understood that the sweeping robot of the embodiment of the present application only needs the user to pre-set a simple floor plan to achieve automatic cleaning. The preset floor plan is a two-dimensional plan, which only needs to simply mark the size of the house, the location of the wall, the location of the charging seat, the use of each area (such as living room, dining room, bathroom, kitchen, bedroom) and other information. The specific setting process can be achieved by importing the floor plan through the control APP corresponding to the sweeping robot, or it can be adjusted through the preset floor plan template in the control APP. The embodiment of the present application does not make specific restrictions on this. It is worth noting that since the sweeping robot will return to the charging seat for charging after completing the cleaning task or when the battery is low, the starting point of each cleaning task is the charging seat position. Based on this, the embodiment of the present application can quickly determine the starting point of the current cleaning task by marking the charging seat position in the preset floor plan. At the same time, the sweeping robot of the embodiment of the present application will record the historical route during the cleaning process (specifically, the historical route can be recorded in a preset floor plan through the angle and speed during the movement). Based on this, when it is determined that recharging is needed, the current position of the sweeping robot (i.e., the recharging starting point position) can be determined based on the starting point of the current cleaning task, the historical route and the preset floor plan.

[0044] Step 102: when the current position of the sweeping robot is within the monitoring range of the smart home camera (i.e., the entire range that the smart home camera can monitor), control the smart home camera to collect a recharging-related image of the sweeping robot, and determine a recharging route of the sweeping robot based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging;

[0045] Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0046] After the current position of the sweeping robot is determined, the recharging navigation coordination can be performed through the smart home camera. Specifically, when the current position of the sweeping robot is within the monitoring range of the smart home camera, the implementation of this application directly controls the smart home camera to collect the recharging-related images of the sweeping robot, and can continuously determine the environmental information around the sweeping robot (including whether there are obstacles and the size of the obstacles), and then determine the recharging route of the sweeping robot based on the environmental information around the sweeping robot and control the return of the sweeping robot until the sweeping robot completes the return and starts charging. It is worth noting that since the charging seat of the sweeping robot is usually set in the living and dining room area, and the smart home camera is usually also set in the living and dining room area, the charging seat of the sweeping robot is within the monitoring range of the smart home camera, but because the relative positions of the sweeping robot and the charging seat are different at different charging nodes (i.e., nodes that need to be charged) and the monitoring range corresponding to the same shooting posture of the smart home camera is limited, sometimes the smart home camera cannot capture the sweeping robot and the charging seat at the same time. The sweeping robot and the charging seat can only be captured at the same time when the distance between the sweeping robot and the charging seat is close enough. Therefore, the recharging-related images of the cleaning robot include images containing only the cleaning robot and images containing both the cleaning robot and the charging stand.

[0047] It is worth noting that the current position of the sweeping robot may also be outside the monitoring range of the smart home camera, so the method further includes:

[0048] When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera;

[0049] Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera.

[0050] Figure 2 This is a schematic diagram of the process of determining the preparatory recharging route provided by this application, such as Figure 2 As shown, the method of determining the preparatory recharging route based on the current position of the sweeping robot and the monitoring range of the smart home camera specifically includes:

[0051] Step 201, based on the current position of the sweeping robot and the monitoring range of the smart home camera, determine the shortest route between the current position and the monitoring range of the smart home camera;

[0052] Step 202, based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.

[0053] It is understandable that when there is a wall on the shortest route between the current position and the monitoring range of the smart home camera, it means that the sweeping robot is located in an area with a wall such as a room or bathroom. Therefore, the exit (i.e., door) of the area can be determined based on the wall range, and then the detour route can be determined. It is worth noting that the selection of the detour route is aimed at the highest efficiency, based on which the recharging efficiency of the sweeping robot can be maximized. The position of the sweeping robot corresponding to the moment when the sweeping robot just enters the monitoring range of the smart home camera based on the prepared recharging route is used as the aforementioned recharging starting point.

[0054] Furthermore, Figure 3 This is a schematic diagram of the process of determining the recharge route provided by this application, such as Figure 3 As shown, the controlling of the smart home camera to collect the recharging-related image of the sweeping robot and determining the recharging route of the sweeping robot based on the recharging-related image of the sweeping robot specifically includes:

[0055] Step 1021: based on the current position of the cleaning robot, the starting point of the current cleaning task and the installation position of the smart home camera, determine the initial shooting posture of the smart home camera and collect a first recharging associated image of the cleaning robot based on the initial shooting posture; the cleaning robot is located at the middle position of the top end of the first recharging associated image;

[0056] Step 1022, determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route;

[0057] Step 1023: continuously collect a recharging-related image sequence of the cleaning robot while controlling the cleaning robot to return along the initial recharging route, and correct the initial recharging route based on the recharging-related image sequence.

[0058] The determining of the initial shooting posture of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera specifically includes:

[0059] Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera;

[0060] Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.

[0061] It is understandable that, due to the limited shooting range of the smart home camera, after determining the current position of the sweeping robot and the starting point of the current cleaning task (i.e., the charging station position), it is necessary to determine the initial horizontal shooting angle and initial pitch shooting angle (i.e., initial shooting posture) of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera, so as to shoot the first recharge-related image, and then capture the environmental information around the robot through the first recharge-related image and perform initial recharge route planning. It is worth noting that the sweeping robot is located in the middle position of the top of the first recharge-related image, based on which, it can ensure that as much environmental information as possible is obtained for recharge route planning. Based on this, the determination of the initial recharge route of the sweeping robot based on the first recharge-related image specifically includes:

[0062] In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of ​​the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment;

[0063] When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.

[0064] Based on the above content, it can be known that due to the different relative positions of the sweeping robot and the charging seat at different charging nodes (i.e., the nodes that need to be charged) and the limited monitoring range corresponding to the same shooting posture of the smart home camera, sometimes the smart home camera cannot capture the sweeping robot and the charging seat at the same time, and can only capture the sweeping robot and the charging seat at the same time when the sweeping robot and the charging seat are close enough. Therefore, the recharging-related image of the sweeping robot includes an image containing only the sweeping robot (the sweeping robot is far from the charging seat) and an image containing both the sweeping robot and the charging seat (the sweeping robot is close to the charging seat). Based on this, in the case where the first recharging-related image only includes the sweeping robot, the embodiment of the present application determines the recharging transfer point in the corresponding area of ​​the first recharging-related image based on the current position of the sweeping robot and the starting point of the current cleaning task, determines the first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point based on the first recharging-related image, and uses the line segment formed by the recharging transfer point and the starting point of the current cleaning task as the second initial recharging route segment (the first initial recharging route segment and the second initial recharging route segment together constitute the initial recharging route). It is worth noting that the recharging transfer point in the corresponding area of ​​the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task, based on which the efficiency of the initial recharging route can be maximized. It is understandable that when the first recharging associated image contains both the sweeping robot and the charging base, the initial recharging route of the sweeping robot can be determined directly based on the relative position of the sweeping robot and the charging base in the first recharging associated image.

[0065] It is particularly important to note that since the situation of obstacles changes dynamically when there are people at home, the initial recharging route planned may become unavailable even if the first recharging-related image contains both the sweeping robot and the charging base. Based on this, the embodiment of the present application continuously collects the recharging-related image sequence of the sweeping robot while controlling the sweeping robot to return along the initial recharging route, and corrects the initial recharging route based on the recharging-related image sequence. Based on this, the recharging route can be dynamically adjusted to maximize the recharging efficiency of the sweeping robot.

[0066] The method provided in the embodiment of the present application determines the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is judged that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, the smart home camera is controlled to collect recharging-related images of the sweeping robot, and the recharging route of the sweeping robot is determined based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein the charging base of the sweeping robot is within the monitoring range of the smart home camera, the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base, and the smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.

[0067] The recharging navigation device of the sweeping robot provided in the present application is described below. The recharging navigation device of the sweeping robot described below and the recharging navigation method of the sweeping robot described above can be referenced to each other.

[0068] Based on any of the above embodiments, Figure 4 is a schematic diagram of the structure of the recharging navigation device of the sweeping robot provided in this application, such as Figure 4 As shown, the device comprises:

[0069] The recharging starting point determination module 301 is used to determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is determined that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot;

[0070] The recharging navigation module 302 is used to control the smart home camera to collect the recharging-related image of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determine the recharging route of the sweeping robot based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging;

[0071] Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0072] The device provided by the embodiment of the present application, through the recharging starting point determination module 301, determines the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is judged that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; the recharging navigation module 302 controls the smart home camera to collect the recharging-related images of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determines the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base position of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base, so that the smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.

[0073] Based on the above embodiment, the device further includes a preparatory recharging navigation module, and the preparatory recharging navigation module is specifically used to perform the following operations:

[0074] When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera;

[0075] Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera.

[0076] Based on any of the above embodiments, determining the preparatory recharging route based on the current position of the sweeping robot and the monitoring range of the smart home camera specifically includes:

[0077] Determine the shortest route between the current position and the monitoring range of the smart home camera based on the current position of the sweeping robot and the monitoring range of the smart home camera;

[0078] Based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.

[0079] Based on any of the above embodiments, the controlling the smart home camera to collect the recharging-related image of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related image of the sweeping robot, specifically includes:

[0080] Based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, an initial shooting posture of the smart home camera is determined, and a first recharging associated image of the sweeping robot is acquired based on the initial shooting posture; the sweeping robot is located at the middle position of the top end of the first recharging associated image;

[0081] Determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route;

[0082] In the process of controlling the cleaning robot to return along the initial recharging route, a recharging-related image sequence of the cleaning robot is continuously collected, and the initial recharging route is corrected based on the recharging-related image sequence.

[0083] Based on any of the above embodiments, the determining of the initial shooting posture of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera specifically includes:

[0084] Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera;

[0085] Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.

[0086] Based on any of the foregoing embodiments, determining an initial recharging route of the sweeping robot based on the first recharging associated image specifically includes:

[0087] In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of ​​the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment;

[0088] When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.

[0089] Based on any of the above embodiments, the recharging transfer point in the corresponding area of ​​the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task.

[0090] Figure 5An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor (processor) 401, a communication interface (Communications Interface) 402, a memory (memory) 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404. The processor 401 can call the logic instructions in the memory 403 to execute the recharging navigation method of the sweeping robot provided by the above methods, the method including: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, controlling the smart home camera to collect recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base position of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0091] In addition, the logic instructions in the above-mentioned memory 303 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a magnetic disk or an optical disk.

[0092] On the other hand, the present application also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the recharging navigation method of the sweeping robot provided by the above-mentioned methods, and the method includes: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, controlling the smart home camera to collect recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0093] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the recharging navigation method of the sweeping robot provided by the above-mentioned methods, the method comprising: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, controlling the smart home camera to capture recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the position of the charging base of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

[0094] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0095] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a ROM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A recharging navigation method for a sweeping robot, characterized in that: The method comprises: When it is determined that recharging is required, the current position of the sweeping robot is determined based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; When the current position of the sweeping robot is within the monitoring range of the smart home camera, the smart home camera is controlled to collect a recharging-related image of the sweeping robot, and a recharging route of the sweeping robot is determined based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging; The charging station of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging station; The method further comprises: When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera; Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera; The step of determining a preparatory recharging route based on the current position of the sweeping robot and the monitoring range of the smart home camera specifically includes: Determine the shortest route between the current position and the monitoring range of the smart home camera based on the current position of the sweeping robot and the monitoring range of the smart home camera; Based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.

2. The recharging navigation method of the sweeping robot according to claim 1, characterized in that: The controlling the smart home camera to collect the recharging-related image of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related image of the sweeping robot, specifically includes: Based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, an initial shooting posture of the smart home camera is determined, and a first recharging associated image of the sweeping robot is acquired based on the initial shooting posture; the sweeping robot is located at the middle position of the top end of the first recharging associated image; Determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route; In the process of controlling the cleaning robot to return along the initial recharging route, a recharging-related image sequence of the cleaning robot is continuously collected, and the initial recharging route is corrected based on the recharging-related image sequence.

3. The recharging navigation method of the sweeping robot according to claim 2, characterized in that: The determining of the initial shooting posture of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera specifically includes: Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera; Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.

4. The recharging navigation method of the sweeping robot according to claim 3, characterized in that: The determining an initial recharging route of the sweeping robot based on the first recharging associated image specifically includes: In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of ​​the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment; When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.

5. The recharging navigation method of the sweeping robot according to claim 4, characterized in that: The recharging transfer point in the corresponding area of ​​the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task.

6. A recharging navigation device for a sweeping robot, characterized in that: The recharging navigation device of the sweeping robot adopts the recharging navigation method of the sweeping robot as claimed in any one of claims 1 to 5 to perform recharging navigation on the sweeping robot, and the device includes: A recharging starting point determination module is used to determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is determined that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; A recharging navigation module, which is used to control the smart home camera to collect recharging-related images of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determine the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return trip and starts charging; Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the recharging navigation method of the sweeping robot as described in any one of claims 1 to 5 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the recharging navigation method of the sweeping robot as claimed in any one of claims 1 to 5 are implemented.

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