Cleaning path re-planning method and device based on different medium surfaces

Abstract

The invention provides a cleaning path re-planning method and device based on different medium surfaces. The method can comprise the steps that a pre-planned static path and detection information of a cleaning robot in the advancing process along the static path are obtained; whether a target path exists in the static path or not is determined according to the detection information, and the cleaning robot covers part of the first medium surface and part of the second medium surface at the same time in the process of advancing along the target path and moves along the junction of the first medium surface and the second medium surface; and under the condition of determining that the target path exists, re-planning the area covered by the target path to form a boundary path. According to the technical scheme of the invention, the cleaning effect of the cleaning robot on the boundary part of the first medium surface and the second medium surface can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning path replanning method and device based on different medium surfaces. Background Art

[0002] Cleaning robots are a type of smart home appliance that automatically cleans the floor in a room with the help of path planning, autonomous navigation and other technologies. With the widespread use of cleaning robots, the floor conditions of the spaces to be cleaned by cleaning robots are becoming increasingly complex. For example, in a home environment, carpets are often laid on the floor.

[0003] In the related art, even if the cleaning robot detects that there is a carpet in the area to be cleaned, it will still enter the carpet according to the original cleaning path, and the cleaning effect on the edge area of ​​the carpet is poor. Summary of the invention

[0004] In view of this, the present application provides a cleaning path replanning method and device based on different medium surfaces for path planning of a cleaning robot.

[0005] Specifically, this application is implemented through the following technical solutions:

[0006] According to the first aspect of the present application, a cleaning path replanning method based on different media surfaces is proposed and applied to a cleaning robot, comprising: obtaining a pre-planned static path and detection information of the cleaning robot during its movement along the static path; determining, based on the detection information, whether there is a target path in the static path in which the cleaning robot simultaneously covers at least a portion of a first media surface and at least a portion of a second media surface; when it is determined that the target path exists, replanning the area covered by the target path to form a junction path; and cleaning the area covered by the target path along the junction path.

[0007] According to the second aspect of the present application, a cleaning path replanning device based on different media surfaces is proposed, which is applied to a cleaning robot, including: an acquisition module, used to acquire a pre-planned static path and detection information of the cleaning robot during its movement along the static path; a determination module, used to determine whether there is a target path in the static path in which the cleaning robot covers at least a portion of a first medium surface and at least a portion of a second medium surface at the same time according to the detection information; a planning module, used to replan the area covered by the target path to form a junction path when it is determined that the target path exists; and a cleaning module, used to clean the area covered by the target path along the junction path.

[0008] It can be seen from the technical solution provided by the present application that the present application detects whether the cleaning robot covers both the first medium surface and the second medium surface while traveling along a pre-planned static path, and replans the target path associated with the first medium surface in the static path for this situation. This prevents the cleaning robot from tilting its chassis relative to the ground plane due to the body crossing different medium surfaces during the cleaning process, thereby making it unable to clean the boundary area between different medium surfaces. That is, this solution improves the cleaning effect of the cleaning robot on the boundary between the first medium surface and the second medium surface by replanning the path at the boundary between the first medium surface and the second medium surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0010] Figure 1 is a schematic diagram of the structure of a cleaning robot according to an exemplary embodiment of the present application;

[0011] Figure 2 is a schematic diagram of a cleaning trajectory of an existing cleaning robot according to an exemplary embodiment of the present application;

[0012] Figure 3 is a schematic diagram of a cleaning scene according to an exemplary embodiment of the present application;

[0013] Figure 4 is a flow chart of a cleaning path replanning method based on different medium surfaces according to an exemplary embodiment of the present application;

[0014] Figure 5a to Figure 5c is a schematic diagram of a moving path of a cleaning robot in an interface area between a first medium surface and a second medium surface according to an exemplary embodiment of the present application;

[0015] Figure 6a-6f is a schematic diagram of a cleaning path according to an exemplary embodiment of the present application;

[0016] Figure 7 is a schematic diagram of an electronic device for replanning cleaning paths based on different medium surfaces according to an exemplary embodiment of the present application;

[0017] Figure 8 It is a block diagram of a cleaning path replanning device based on different medium surfaces according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0018] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0019] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0020] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0021] Next, the embodiments of the present application are described in detail.

[0022] The cleaning robot in this application can be. Figure 1 FIG. 1 is a schematic diagram of a cleaning robot structure according to an exemplary embodiment. Figure 1 As shown, the cleaning robot includes: a body 101, a moving module, a cleaning module 103 and a sensor. The moving module includes a left driving wheel 102a and a right driving wheel 102b, and the left driving wheel 102a and the right driving wheel 102b are respectively installed on opposite sides of the bottom of the body 101; the cleaning module 103 may include a roller brush 103, a mop structure, a side brush, etc. installed at the bottom of the body 101, which are used to contact the surface to be cleaned to clean the area to be cleaned; the sensor may include a laser sensor, a cliff sensor, a surface medium sensor (a first surface medium sensor 104a, a second surface medium sensor 104b), etc., which are used to perform environmental perception of the area to be cleaned. Those skilled in the art will understand that Figure 1 The structure of the cleaning robot shown in the figure does not constitute a limitation of the cleaning robot, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0023] Figure 2FIG. 1 is a schematic diagram of a cleaning trajectory of an existing cleaning robot according to an exemplary embodiment of the present application. In the prior art, the cleaning robot can pre-plan a static path covering the area to be cleaned according to the contour of the area to be cleaned. Figure 2 As shown, 201 is the area to be cleaned, and 202 is the carpet laid in the area to be cleaned. The cleaning robot plans a static path by taking the corner point A in the area to be cleaned as the starting point and the edge AB of the area to be cleaned as the long bow sweep direction, and plans a cleaning path S1-1→S1-2 along the A→B direction; then at the end point S1-2 of the cleaning path, it moves a preset distance along the B→C direction perpendicular to the A→B direction, and the preset distance can be the cleaning width of the cleaning robot or the body width of the cleaning robot; after moving, it plans a cleaning path S2-2→S2-1 along the B→A direction opposite to the A→B direction; then moves a preset distance along the B→C direction; after moving, it re-plans a cleaning path S3-1→S3-2 along the A→B direction until the planned cleaning path covers the entire area to be cleaned. In the related art, after the cleaning robot detects the carpet laid in the area to be cleaned, it still cleans according to the pre-planned static path.

[0024] However, in the actual cleaning process, the pre-planned static path may contain a path segment that is close to the edge of the carpet in the area to be cleaned and has a direction similar to the edge of the carpet. If the cleaning robot still cleans according to the pre-planned static path, part of the cleaning robot will be on the carpet while the other part will be on the floor. Figure 2 If the cleaning robot cleans along the pre-planned static path shown in the figure, when the cleaning robot travels along the cleaning path from S3-1 to S3-2, the left driving wheel of the robot is located on the carpet and the right driving wheel is located on the floor. Figure 3 FIG. 1 is a schematic diagram of an application scenario according to an exemplary embodiment of the present application. Figure 3 As shown, 301 is a carpet and 302 is a floor. When the left driving wheel 102a of the robot is on the carpet and the right driving wheel 102b is on the floor, the cleaning robot body is in a tilted state, and the cleaning parts such as the roller brush and mop on the bottom of the body cannot fit the floor. The floor L1 within the angle formed by the cleaning parts and the edge of the carpet, and the edge area L2 on the carpet near the edge of the carpet will not be cleaned well. The edge of the carpet is often dusty, so the cleaning effect of the cleaning robot based on the existing path planning method on the edge of the carpet when cleaning the floor is difficult to meet people's needs.

[0025] Based on this, the embodiment of the present application provides a cleaning path replanning method based on different medium surfaces. Figure 4FIG. 1 is a flow chart of a cleaning path replanning method based on different medium surfaces according to an exemplary embodiment of the present application. Figure 4 As shown, the method is applied to a cleaning robot and may include the following steps:

[0026] Step 402: Acquire a pre-planned static path and detection information of the cleaning robot during its movement along the static path;

[0027] In one embodiment, the cleaning robot can Figure 2 The cleaning path covering the area to be cleaned is planned in the manner shown as a static path. Of course, the static path can also be planned in any other existing manner, and this application does not limit this.

[0028] In one embodiment, the detection information may include at least one of the following: a surface medium signal collected by a surface medium sensor, a driving signal of a driving wheel, and gyroscope data. The cleaning robot in this solution can determine the surface medium condition in the area to be cleaned according to the above-mentioned one detection information or a combination of multiple detection information when traveling along a static path to clean the area to be cleaned. The specific method of determining the surface medium according to the detection information can refer to the relevant description of the embodiment shown in the following step 404, which will not be repeated here.

[0029] Step 404: determining, according to the detection information, whether there is a target path in the static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface;

[0030] In one embodiment, the first medium surface is a hard surface, and the second medium surface is a soft surface. Those skilled in the art should understand that the hard surface mentioned in this application may include ceramic tiles, wooden floors, etc., and the soft surface mentioned in this application may be a short-haired carpet, a long-haired carpet, a tatami, a floor mat, an anti-slip mat, etc., and this application does not limit this.

[0031] In one embodiment, the cleaning robot includes a first driving wheel and a second driving wheel, a first surface medium sensor is arranged beside the first driving wheel, and a second surface medium sensor is arranged beside the second driving wheel, and the determining whether there is a target path in the static path where the cleaning robot covers at least part of the first medium surface and at least part of the second medium surface simultaneously according to the detection information comprises: obtaining the first surface medium information collected by the first surface medium sensor and the second surface medium information collected by the second surface detection device; determining whether the cleaning robot covers at least part of the first medium surface and at least part of the second medium surface simultaneously according to the first surface medium information and the second surface medium information; and taking the static path where the cleaning robot covers at least part of the first medium surface and at least part of the second medium surface simultaneously within a preset time or a preset distance range as the target path. Wherein, the cleaning robot covers at least part of the first medium surface and at least part of the second medium surface simultaneously, which may refer to that the body projection of the cleaning robot covers at least part of the first medium surface and at least part of the second medium surface simultaneously, or may refer to that the cleaning area covered by the cleaning member of the cleaning robot includes at least part of the first medium surface and at least part of the second medium surface simultaneously, and the present application does not limit this.

[0032] In one example, the cleaning robot may be provided with a surface medium sensor. The surface medium sensor may be provided on the front side of the bottom of the cleaning robot. Figure 1 The first surface medium sensor 104a can be set on the front side of the left driving wheel 102a at the bottom of the cleaning robot, and the second surface medium sensor 104b can be set on the front side of the right driving wheel 102b. The surface medium sensor can be an ultrasonic sensor, an infrared sensor, a linear laser sensor, etc., and the present application does not limit this. Since different media surfaces reflect the signal of the sensor differently, the surface medium sensor located at the bottom of the cleaning robot can transmit a signal to the ground, identify the medium of the ground where the cleaning robot is located based on the received reflection signal reflected by the ground, and then determine whether the current cleaning robot is in the target state of simultaneously covering part of the first medium surface and part of the second medium surface.

[0033] Taking the surface medium sensor as an ultrasonic sensor as an example, when the cleaning robot cleans the area to be cleaned along a static path, the first ultrasonic sensor on the front side of the left driving wheel 102a and the second ultrasonic sensor on the front side of the right driving wheel 102b respectively transmit ultrasonic signals to the ground and receive the signals reflected by the ground. Generally, the ultrasonic signal reflected by the hard surface (such as a tile floor or a wooden floor) is strong. However, the soft surface (such as a short-haired carpet floor or a tatami) has a certain wave absorption effect, and the reflected ultrasonic signal is weak, that is, the signal intensity reflected by different medium surfaces is different. Therefore, each signal intensity range can be matched with each ground medium one by one, and the ground medium is determined according to the signal intensity of the ultrasonic signal reflected by the ground. When it is determined that the ground medium corresponding to the signal intensity of the reflected signal collected by the first ultrasonic sensor is a carpet, and the ground medium corresponding to the signal intensity of the reflected signal collected by the second ultrasonic sensor is a wooden floor, it can be determined that the left driving wheel of the cleaning robot is traveling on the carpet, and the right driving wheel of the robot is traveling on the wooden floor, that is, the current body of the cleaning robot covers part of the soft surface and part of the hard surface at the same time.

[0034] In one embodiment, after determining that the cleaning robot is in the target state of simultaneously covering part of the first medium surface and part of the second medium surface based on the surface medium information, it can be further determined whether the cleaning robot moves along the junction of the first medium surface and the second medium surface. Figure 5a to Figure 5c 1 is a schematic diagram of a cleaning robot moving path in the boundary area between a first medium surface and a second medium surface according to an exemplary embodiment of the present application. 501 is the first medium surface (e.g., a hard surface), 502 is the second medium surface (e.g., a soft surface), 10 is the cleaning robot, 503 is the moving path of the cleaning robot, and MN is the boundary line between the first medium surface and the second medium surface. Figure 5a As shown, the moving path 503 of the cleaning robot is perpendicular to the boundary line MN. Figure 5a In the position shown, the robot body will also cover part of the first medium surface 501 and part of the second medium surface 502 at the same time, but the cleaning robot will not be in a tilted state for a long time while moving along the moving path, which has little impact on the cleaning effect of the edge of the second medium surface, and if the cleaning robot wants to drive into the second medium surface, a similar moving path will inevitably appear. Figure 5b As shown, the moving path 503 of the cleaning robot is parallel to the boundary line MN, and Figure 5cAs shown in the figure, when the moving path 503 of the cleaning robot intersects with the boundary line MN and the angle of intersection is small, the cleaning robot 10 will cover the first medium surface 501 and the second medium surface 502 for a long time while moving along the moving path 503, resulting in a greater impact on the cleaning effect of the edge of the second medium surface. Therefore, when judging whether there is a target path in the static path, after determining that the cleaning robot is in the target state of simultaneously covering part of the first medium surface and part of the second medium surface, it is necessary to further determine whether the moving path of the cleaning robot is consistent with the target path. Figure 5b , Figure 5c Similarly, whether the cleaning robot moves along the interface between the first medium surface and the second medium surface.

[0035] In one embodiment, the cleaning robot can determine the moving distance of the cleaning robot from the time when the cleaning robot detects that the body covers part of the first medium surface and part of the second medium surface at the same time until the body enters the first medium surface / the second medium surface completely based on the odometer information. The moving distance is compared with a preset distance range (for example, the preset distance can be 22R, where R is the body radius of the cleaning robot). If the moving distance of the cleaning robot covering at least part of the first medium surface and at least part of the second medium surface at the same time is less than the preset distance, then it is determined that the current path of the cleaning robot is different from the preset distance. Figure 5a Similarly, the cleaning robot does not move along the boundary between the first medium surface and the second medium surface; if the distance is greater than or equal to the preset distance, it can be considered that the current path of the cleaning robot is consistent with Figure 5b or Figure 5c Similarly, the cleaning robot moves along the interface between the first medium surface and the second medium surface, and a static path in which the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface can be used as a target path.

[0036] In one embodiment, the cleaning robot can record the length of time it covers part of the first medium surface and part of the second medium surface. For example, the cleaning robot can start timing when it detects that it covers part of the first medium surface and part of the second medium surface at the same time, and stop timing when it detects that the cleaning robot body has completely entered the first medium surface / second medium surface. The recorded duration is compared with a preset time range, wherein the preset time range can be a pre-set fixed preset duration or can change in real time according to the moving speed of the cleaning robot, and this application does not impose any restrictions on this. If the recorded duration is less than the preset duration, it is determined that the current path of the cleaning robot is consistent with the preset time range. Figure 5a Similarly, the cleaning robot does not move along the junction of the first medium surface and the second medium surface; if the recorded time is greater than or equal to the preset time, it is determined that the path of the current cleaning robot is Figure 5b or Figure 5cSimilarly, the cleaning robot moves along the interface between the first medium surface and the second medium surface, and a static path where the cleaning robot covers at least a portion of the first medium surface and at least a portion of the second medium surface simultaneously is taken as a target path.

[0037] In one embodiment, the cleaning robot includes a first driving wheel and a second driving wheel, and determining whether there is a target path in the static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface based on the detection information includes: obtaining a first driving signal of the first driving wheel and a second driving signal of the second driving wheel; determining whether the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface based on the first driving signal and the second driving signal; and taking a static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range as a target path.

[0038] Wherein, the driving signal may include driving current, driving voltage, the speed of the driving motor, PWM (pulse width modulation) duty cycle, etc., which are not limited in this application. Due to the different smoothness of different media surfaces, the friction force on the driving wheel of the cleaning robot also varies. According to power P=F*V, when the power remains unchanged, the greater the friction force F, the smaller the speed. Therefore, in order to maintain the normal movement speed of the driving wheel, when the cleaning robot travels on different media surfaces, it is necessary to adjust the driving signal of the driving wheel according to the friction force of the medium surface being traveled to adjust the motor power. When the cleaning robot travels on different media surfaces, in order to maintain the normal movement speed of the driving wheel, it is necessary to change the driving signal, and then change the power P, and keep the speed V unchanged. Therefore, it is possible to correspond each ground medium to the driving signal range of the driving wheel in advance according to the experiment. During the driving process of the cleaning robot, according to the real-time driving signal of the driving wheel, the medium of the ground on which the driving wheel is currently traveling can be determined.

[0039] Taking PWM duty cycle as an example, assuming that the PWM duty cycle of the drive wheel and cleaning component motor is a, the power supply voltage of the drive board is U, and the voltage across the motor is Ud = a*U, the power P can be changed by changing the voltage Ud across the drive wheel motor, while keeping the speed V unchanged. Therefore, to ensure the normal operation of the drive wheel, the greater the friction of the surface on which the cleaning robot travels, the greater the duty cycle a of the motor PWM. According to statistics, when the cleaning robot works at a constant speed of 30cm / s, the PWM duty cycle of the drive wheel motor control corresponding to the long-pile carpet is 0.792~0.812, the PWM duty cycle of the drive wheel motor control corresponding to the ordinary carpet is 0.758~0.786, the PWM duty cycle of the drive wheel motor control corresponding to the tile is 0.723~0.725, and the PWM duty cycle of the drive wheel motor control corresponding to the wooden board is 0.722~0.724. The cleaning robot can obtain the first PWM duty cycle of the left driving wheel 102a and the second PWM duty cycle of the right driving wheel 102b respectively while driving along the static path. When the first PWM duty cycle is 0.779, it can be determined that the corresponding ground medium is an ordinary carpet. When the second PWM duty cycle is 0.722, it can be determined that the corresponding ground medium is a wooden board. Based on this, it can be determined that the left driving wheel of the cleaning robot is driving on an ordinary carpet and the right driving wheel of the robot is driving on a wooden board, that is, part of the cleaning robot body is covered on a soft surface and the other part is covered on a hard floor.

[0040] Furthermore, after determining that the cleaning robot covers part of the first medium surface and part of the second medium surface at the same time according to the driving wheel information, it is also possible to determine whether the cleaning robot moves along the junction of the first medium surface and the second medium surface, so as to take the static path of the cleaning robot covering at least part of the first medium surface and at least part of the second medium surface at the same time within a preset time or a preset distance range as the target path. This determination method is similar to the above embodiment and will not be repeated here.

[0041] In one embodiment, determining whether there is a target path in the static path based on the detection information includes: acquiring gyroscope data of the cleaning robot; determining the inclination angle of the cleaning robot based on the gyroscope data; determining whether the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface based on the inclination angle; and taking the static path of the cleaning robot simultaneously covering at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range as the target path.

[0042] Since the boundaries between different media surfaces in the area to be cleaned generally have a height difference, the inclination angle of the cleaning robot body can be determined based on the cleaning robot's own gyroscope data. When it is determined that the inclination angle meets the preset inclination angle range (for example, 0°<inclination angle ≤5°), it can be determined that the cleaning robot is currently traveling at the intersection of two different media surfaces and that part of the cleaning robot body covers the first media surface and the other part covers the second media surface. After determining that the cleaning robot covers part of the first media surface and part of the second media surface at the same time based on the gyroscope data, it can also be determined whether the cleaning robot moves along the intersection of the first media surface and the second media surface, so as to use the static path of the cleaning robot that covers at least part of the first media surface and at least part of the second media surface at the same time within a preset time or a preset distance range as the target path. This determination method is similar to the above embodiment and will not be repeated here.

[0043] Step 406: When it is determined that the target path exists, replanning the area covered by the target path to form a junction path;

[0044] Step 408: Clean the area covered by the target path along the boundary path.

[0045] In one embodiment, the area covered by the target path is replanned to form a boundary path, including: planning a first boundary path and a second boundary path with a preset width from the boundary line on both sides of the boundary line between the first medium surface and the second medium surface as boundary paths; wherein the first boundary path and the second boundary path are parallel to the boundary line, and the preset width is half of the cleaning width of the cleaning robot or the body radius of the cleaning robot.

[0046] Among them, the cleaning width can be the width of the area covered by the roller brush, or the width between the farthest ends of the area covered by the side brush of the cleaning robot, or the width of the area covered by the mop of the cleaning robot, and this application does not impose any restrictions on this.

[0047] Figure 6a-6f is a schematic diagram of a cleaning path according to an exemplary embodiment of the present application, wherein s1 is a static path pre-planned by the cleaning robot. Figure 6aAs shown, the cleaning robot 10 can determine that in the process of moving along the path segment S4-2→S4-1 in the static path s1, it covers part of the first medium surface 501 and part of the second medium surface 502 at the same time, and moves along the intersection of the first medium surface 501 and the second medium surface 502 through the method described in the above embodiment. Therefore, it can be determined that the path segment S4-2→S4-1 is the target path in the static path s1, and the area covered by the target path S4-2→S4-1 needs to be replanned to form an intersection path.

[0048] After determining the target path in the pre-planned static path, the cleaning robot can plan the first boundary path and the second boundary path on both sides according to the boundary position between the first medium surface and the second medium surface. The boundary position between the first medium surface and the second medium surface can be determined based on the detection information collected by the cleaning robot, or can be obtained by collecting ground images in real time and analyzing and identifying them during the movement through the camera, line laser sensor, etc. configured by the cleaning robot, and this application does not limit this. Figure 6b As shown, the cleaning robot can plan a first junction path s2 and a second junction path s3 on both sides of the junction line MN between the first medium surface 501 and the second medium surface 502. The first junction path s2 and the second junction path s3 are respectively parallel to the junction line MN, and the distance between the first junction path s2 and the second junction path s3 and the junction line MN is the body radius R of the cleaning robot. Among them, the directions of the first junction path s2 and the second junction path s3 are opposite, and are related to the direction of the static path that the cleaning robot has walked. It should be noted that the "parallel" here refers to parallelism in a broad sense, that is, when the junction line MN is a straight line, the junction path is a parallel line to the junction line MN; when the junction line MN is a curve, the junction path is an equidistant line to the junction line MN. The cleaning robot can move along the re-planned first junction path s2 and second junction path s3 to clean the junction area between the first medium surface and the second medium surface.

[0049] In one embodiment, after determining the target path in this cleaning task, the cleaning robot can immediately re-plan the area covered by the target path to obtain a junction path, and re-clean the area covered by the target path along the re-planned junction path in this cleaning task, so as to avoid failing to clean the area near the junction line MN in this cleaning task, thereby improving the cleaning effect of this cleaning. Figure 6c and Figure 6dAs shown, after the cleaning robot travels along the static path to S4-1, it can determine that the traveled path segment S4-2→S4-1 is the target path. The cleaning robot can immediately re-plan the cleaning path, take S4-1 as the starting point, plan the first intersection path s2 and the second intersection path s3, and re-clean the area covered by the path segment S4-2→S4-1 along the planned first intersection path s2 and the second intersection path s3.

[0050] In one embodiment, the cleaning robot can also re-plan the static path based on the determined target path after completing the current cleaning task, so as to avoid driving on the target path in subsequent cleaning tasks, thereby improving the cleaning efficiency of subsequent cleaning and reducing the amount of calculation for path planning in the subsequent cleaning process. Figure 6e and Figure 6f As shown, the determined target path S4-2→S4-1 can be directly deleted from the static path, and S3-2 can be used as the starting point to plan the first junction path s2 and the second junction path s3, so that the cleaning robot can directly drive along the first junction path s2 and the second junction path s3 after driving along the static path to S3-2 in subsequent cleaning tasks to clean the area near the junction line MN.

[0051] In one embodiment, after the cleaning robot replans the area covered by the target path to form a junction path, the path that the cleaning robot has not traveled in the original static path can be retained, and a transition path that the cleaning robot needs to walk from the end point of the junction path to the starting point of the untraveled path can be planned; and the cleaning robot continues to clean along the transition path and the untraveled path. Figure 6c and Figure 6d As shown, after the cleaning robot plans the first intersection path s2 and the second intersection path s3, it can connect the end point of s3 with the starting point S5-1 of the path in the original static path that the cleaning robot has not traveled, as the transition path s4. After the cleaning robot completes the cleaning of the intersection area between the first medium surface and the second medium surface along the first intersection path s2 and the second intersection path s3, it can travel along the transition path s4 to S5-1, and continue to clean the uncleaned area in the area to be cleaned along the path in the original static path that the cleaning robot has not traveled. By planning the transition path, only the target path area needs to be replanned without changing other parts of the original static path, which reduces the amount of calculation for path planning.

[0052] In one embodiment, after the cleaning robot replans the area covered by the target path to form a junction path, it can also replan the path that the cleaning robot has not traveled in the static path according to the junction path to form a new cleaning path; and continue cleaning along the new cleaning path. Figure 6d and Figure 6fAs shown, after the cleaning robot plans to obtain the first intersection path s2 and the second intersection path s3, it can use the end point of s3 as a new starting point to re-plan the cleaning path for the area in the original static path that the cleaning robot has not traveled to obtain path s5. After the cleaning robot completes cleaning the area near the intersection line MN along the first intersection path s2 and the second intersection path s3, it can continue to clean the area that the cleaning robot has not traveled to along the re-planned cleaning path s5. By re-planning the part of the original static path that the cleaning robot has not traveled to, the length of the path that the cleaning robot needs to walk can be reduced, thereby improving cleaning efficiency.

[0053] It can be seen from the technical solution provided by the present application that the present application detects whether the cleaning robot covers the first medium surface and the second medium surface at the same time and moves along the boundary line between the first medium surface and the second medium surface while the cleaning robot is moving along the pre-planned static path, and replans the target path associated with it in the static path for this situation. This prevents the cleaning robot from tilting its chassis relative to the ground plane due to the body crossing different medium surfaces during the cleaning process, thereby making it unable to clean the boundary area between different medium surfaces. That is, this solution improves the cleaning effect of the cleaning robot on the boundary between the first medium surface and the second medium surface by replanning the path at the boundary between the first medium surface and the second medium surface.

[0054] Corresponding to the above method embodiment, this specification also provides an embodiment of a device.

[0055] Figure 7 1 is a schematic diagram of a structure of an electronic device for replanning cleaning paths based on different media surfaces according to an exemplary embodiment of the present application. Figure 7 At the hardware level, the electronic device includes a processor 702, an internal bus 704, a network interface 706, a memory 708, and a non-volatile memory 710, and may also include hardware required for other services. The processor 702 reads the corresponding computer program from the non-volatile memory 710 into the memory 708 and then runs it, forming a device for solving the path planning problem of the cleaning robot at the logical level. Of course, in addition to the software implementation, this application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0056] Figure 8 is a block diagram of a cleaning path replanning device based on different medium surfaces according to an exemplary embodiment of the present application. Figure 8 , the device includes an acquisition unit 802, a determination unit 804 and a first planning unit 806, wherein:

[0057] The acquisition unit 802 is configured to acquire the pre-planned static path and the detection information of the cleaning robot during the movement along the static path;

[0058] The determination unit 804 is configured to determine, based on the detection information, whether there is a target path in the static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface;

[0059] The first planning unit 806 is configured to replan the area covered by the target path to form a junction path when it is determined that the target path exists;

[0060] The first cleaning unit 808 is configured to clean the area covered by the target path along the boundary path.

[0061] Optionally, the detection information includes at least one of the following: surface medium information collected by a surface medium sensor, a driving signal of a driving wheel, and gyroscope data.

[0062] Optionally, the first medium surface is a hard surface, and the second medium surface is a soft surface.

[0063] Optionally, the cleaning robot includes a first driving wheel and a second driving wheel, a first surface medium sensor is arranged next to the first driving wheel, and a second surface medium sensor is arranged next to the second driving wheel, and the determination unit determines whether there is a target path in the static path based on the detection information, and is used to: obtain first surface medium information collected by the first surface medium sensor and second surface medium information collected by the second surface detection device; determine whether the cleaning robot simultaneously covers at least part of the first medium surface and at least part of the second medium surface according to the first surface medium information and the second surface medium information; and take the static path in which the cleaning robot simultaneously covers at least part of the first medium surface and at least part of the second medium surface within a preset time or a preset distance range as the target path.

[0064] Optionally, the cleaning robot includes a first driving wheel and a second driving wheel, and the determination unit is used to: obtain a first driving signal of the first driving wheel and a second driving signal of the second driving wheel; determine whether the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface according to the first driving signal and the second driving signal; and take a static path in which the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range as a target path.

[0065] Optionally, the determination unit is used to obtain gyroscope data of the cleaning robot; determine the inclination angle of the cleaning robot based on the gyroscope data; determine whether the cleaning robot simultaneously covers a target path of at least a portion of the first medium surface and at least a portion of the second medium surface based on the inclination angle; and take a static path of the cleaning robot simultaneously covering at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range as a target path.

[0066] Optionally, the planning unit is used to plan a first intersection path and a second intersection path, which are at a preset width from the intersection line on both sides of the intersection line of the first medium surface and the second medium surface, as intersection paths; wherein the first intersection path and the second intersection path are parallel to the intersection line, and the preset width is half of the cleaning width of the cleaning robot or the body radius of the cleaning robot; and the target path in the static path is replaced with the first intersection path and the second intersection path.

[0067] Optionally, the device further includes a second planning unit configured to retain the path that the cleaning robot has not traveled in the static path, and plan a transition path that the cleaning robot needs to walk from the end point of the junction path to the starting point of the untraveled path;

[0068] The second cleaning unit is configured to continue cleaning along the transition path and the non-traveled path.

[0069] Optionally, the device further comprises a third planning unit, configured to replan the path that the cleaning robot has not traveled in the static path according to the junction path to form a new cleaning path;

[0070] The third cleaning unit is configured to continue cleaning along the new cleaning path.

[0071] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0072] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, 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 present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0073] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by a processor of the cleaning path replanning device based on different medium surfaces to implement any method as described in the above embodiments, for example, the method may include:

[0074] A pre-planned static path and detection information of the cleaning robot during its movement along the static path are obtained; based on the detection information, it is determined whether there is a target path in the static path in which the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface; if it is determined that the target path exists, the area covered by the target path is replanned to form a junction path; and the area covered by the target path is cleaned along the junction path.

[0075] The non-temporary computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc., and the present application does not limit this.

[0076] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A cleaning path replanning method based on different medium surfaces, characterized in that: Applied to a cleaning robot, the method comprises: Acquiring a pre-planned static path and detection information of the cleaning robot during its movement along the static path; Determining, according to the detection information, whether there is a target path in the static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface; In the case where it is determined that the target path exists, replanning the area covered by the target path to form a junction path; The area covered by the target path is cleaned along the boundary path.

2. The method according to claim 1, characterized in that The detection information includes at least one of the following: The surface medium sensor collects surface medium information, driving signal of driving wheel, and gyroscope data.

3. The method according to claim 1, characterized in that The cleaning robot comprises a first driving wheel and a second driving wheel, a first surface medium sensor is arranged beside the first driving wheel, and a second surface medium sensor is arranged beside the second driving wheel, and determining whether there is a target path in the static path where the cleaning robot covers at least a portion of the first medium surface and at least a portion of the second medium surface according to the detection information comprises: Acquire first surface medium information collected by the first surface medium sensor and second surface medium information collected by the second surface detection device; Determining, according to the first surface medium information and the second surface medium information, whether the cleaning robot simultaneously covers a target path of at least a portion of the first medium surface and at least a portion of the second medium surface; A static path in which the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range is taken as a target path.

4. The method according to claim 1, characterized in that The cleaning robot comprises a first driving wheel and a second driving wheel, and determining, according to the detection information, whether there is a target path in the static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface, comprises: Acquire a first driving signal of the first driving wheel and a second driving signal of the second driving wheel; determining, according to the first drive signal and the second drive signal, whether the cleaning robot simultaneously covers a target path of at least a portion of a first medium surface and at least a portion of a second medium surface; A static path in which the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range is taken as a target path.

5. The method according to claim 1, characterized in that The determining, according to the detection information, whether the static path has a target path includes: Acquiring gyroscope data of the cleaning robot; determining a tilt angle of the cleaning robot according to the gyroscope data; determining, according to the tilt angle, whether the cleaning robot simultaneously covers a target path of at least a portion of the first medium surface and at least a portion of the second medium surface; A static path in which the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface within a preset time or a preset distance range is taken as a target path.

6. The method according to claim 1, characterized in that The replanning of the area covered by the target path to form a junction path includes: A first intersection path and a second intersection path with a preset width from the intersection line are respectively planned on both sides of the intersection line between the first medium surface and the second medium surface as intersection paths; wherein the first intersection path and the second intersection path are parallel to the intersection line, and the preset width is half of the cleaning width of the cleaning robot or the body radius of the cleaning robot; The target path in the static path is replaced by the first junction path and the second junction path.

7. The method according to claim 1, characterized in that The method further comprises: The path that the cleaning robot has not traveled in the static path is retained, and a transition path that the cleaning robot needs to walk from the end point of the intersection path to the starting point of the untraveled path is planned; Cleaning continues along the transition path and the non-traveled path.

8. The method according to claim 1, characterized in that The method further comprises: Replanning the path that the cleaning robot has not traveled in the static path according to the junction path to form a new cleaning path; Cleaning is continued along the new cleaning path.

9. The method according to any one of claims 2 to 8, characterized in that: The first medium surface is a hard surface, and the second medium surface is a soft surface.

10. A path planning device for a cleaning robot, characterized in that: Applied to a cleaning robot, the device comprises: An acquisition unit, used for acquiring a pre-planned static path and detection information of the cleaning robot during its movement along the static path; A determination unit, configured to determine, based on the detection information, whether there is a target path in the static path where the cleaning robot simultaneously covers at least a portion of the first medium surface and at least a portion of the second medium surface; A first planning unit is used to replan the area covered by the target path to form a junction path when it is determined that the target path exists; The first cleaning unit is used to clean the area covered by the target path along the boundary path.

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