Sweeping method, device and equipment of sweeping robot and computer program product

Abstract

The invention belongs to the technical field of sweeping robots, and mainly provides a sweeping method, device and equipment of a sweeping robot and a computer program product. When the sweeping robot detects an obstacle, whether the obstacle is a first target obstacle located at an area communication position or not is judged; when the obstacle is a first target obstacle located at the area communication position, the area blocked by the first target obstacle is recorded as a missing sweeping prevention area, and then in the process that the sweeping robot continues to execute the sweeping task, whether the first target obstacle is removed or not is detected; and when it is detected that the first target obstacle is removed, the robot is controlled to sweep the anti-missing sweeping area, so that the situation that the sweeping robot forgets to sweep the area blocked by the obstacle due to the existence of the obstacle at the area communication position is avoided, the situation that the sweeping robot misses sweeping is effectively reduced, and the sweeping efficiency of the sweeping robot is improved. And the use experience of the user is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of sweeping robots, and in particular, relates to a sweeping robot cleaning method, device, equipment and computer program product. Background Art

[0002] At present, when performing cleaning tasks, sweeping robots usually clean multiple cleanable areas divided during map construction in sequence. After completing the cleaning of a cleanable area, the sweeping robot will move on to the next cleanable area and complete the cleaning of the next cleanable area. After completing the cleaning of the last cleanable area, it is considered that the entire cleaning task has been completed. In actual applications, this cleaning method often causes the sweeping robot to miss cleaning, which gives users a bad user experience. Summary of the invention

[0003] The present application provides a cleaning method, device, equipment and computer program product for a sweeping robot, which can reduce the number of missed sweeps by the sweeping robot and improve the user experience.

[0004] A first aspect of an embodiment of the present application provides a cleaning method of a cleaning robot, the cleaning method of the cleaning robot comprising:

[0005] When the sweeping robot detects an obstacle, determining whether the obstacle is a first target obstacle located at a region connection point; the region connection point is a connection point between two adjacent closable spaces;

[0006] When the obstacle is a first target obstacle located at a place where the areas are connected, the area blocked by the first target obstacle is recorded as an anti-missing sweeping area of ​​the sweeping robot;

[0007] When the cleaning robot continues to perform the cleaning task, it detects whether the first target obstacle has been removed, and when it is detected that the first target obstacle has been removed, the cleaning robot is controlled to clean the anti-missing cleaning area.

[0008] A second aspect of the embodiment of the present application further provides a cleaning device of a cleaning robot, the cleaning device of the cleaning robot comprising:

[0009] A judgment unit, configured to judge whether the obstacle is a first target obstacle located at a region connection point when the sweeping robot detects the obstacle; the region connection point is a connection point between two adjacent closable spaces;

[0010] a recording unit, configured to, when the obstacle is a first target obstacle located at a place where the areas are connected, record the area blocked by the first target obstacle as an anti-missing sweeping area of ​​the sweeping robot;

[0011] The detection and cleaning unit is used to detect whether the first target obstacle has been removed while the cleaning robot continues to perform the cleaning task, and control the cleaning robot to clean the anti-missing cleaning area when it is detected that the first target obstacle has been removed.

[0012] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the cleaning method of the sweeping robot described in the first aspect are implemented.

[0013] A fourth aspect of an embodiment of the present application provides a computer program product, which stores a computer program. When the computer program is executed by a processor, the steps of the cleaning method of the sweeping robot described in the first aspect are implemented.

[0014] In an embodiment of the present application, when the sweeping robot detects an obstacle, it is determined whether the obstacle is the first target obstacle located at the area connection, and when the obstacle is the first target obstacle located at the area connection, the area obstructed by the first target obstacle is recorded as an anti-missing sweeping area. Then, while the sweeping robot continues to perform the cleaning task, it is detected whether the first target obstacle has been removed, and when it is detected that the first target obstacle has been removed, the robot is controlled to clean the anti-missing sweeping area, so that the sweeping robot will not forget to clean the area obstructed by the obstacle due to the existence of the obstacle at the area connection, which effectively reduces the situation of missed sweeping by the sweeping robot and is beneficial to improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1a This is a first schematic diagram of the edge cleaning path of the sweeping robot provided in an embodiment of the present application.

[0016] Figure 1b A second schematic diagram of the edge cleaning path of the sweeping robot provided in an embodiment of the present application.

[0017] Figure 2 A schematic diagram of a first implementation flow of the cleaning method of the sweeping robot provided in an embodiment of the present application.

[0018] Figure 3 A schematic diagram of the implementation flow of step 103 of the cleaning method of the sweeping robot provided in an embodiment of the present application.

[0019] Figure 4 A schematic diagram of a second implementation flow of the cleaning method of the sweeping robot provided in an embodiment of the present application.

[0020] Figure 5aThis is a first schematic diagram of the obstacle avoidance cleaning path of the sweeping robot provided in an embodiment of the present application.

[0021] Figure 5b A flowchart of a method for detecting whether a sweeping robot has completed obstacle avoidance cleaning is provided for an embodiment of the present application.

[0022] Figure 5c A second schematic diagram of the obstacle avoidance cleaning path of the sweeping robot provided in an embodiment of the present application.

[0023] Figure 6a This is a first schematic diagram of the path planning of the sweeping robot provided in an embodiment of the present application.

[0024] Figure 6b A second schematic diagram of the path planning of the sweeping robot provided in an embodiment of the present application.

[0025] Figure 7 A schematic diagram of the structure of a cleaning device of a sweeping robot provided in an embodiment of the present application.

[0026] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] It should be understood that in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0029] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0031] At present, when performing cleaning tasks, sweeping robots usually clean multiple cleanable areas divided during map construction in sequence. After completing the cleaning of a cleanable area, the sweeping robot will move on to the next cleanable area and complete the cleaning of the next cleanable area. After completing the cleaning of the last cleanable area, it is considered that the entire cleaning task has been completed. In actual applications, this cleaning method often causes the sweeping robot to miss cleaning, which gives users a bad user experience.

[0032] Specifically, in actual applications, when cleaning each cleanable area, the robot vacuum cleaner will first clean the current cleaning area (one of the multiple cleanable areas divided when building the map) along the edge, and define the area that needs to be cleaned in the current cleaning area to adapt to changes in the environment. After completing the task of cleaning the edge of the current cleaning area, it will perform a bow-shaped cleaning back and forth in the current cleaning area. After the bow-shaped cleaning is completed, it will navigate to the next cleanable area to clean along the edge, and then perform a bow-shaped cleaning back and forth in the area, and repeat this cycle until all cleanable areas are cleaned, and then return to the base station for charging, completing the entire cleaning task.

[0033] In the above cleaning tasks, each cleaning task of the cleanable area includes: edge cleaning task, bow-shaped cleaning task and navigation to the next area or back to the base station task, and each task is executed in sequence. However, in the actual home environment, some abnormal situations often occur, causing the sweeping robot to miss the cleaning.

[0034] For example, in Figure 1a In the cleaning environment shown in the figure, it is assumed that room A and room B are the first cleanable area, and room C is the second cleanable area. When the cleaning robot 11 cleans the first cleanable area, it first cleans along the edge from room A to room B, cleans along the edge of room B, and then returns to room A to continue cleaning along the edge, forming the following figure: Figure 1b The closed edge curve 12 in the figure, then, performs a bow-shaped cleaning in room A. At this time, if the door of room B is closed, the sweeping robot completes the bow-shaped cleaning of room A and is preparing to enter room B for bow-shaped cleaning, and the door of room B is still closed, then the sweeping robot will directly enter the second cleanable area for edge cleaning and bow-shaped cleaning, that is, enter room C for edge cleaning and bow-shaped cleaning. When cleaning room C, even if the door of room B has been opened, the sweeping robot will directly return to the base station to complete the cleaning task after completing the edge cleaning and bow-shaped cleaning of room C, resulting in room B being missed.

[0035] For another example, when the sweeping robot starts to clean along the edges of room A and has not yet cleaned along the edges of room B, the door of room B is closed or blocked by an obstacle. After completing the edge cleaning and bow-shaped cleaning of room A, the sweeping robot enters the second cleanable area to clean along the edges and in a bow shape, that is, enters room C to clean along the edges and in a bow shape. When cleaning room C, even if the door of room B is opened and there are no obstacles, the sweeping robot will directly return to the base station to complete the cleaning task after completing the edge cleaning and bow-shaped cleaning of room C, resulting in room B being missed.

[0036] Based on this, the embodiments of the present application provide a cleaning method, device, equipment and computer program product for a sweeping robot, which can solve the technical problem that sweeping robots are prone to missing sweeps in existing solutions.

[0037] like Figure 2 As shown, it is a first implementation flow chart of a cleaning method of a sweeping robot provided in an embodiment of the present application. The cleaning method of the sweeping robot can be implemented by the following steps 101 to 103.

[0038] Step 101: When the cleaning robot detects an obstacle, it is determined whether the obstacle is a first target obstacle located at a connected area.

[0039] In the embodiment of the present application, the area connection refers to the connection between two adjacent closable spaces. The area connection may include the inter-area connection between each cleanable area and the inter-sub-area connection between each sub-area in the current cleaning area.

[0040] In such Figure 1a In the cleaning environment shown, Figure 1a The area where the door between room A and room B is located is a connection between sub-areas, and the area where the door between room A and room C is located is a connection between areas (assuming that room A and room B are the first cleanable area, and room C is the second cleanable area).

[0041] In actual applications, before cleaning an unmapped cleaning environment, the cleaning robot will first map the cleaning environment, obtain a cleaning map of the cleaning environment, and divide it into multiple cleanable areas, each of which may include one or more sub-areas. Figure 1a Room A in the figure is a sub-area of ​​the first cleanable area, and room B is another sub-area of ​​the first cleanable area).

[0042] In one embodiment of the present application, when the sweeping robot completes the mapping task, the regional connections contained in the cleaning map can be identified by image recognition, and the identified regional connections can be marked to obtain pre-marked regional connections, so that when the sweeping robot detects an obstacle, it can judge whether the obstacle detected by the sweeping robot is the first target obstacle located at the regional connection based on the pre-marked regional connection.

[0043] In another embodiment of the present application, when the sweeping robot completes the mapping task, the regional connections contained in the cleaning map can also be marked by manual marking to obtain pre-marked regional connections, so that when the sweeping robot detects an obstacle, it can judge whether the obstacle detected by the sweeping robot is the first target obstacle located at the regional connection based on the pre-marked regional connection.

[0044] Step 102: When the obstacle is a first target obstacle located at a connected area, the area blocked by the first target obstacle is recorded as an anti-missing sweeping area of ​​the sweeping robot.

[0045] In the embodiment of the present application, the area blocked by the first target obstacle may be an area that the cleaning robot is preparing to enter when detecting the first target obstacle.

[0046] For example, in Figure 1a In the cleaning environment shown, the sweeping robot first sweeps along the edge from room A to room B, sweeps along the edge of room B, and then returns to room A to continue sweeping along the edge. After completing the edge cleaning of room A, the sweeping robot will start a bow-shaped cleaning in room A. When the sweeping robot completes the bow-shaped cleaning of room A and is preparing to enter room B for bow-shaped cleaning, the door of room B is in a closed state. The sweeping robot will then detect the presence of a first target obstacle at the connecting area between room A and room B, and record room B as an anti-missing cleaning area.

[0047] Step 103 , while the sweeping robot continues to perform the cleaning task, it is detected whether the first target obstacle has been removed, and when it is detected that the first target obstacle has been removed, the sweeping robot is controlled to clean the anti-missing sweeping area.

[0048] Since the first target obstacle located at the area connection will hinder the sweeping robot from performing the cleaning task on the obstructed area (the anti-missing sweeping area), the obstructed area will be missed. Based on this, when the obstacle detected by the sweeping robot is the first target obstacle located at the area connection, the present application records the anti-missing sweeping area of ​​the sweeping robot based on the first target obstacle, and then, when the sweeping robot continues to perform the cleaning task, detects whether the first target obstacle has been removed, and when it detects that the first target obstacle has been removed, controls the sweeping robot to clean the anti-missing sweeping area, rather than directly forgetting the anti-missing sweeping area, thereby reducing the number of missed sweeps by the sweeping robot, which is beneficial to improving the user experience.

[0049] In one embodiment of the present application, Figure 3 As shown, the above step 103 can be implemented based on the following steps 301 to 305 to detect whether the first target obstacle has been removed while the sweeping robot continues to perform the cleaning task.

[0050] Step 301: collect the walking trajectory of the sweeping robot when performing the cleaning task.

[0051] In the embodiment of the present application, the above-mentioned collection of the walking trajectory of the sweeping robot performing the cleaning task may refer to recording the walking trajectory of the sweeping robot when the sweeping robot leaves the base station and starts to perform the cleaning task. Moreover, the walking trajectory may be the trajectory drawn by the center point of the sweeping robot. That is, the sweeping robot is regarded as a point (the center point of the sweeping robot), and the trajectory drawn by the point when the sweeping robot moves is used as the walking trajectory of the sweeping robot.

[0052] In one embodiment of the present application, Figure 1a and Figure 1b As shown, the position of the robot in the map can be recorded every time the robot moves a certain distance during the cleaning task, and the walking trajectory of the robot can be obtained by connecting two adjacent position points.

[0053] Step 302, when the sweeping robot completes the cleaning task of the current cleaning area, the sweeping robot is controlled to return to the area connection point based on the walking trajectory to detect whether the first target obstacle has been removed. If the first target obstacle has not been removed, execute step 303, otherwise, execute step 305.

[0054] Step 303, controlling the sweeping robot to enter the next cleanable area to perform a cleaning task;

[0055] Step 304, after completing the cleaning of the next cleanable area, re-detect whether the first target obstacle has been removed. When it is detected that the first target obstacle has not been removed, re-execute step 303, otherwise, execute step 305.

[0056] Step 305: Control the sweeping robot to clean the missed sweeping area.

[0057] In the embodiment of the present application, when the obstacle is the first target obstacle located at the area connection, the area blocked by the first target obstacle can be recorded as the anti-missing sweeping area of ​​the sweeping robot, while the sweeping robot is controlled to continue to perform the remaining cleaning tasks of the current cleaning area, and when the sweeping robot completes the cleaning task of the current cleaning area, the sweeping robot is controlled to return to the area connection where the first target obstacle is located to detect whether the first target obstacle has been removed, and when the first target obstacle has not been removed, the sweeping robot is controlled to enter the next cleanable area to perform the cleaning task, and after the sweeping robot completes the cleaning of the next cleanable area, the sweeping robot is controlled to return to the area connection again, and detect whether the first target obstacle has been removed, and when it is detected that the first target obstacle has not been removed, the robot is controlled to enter the next cleanable area to perform the cleaning task, and so on, until the cleaning tasks of all cleanable areas and all anti-missing sweeping areas are completed. Wherein, the current cleaning area is one of the multiple cleanable areas divided when the sweeping robot builds the map.

[0058] For example, in Figure 1aIn the cleaning environment shown, the sweeping robot first sweeps along the edge from room A to room B, sweeps along the edge of room B, and then returns to room A to continue sweeping along the edge. After the sweeping robot completes the sweeping along the edge of room A, if it first navigates to room B for bow-shaped cleaning, and detects that there is a first target obstacle at the area connecting room A and room B, room B will be recorded as an anti-missing sweeping area, and then bow-shaped cleaning will be performed on room A, that is, the remaining cleaning tasks of the current cleaning area will be continued. After the bow-shaped cleaning task of room A is completed, since the first cleanable area (currently cleanable area) composed of room A and room B has no other remaining cleaning tasks except the anti-missing sweeping area, the sweeping robot can be controlled to return to the area connection based on the walking trajectory, and the first target obstacle is detected. Detect whether the first target obstacle has been removed, and when it is detected that the first target obstacle has been removed, control the sweeping robot to clean the anti-missing sweeping area, and when the first target obstacle has not been removed, continue to enter the second cleanable area for cleaning, that is, enter room C for cleaning. After cleaning room C, control the sweeping robot based on the walking trajectory to return to the area connection point, and detect whether the first target obstacle has been removed. If it is still not removed at this time, since the sweeping robot has completed the cleaning task of all cleanable areas, the sweeping robot can be controlled to return to the base station first, and after a preset time interval, control the sweeping robot based on the walking trajectory to return to the area connection point, and detect whether the first target obstacle has been removed, until the cleaning task of all anti-missing sweeping areas is completed.

[0059] It should be noted that the above Figure 3 This is merely an example of a method for detecting whether the first target obstacle has been removed. In other embodiments of the present application, other strategies may be formulated to detect whether the first target obstacle has been removed, and the present application does not impose any limitation on this.

[0060] For example, in one embodiment of the present application, after the sweeping robot completes cleaning of a sub-area, it can detect whether the first target obstacle has been removed, or after completing the cleaning tasks of all cleanable areas, it can uniformly detect whether the first target obstacle has been removed, or, after each preset time interval, it can detect whether the first target obstacle has been removed.

[0061] For another example, each time the cleaning robot passes by the area connection where the first target obstacle is located, it detects whether the first target obstacle has been removed.

[0062] In one embodiment of the present application, the above-mentioned controlling the sweeping robot to return to the area connection point based on the walking trajectory means: planning the walking path of the sweeping robot to return to the area connection point based on the walking trajectory, and then controlling the sweeping robot to return to the area connection point based on the walking path.

[0063] Specifically, since the walking trajectory of the sweeping robot when performing the cleaning task is the path trajectory that the sweeping robot has already walked, it can be assumed that the walking trajectory of the sweeping robot when performing the cleaning task is a passable path. The present application records the walking trajectory that the sweeping robot has already walked, and plans the walking path of the sweeping robot based on the walking trajectory, which is conducive to planning the shortest path that the sweeping robot can pass, thereby helping to improve the cleaning efficiency of the sweeping robot. Among them, when planning the walking path of the sweeping robot to return to the area connection point based on the walking trajectory, the shortest path calculation method in the relevant technology can be used to implement it, which will not be repeated here.

[0064] In one embodiment of the present application, Figure 4 As shown, after the above step 101, the cleaning method of the sweeping robot may further include the following steps 401 to 403.

[0065] Step 401, if the obstacle is located in an area outside the area connection point, and the obstacle is a second target obstacle detected when the sweeping robot performs a bow-shaped cleaning task, the sweeping robot is controlled to perform obstacle circumvention cleaning around the second target obstacle, and the obstacle circumvention trajectory of the sweeping robot performing obstacle circumvention cleaning is recorded.

[0066] In the embodiment of the present application, the obstacle avoidance trajectory is the trajectory that the center point of the sweeping robot passes when it performs obstacle avoidance cleaning around the second target obstacle.

[0067] Step 402: determine whether the cleaning robot has completed obstacle circumvention and cleaning of the second target obstacle based on the obstacle circumvention trajectory.

[0068] Step 403: After the cleaning robot completes the obstacle-avoiding cleaning of the second target obstacle, the cleaning robot is controlled to continue to perform the remaining cleaning tasks of the current cleaning area.

[0069] In the embodiment of the present application, after the sweeping robot completes the edge cleaning, it needs to perform a bow-shaped cleaning in parallel lines in the area along the edge. However, in actual application, when performing the bow-shaped cleaning, obstacles such as tables and stools may be encountered. At this time, the parallel line bow-shaped cleaning will be interrupted, and the sweeping robot needs to perform obstacle-circumvention cleaning around the obstacles.

[0070] For example, Figure 5a As shown, the cleaning robot 11 needs to perform obstacle-circumventing cleaning around the second target obstacle 51 , and after completing the obstacle-circumventing cleaning of the second target obstacle 51 , continue to perform parallel line bow-shaped cleaning.

[0071] In order to improve the cleaning quality of the sweeping robot, when the sweeping robot performs obstacle circumvention cleaning around the second target obstacle, the cleaning tool of the sweeping robot needs to walk through a closed area around the second target obstacle before it is determined that the sweeping robot has completed obstacle circumvention cleaning of the second target obstacle to avoid residual uncleaned parts.

[0072] Specifically, in one embodiment of the present application, Figure 5b As shown, in the process of executing the above step 402 to determine whether the cleaning robot has completed the obstacle circumvention cleaning of the second target obstacle based on the obstacle circumvention trajectory, the following steps 501 to 503 can be used to implement it.

[0073] Step 501, obtaining the position of the cleaning tool on the sweeping robot.

[0074] In one embodiment of the present application, the cleaning tool of the sweeping robot may include a brush located at the head of the sweeping robot and a mop located at the tail of the sweeping robot. When the sweeping robot is in the single sweeping mode, only the position of the brush located at the head of the sweeping robot may be acquired; when the sweeping robot is in the sweep-mop mode or the mop mode, only the position of the mop located at the tail of the sweeping robot may be acquired.

[0075] Step 502: Based on the obstacle avoidance trajectory and the position of the cleaning tool, determine whether the trajectory of the cleaning tool on the cleaning robot performing obstacle avoidance cleaning constitutes a closed area.

[0076] Step 503: If a closed area is formed, it is determined that the cleaning robot has completed the obstacle circumvention and cleaning of the second target obstacle.

[0077] In one embodiment of the present application, Figure 5c As shown, in the process of determining whether the trajectory of the cleaning tool on the cleaning robot performing obstacle avoidance cleaning constitutes a closed area based on the obstacle avoidance trajectory and the cleaning tool position, the inscribed circle 52 ( Figure 5c In the example, it is assumed that the current cleaning mode of the sweeping robot is the sweeping and mopping mode or the mopping mode, and the cleaning tool is located at the tail of the sweeping robot); when the obstacle avoidance trajectory 53 intersects the inscribed circle 52 at two points (such as Figure 5c When the cleaning tool on the sweeping robot performs obstacle-avoiding cleaning, it is determined that the trajectory of the sweeping tool on the sweeping robot constitutes a closed area.

[0078] In the embodiment of the present application, when the cleaning task is a single sweeping task, the inscribed circle is the inscribed circle located at the head position of the sweeping robot (i.e., the position of the brush); when the cleaning task is a single mopping task or a sweeping and mopping task, the inscribed circle is the inscribed circle located at the tail position of the sweeping robot (i.e., the mopping position). In the embodiment of the present application, the radius of the inscribed circle should be less than or equal to the cleaning radius of the cleaning tool, so that the obstacle circumvention trajectory of the sweeping robot's cleaning tool completely covers the second target obstacle, avoiding the residual uncleaned part, and improving the cleaning quality of the sweeping robot.

[0079] This application is approved by Figure 5b and Figure 5c The method shown determines whether the sweeping robot has completed the obstacle avoidance cleaning of the second target obstacle, so that the sweeping robot can identify whether the obstacle avoidance cleaning of the second target obstacle is completed at the first time, avoiding repeated obstacle avoidance of the sweeping robot, and making the obstacle avoidance trajectory of the cleaning tool of the sweeping robot completely cover the vicinity of the second target obstacle. Compared with the method of determining whether the obstacle avoidance cleaning is completed based on whether the trajectory of the center point of the sweeping robot is closed, it can avoid residual uncleaned parts (for example, partial area covered by the robot body), thereby improving the cleaning efficiency and cleaning quality of the sweeping robot.

[0080] In one embodiment of the present application, after determining in the above step 101 whether the obstacle is the first target obstacle located at the area connection point, if the obstacle is located in an area outside the area connection point, and it is detected that the sweeping robot is surrounded by obstacles, the sweeping robot is controlled to return to the original path based on the walking trajectory of the sweeping robot in a preset time period before the obstacle is detected, so as to escape from the encirclement of the obstacle.

[0081] In practical applications, when the sweeping robot switches from an edge cleaning task to a bow-shaped cleaning task, or from a bow-shaped cleaning task to a new edge cleaning task, it needs to first plan a path to a target point that can be reached. For example, Figure 6a The robot vacuum cleaner follows the path 61 shown in the figure, and then navigates to the target point based on the path 61 to perform a new cleaning task (i.e., switches to performing an edge cleaning task or a bow-shaped cleaning task). In the process of walking to the target point based on the path 61, the robot vacuum cleaner may encounter an abnormal situation where there are obstacles. For example, Figure 6bAs shown, in the case where the sweeping robot 11 is blocked by an obstacle 63, when the sweeping robot detects obstacles while trying to move forward at multiple different angles, it can be considered that the sweeping robot is surrounded by obstacles. At this time, the sweeping robot needs to re-plan a path to reach the target point based on the target point. Since the walking trajectory of the sweeping robot in the preset time period before detecting the obstacle is the path that the sweeping robot actually walked, the path can be defaulted to be a relatively safe and passable path. Therefore, the sweeping robot can be controlled to return to the original path based on the walking trajectory in the preset time period before detecting the obstacle, so as to more efficiently escape from the encirclement of obstacles, reduce the occurrence of collisions, and improve cleaning efficiency.

[0082] In one embodiment of the present application, after the sweeping robot escapes from the surrounding of obstacles, it can also Figure 6b As shown, a path 62 to the target point is replanned based on the obstacle, and the target point is navigated based on the replanned path.

[0083] In the embodiment of the present application, the walking trajectory of the sweeping robot when performing the cleaning task is collected to control the sweeping robot to return to the area connection point to detect whether the first target obstacle has been removed, thereby realizing the missed sweeping function of the sweeping robot. The obstacle avoidance trajectory is collected to determine whether the obstacle avoidance cleaning has been completed, thereby avoiding repeated obstacle avoidance and missed sweeps caused by incomplete obstacle avoidance. In addition, the walking trajectory of the sweeping robot some time before the current moment (for example, the walking trajectory within a preset time period before the obstacle is detected) is collected to control the sweeping robot to return to the original route and escape from the obstacles. This improves the sweeping robot's ability to cope with various obstacles encountered during the cleaning process, improves the cleaning efficiency of the sweeping robot, avoids the occurrence of missed sweeps, and improves the cleaning quality as well as the user experience.

[0084] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, and in some embodiments of the present application, certain steps may be performed in other orders.

[0085] The present application also provides a cleaning device for a sweeping robot. Figure 7 As shown, the cleaning device 700 of the cleaning robot can be configured on the cleaning robot and executed by the cleaning robot. The cleaning device of the cleaning robot may include:

[0086] The judging unit 701 is used to judge whether the obstacle is a first target obstacle located at a region connection point when the sweeping robot detects the obstacle; the region connection point is a connection point between two adjacent closable spaces;

[0087] The recording unit 702 is configured to record the area blocked by the first target obstacle as the anti-missing sweeping area of ​​the sweeping robot when the obstacle is a first target obstacle located at the area connection;

[0088] The detection and cleaning unit 703 is used to detect whether the first target obstacle has been removed while the cleaning robot continues to perform the cleaning task, and control the cleaning robot to clean the anti-missing cleaning area when it is detected that the first target obstacle has been removed.

[0089] In one embodiment of the present application, the detection and cleaning unit 703 is further used to:

[0090] Collecting the walking trajectory of the sweeping robot when performing a cleaning task;

[0091] When the cleaning robot completes the cleaning task of the current cleaning area, the cleaning robot is controlled to return to the area connection point based on the walking trajectory to detect whether the first target obstacle has been removed; the current cleaning area is one of the multiple cleanable areas divided when the cleaning robot builds a map;

[0092] If the first target obstacle is not removed, controlling the cleaning robot to enter the next cleanable area to perform a cleaning task;

[0093] After completing the cleaning of the next cleanable area, re-detect whether the first target obstacle has been removed, and when detecting that the first target obstacle has not been removed, re-execute the step of controlling the robot to enter the next cleanable area to perform the cleaning task until the cleaning tasks of all cleanable areas and all anti-missing areas are completed.

[0094] In one embodiment of the present application, the detection and cleaning unit 703 is further used to:

[0095] Planning a walking path for the sweeping robot to return to the area connection point based on the walking trajectory;

[0096] The cleaning robot is controlled to return to the area connection point based on the walking path.

[0097] In one embodiment of the present application, the detection and cleaning unit 703 is further used to:

[0098] If the obstacle is located in an area outside the area connection point, and the obstacle is a second target obstacle detected by the cleaning robot when the cleaning robot performs the bow-shaped cleaning task, the cleaning robot is controlled to perform obstacle-circumventing cleaning around the second target obstacle, and an obstacle-circumventing trajectory of the cleaning robot performing the obstacle-circumventing cleaning is recorded;

[0099] Determining whether the cleaning robot has completed the obstacle circumvention cleaning of the second target obstacle based on the obstacle circumvention trajectory;

[0100] After the cleaning robot completes the obstacle circumvention cleaning of the second target obstacle, the cleaning robot is controlled to continue to perform the remaining cleaning tasks in the current cleaning area.

[0101] In one embodiment of the present application, the detection and cleaning unit 703 is further used to:

[0102] Obtaining the position of a cleaning tool on the cleaning robot;

[0103] Based on the obstacle avoidance trajectory and the position of the cleaning tool, determining whether the trajectory of the cleaning tool on the cleaning robot performing the obstacle avoidance cleaning constitutes a closed area;

[0104] If a closed area is formed, it is determined that the cleaning robot has completed the obstacle circumvention and cleaning of the second target obstacle; wherein the obstacle circumvention trajectory is a trajectory drawn by the center point of the cleaning robot.

[0105] In one embodiment of the present application, the detection and cleaning unit 703 is further used to:

[0106] Determine an inscribed circle at a position of a cleaning tool of the cleaning robot; the radius of the inscribed circle is less than or equal to the cleaning radius of the cleaning tool;

[0107] When the obstacle avoidance trajectory intersects the inscribed circle at two points, it is determined that the trajectory of the cleaning tool on the cleaning robot performing the obstacle avoidance cleaning constitutes a closed area.

[0108] In one embodiment of the present application, the detection and cleaning unit 703 is further used to:

[0109] If the obstacle is located in an area outside the area connection point, and it is detected that the cleaning robot is surrounded by the obstacle, the cleaning robot is controlled to return to the original path based on the walking trajectory of the cleaning robot in a preset time period before the obstacle is detected, so as to escape from the encirclement of the obstacle.

[0110] It should be noted that, for the convenience and simplicity of description, the specific working process of the cleaning device 700 of the cleaning robot described above can refer to the above Figures 1a to 6b The corresponding process of the method described in will not be repeated here.

[0111] like Figure 8 As shown, the embodiment of the present application also provides an electronic device. The electronic device may be a sweeping robot. Figure 8As shown, the electronic device 8 may include: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned cleaning method embodiments of the cleaning robot are implemented, for example, Figure 2 Steps 101 to 103 are shown.

[0112] The processor 80 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0113] The memory 81 may be an internal storage unit of the electronic device 8, such as a hard disk or a memory. The memory 81 may also be an external storage device for the electronic device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 8. Further, the memory 81 may also include both an internal storage unit of the electronic device 8 and an external storage device. The memory 81 is used to store the above-mentioned computer program and other programs and data required by the electronic device.

[0114] The computer program may be divided into one or more units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the process of the computer program executing the cleaning method of the cleaning robot in the electronic device.

[0115] For example, the above computer program can be divided into: an acquisition unit, a calculation unit and a detection unit, and the specific functions are as follows:

[0116] An acquisition unit, used to acquire driver characteristics and environmental characteristics; the driver characteristics include the driver's height and seat position, and the environmental characteristics include the installation position of the camera;

[0117] A calculation unit, used for calculating an initial region of interest of the driver's face in the image captured by the camera based on the driver's characteristics and the environment characteristics;

[0118] The detection unit is used to input the initial region of interest, driver characteristics and environmental characteristics into the cleaning model of the target sweeping robot obtained by pre-training, and obtain the target region of interest output by the cleaning model of the target sweeping robot, which is the driver's face in the image captured by the camera.

[0119] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0120] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0121] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0122] In the embodiments provided in the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, systems or units, which can be electrical, mechanical or other forms.

[0123] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0124] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer program product, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or recording medium that can carry computer program code, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0126] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. 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. 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, and should all be included in the protection scope of the present application.

Claims

1. A cleaning method for a sweeping robot, characterized in that: The cleaning method comprises: When the sweeping robot detects an obstacle, determining whether the obstacle is a first target obstacle located at a region connection point; the region connection point is a connection point between two adjacent closable spaces; When the obstacle is a first target obstacle located at a place where the areas are connected, the area blocked by the first target obstacle is recorded as an anti-missing sweeping area of ​​the sweeping robot; When the cleaning robot continues to perform the cleaning task, it detects whether the first target obstacle has been removed, and when it is detected that the first target obstacle has been removed, the cleaning robot is controlled to clean the anti-missing cleaning area.

2. The cleaning method of the sweeping robot according to claim 1, characterized in that: The detecting whether the first target obstacle has been removed during the process in which the cleaning robot continues to perform the cleaning task includes: Collecting the walking trajectory of the sweeping robot when performing a cleaning task; When the cleaning robot completes the cleaning task of the current cleaning area, the cleaning robot is controlled to return to the area connection point based on the walking trajectory to detect whether the first target obstacle has been removed; the current cleaning area is one of the multiple cleanable areas divided when the cleaning robot builds a map; If the first target obstacle is not removed, controlling the cleaning robot to enter the next cleanable area to perform a cleaning task; After completing the cleaning of the next cleanable area, re-detect whether the first target obstacle has been removed, and when detecting that the first target obstacle has not been removed, re-execute the step of controlling the robot to enter the next cleanable area to perform the cleaning task until the cleaning tasks of all cleanable areas and all anti-missing areas are completed.

3. The cleaning method of the sweeping robot according to claim 2, characterized in that: The controlling the cleaning robot to return to the area connection point based on the walking trajectory includes: Planning a walking path for the sweeping robot to return to the area connection point based on the walking trajectory; The cleaning robot is controlled to return to the area connection point based on the walking path.

4. The cleaning method of a cleaning robot according to any one of claims 1 to 3, characterized in that: After determining whether the obstacle is a first target obstacle located at a connected area, the method further includes: If the obstacle is located in an area outside the area connection point, and the obstacle is a second target obstacle detected by the cleaning robot when the cleaning robot performs the bow-shaped cleaning task, the cleaning robot is controlled to perform obstacle-circumventing cleaning around the second target obstacle, and an obstacle-circumventing trajectory of the cleaning robot performing the obstacle-circumventing cleaning is recorded; Determining whether the cleaning robot has completed the obstacle circumvention cleaning of the second target obstacle based on the obstacle circumvention trajectory; After the cleaning robot completes the obstacle circumvention cleaning of the second target obstacle, the cleaning robot is controlled to continue to perform the remaining cleaning tasks in the current cleaning area.

5. The cleaning method of the sweeping robot according to claim 4, characterized in that: The determining, based on the obstacle circumvention trajectory, whether the cleaning robot has completed the obstacle circumvention and cleaning of the second target obstacle includes: Obtaining the position of a cleaning tool on the cleaning robot; Based on the obstacle avoidance trajectory and the position of the cleaning tool, determining whether the trajectory of the cleaning tool on the cleaning robot performing the obstacle avoidance cleaning constitutes a closed area; If a closed area is formed, it is determined that the cleaning robot has completed the obstacle circumvention and cleaning of the second target obstacle; wherein the obstacle circumvention trajectory is a trajectory drawn by the center point of the cleaning robot.

6. The cleaning method of the cleaning robot according to claim 5, characterized in that: The determining, based on the obstacle avoidance trajectory and the position of the cleaning tool, whether the trajectory of the cleaning tool on the cleaning robot performing the obstacle avoidance cleaning constitutes a closed area includes: Determine an inscribed circle at a position of a cleaning tool of the cleaning robot; the radius of the inscribed circle is less than or equal to the cleaning radius of the cleaning tool; When the obstacle avoidance trajectory intersects the inscribed circle at two points, it is determined that the trajectory of the cleaning tool on the cleaning robot performing the obstacle avoidance cleaning constitutes a closed area.

7. The cleaning method of the sweeping robot according to claim 2 or 3, characterized in that: After determining whether the obstacle is a first target obstacle located at a connected area, the cleaning method further includes: If the obstacle is located in an area outside the area connection point, and it is detected that the cleaning robot is surrounded by the obstacle, the cleaning robot is controlled to return to the original path based on the walking trajectory of the cleaning robot in a preset time period before the obstacle is detected, so as to escape from the encirclement of the obstacle.

8. A cleaning device for a sweeping robot, characterized in that: The cleaning device of the sweeping robot comprises: A judgment unit, configured to judge whether the obstacle is a first target obstacle located at a region connection point when the sweeping robot detects the obstacle; the region connection point is a connection point between two adjacent closable spaces; a recording unit, configured to, when the obstacle is a first target obstacle located at a place where the areas are connected, record the area blocked by the first target obstacle as an anti-missing sweeping area of ​​the sweeping robot; The detection and cleaning unit is used to detect whether the first target obstacle has been removed while the cleaning robot continues to perform the cleaning task, and control the cleaning robot to clean the anti-missing cleaning area when it is detected that the first target obstacle has been removed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is executed by the processor, the steps of the cleaning method of the cleaning robot as described in any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that It includes a computer program, which, when executed, implements the steps of the cleaning method of the cleaning robot as described in any one of claims 1 to 7.

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