Purification robot stagnation point determination method, purification robot and readable storage medium

Abstract

The invention relates to a stationary point determination method of a purification robot, the purification robot and a readable storage medium. The method comprises the following steps: determining an initial stagnation point on the operation map; wherein obstacles exist in the operation map; and if the obstacle covers at least one initial stagnation point, determining a target stagnation point where the purification robot is located when executing the purification task according to the position of the obstacle, the purification width of the purification robot and the initial stagnation point which is not covered by the obstacle. According to the embodiment of the invention, the stationary point for executing the purification task can be automatically determined in the operation area without additional matched detection equipment.

Description

Technical Field

[0001] The present specification relates to the technical field of purification robots, and in particular to a method for determining a station point of a purification robot, a purification robot, and a readable storage medium. Background Art

[0002] Purification robots are a type of household service robot. They combine the features of traditional air purifiers and robots, breaking through the limitation of traditional purifiers that can only purify at fixed points. They can move autonomously and purify the whole house. Purification station planning schemes in related technologies usually include the following two types:

[0003] First, fixed-point purification, where the points are manually set through the APP, and the purification robot moves to the manually set station through path planning to perform purification tasks. This method requires manual operation, is cumbersome, and has a poor user experience.

[0004] Second, use air detection products placed at multiple points, such as air boxes and air detectors, to detect the air and determine the points that need to be purified based on the air detection results. Although this method can enable the purification robot to select points for purification autonomously, it requires supporting detection equipment, has poor flexibility and high costs. Summary of the invention

[0005] The present specification aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present specification is to propose a method for determining a station point of a purification robot, which can automatically determine a station point for performing a purification task in an operating area without the need for additional supporting detection equipment.

[0006] The second purpose of this specification is to provide a stationary point determination device for a purification robot.

[0007] The third purpose of this specification is to provide a purification robot.

[0008] A fourth objective of this specification is to provide a computer-readable storage medium.

[0009] To achieve the above purpose, the first embodiment of this specification proposes a method for determining the station point of a cleaning robot. The cleaning robot stores an operation map corresponding to the operation area; the station point determination method includes: determining an initial station point on the operation map; wherein there are obstacles in the operation map; if the obstacle covers at least one of the initial station points, the target station point where the cleaning robot is located when performing the cleaning task is determined according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial station points not covered by the obstacle.

[0010] In some embodiments of the present specification, determining the target station point of the cleaning robot when performing the cleaning task based on the position of the obstacle, the cleaning width of the cleaning robot, and the initial station point not covered by the obstacle includes: generating candidate station points not covered by the obstacle on the work map based on the position of the obstacle; and determining the target station point of the cleaning robot when performing the cleaning task based on the cleaning width of the cleaning robot, the candidate station points, and the initial station point not covered by the obstacle.

[0011] In some embodiments of the present specification, the initial stationary point corresponds to a stationary point selection path; if the obstacle covers one of the initial stationary points, generating candidate stationary points not covered by the obstacle on the operation map according to the position of the obstacle includes: generating two determined stationary points on the stationary point selection path corresponding to one of the initial stationary points covered by the obstacle; the two determined stationary points are located on both sides of the obstacle, and the distance between the determined stationary points and a first adjacent edge is greater than half of the body width of the cleaning robot, and the first adjacent edge is the edge of the obstacle that is closest to the determined stationary point; generating at least one to-be-determined stationary point in a first vertical direction that is perpendicular to the stationary point selection path corresponding to one of the initial stationary points covered by the obstacle; the distance between the to-be-determined stationary point and a second adjacent edge is greater than half of the body width of the cleaning robot; the first vertical direction passes through one of the initial stationary points covered by the obstacle, and the second adjacent edge is the edge of the obstacle that is closest to the to-be-determined stationary point; the two determined stationary points and the at least one to-be-determined stationary point constitute the candidate stationary points.

[0012] In some embodiments of the present specification, the initial stationary point corresponds to a stationary point selection path; if the obstacle covers a plurality of the initial stationary points, generating candidate stationary points not covered by the obstacle on the operation map according to the position of the obstacle includes: determining a stationary point to be processed that is located on the same stationary point selection path among the plurality of the initial stationary points covered by the obstacle; generating two determined stationary points on the stationary point selection path where the stationary point to be processed is located; the two determined stationary points are located on both sides of the obstacle, and the distance between the determined stationary point and a first adjacent edge is greater than half of the body width of the cleaning robot, and the first adjacent edge is the edge of the obstacle that is closest to the determined stationary point; for each stationary point to be processed, determining a second vertical direction that is perpendicular to the stationary point selection path corresponding to each stationary point to be processed; the second vertical direction passes through each stationary point to be processed; generating at least one stationary point to be determined in each of the second vertical directions; the distance between the stationary point to be determined and the second adjacent edge is greater than half of the body width of the cleaning robot, and the second adjacent edge is the edge of the obstacle that is closest to the stationary point to be determined.

[0013] In some embodiments of the present specification, the target station point of the cleaning robot when performing a cleaning task is determined based on the cleaning width of the cleaning robot, the candidate station points, and the initial station point not covered by the obstacle, including: screening the candidate station points according to the cleaning width and the initial station point not covered by the obstacle, and determining the station point after screening among the candidate station points; determining the target station point based on the initial station point not covered by the obstacle and the station point after screening.

[0014] In some embodiments of the present specification, the candidate stationary points include determined stationary points and stationary points to be determined; the candidate stationary points are screened according to the purification width and the initial stationary points not covered by the obstacle, and the stationary points after screening are determined among the candidate stationary points, including: determining the first purification range when the purification robot is at the initial stationary point not covered by the obstacle and the determined stationary point based on the purification width; determining the second purification range when the purification robot is at the stationary point to be determined based on the purification width; and taking the stationary point to be determined corresponding to the second purification range that cannot be fully covered by the first purification range and the determined stationary point as the stationary point after screening.

[0015] In some embodiments of the present specification, determining an initial stationary point on the operation map includes: determining any axial direction of the coordinate system corresponding to the operation map as a stationary point selection direction; determining a stationary point selection path parallel to the stationary point selection direction in the operation map; wherein a first distance between the stationary point selection paths is less than or equal to the purification width; a second distance between an edge stationary point selection path close to an edge of the operation map in the stationary point selection path and the edge of the operation map is greater than half of the body width of the purification robot and less than half of the purification width; and determining the initial stationary point in the stationary point selection path.

[0016] In some embodiments of the present specification, the width of the first edge in the operation map that is parallel to the station point selection path is recorded as the operation area width; the operation map has a second edge that is perpendicular to the station point selection path; the initial station point is determined in the station point selection path, including any one of the following situations: when the width of the operation area is less than or equal to the purification width, the position in the station point selection path that is equal to half of the width of the operation area from the second edge is used as the initial station point; or when the width of the operation area is less than or equal to twice the purification width, two initial station points are determined in the station point selection path according to a preset distance and the operation area width; wherein the preset distance is greater than or equal to half of the body width of the cleaning robot; or when the width of the operation area is greater than twice the purification width, at least three initial station points are determined in the station point selection path based on the operation area width, the purification width, and the preset distance; wherein the preset distance is greater than or equal to half of the body width of the cleaning robot.

[0017] In some embodiments of the present specification, the width of the first edge in the work map that is parallel to the station point selection path is recorded as the work area width; the work map has a second edge that is perpendicular to the station point selection path; the work area width is less than or equal to twice the purification width; determining the initial station point in the station point selection path includes: determining a first difference between the work area width and four times a preset distance; wherein the preset distance is greater than or equal to half the body width of the purification robot; determining the sum of the preset distance and half of the first difference as the selection point distance; and determining a position in the station point selection path whose distance from the second edge is equal to the selection point distance as the initial station point.

[0018] In some embodiments of the present specification, the width of the first edge in the operation map that is parallel to the station selection path is recorded as the operation area width; the operation map has a second edge that is perpendicular to the station selection path; the operation area width is greater than twice the purification width; determining the initial station point in the station selection path includes: taking a position in the station selection path that is equal to half of the width of the operation area at a distance from the second edge as an intermediate station point; on the station selection path, determining an interval station point on both sides of the intermediate station point at intervals of the purification width until the difference between the interval station point closest to the second edge and the second edge and half of the purification width is less than or equal to the purification width, and determining an edge station point between the interval station point closest to the second edge and the second edge based on a preset distance and the interval distance; wherein the preset distance is greater than or equal to half of the body width of the cleaning robot; the intermediate station point, the interval station point and the edge station point constitute the initial station point.

[0019] To achieve the above purpose, the second embodiment of the specification proposes a station point determination device for a cleaning robot. The cleaning robot stores an operation map corresponding to the operation area; the station point determination device includes: an initial station point determination module, which is used to determine the initial station point on the operation map; wherein there are obstacles in the operation map; a target station point determination module, which is used to determine the target station point of the cleaning robot when performing the cleaning task according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial station point not covered by the obstacle if the obstacle covers at least one of the initial station points.

[0020] To achieve the above-mentioned purpose, the third aspect embodiment of the present specification proposes a purification robot, including a memory, a processor, and a station point determination program of the purification robot stored in the memory and executable on the processor. When the processor executes the station point determination program of the purification robot, the station point determination method of the purification robot as described in any one of the first aspects is implemented.

[0021] To achieve the above-mentioned purpose, the fourth aspect of the present specification proposes a computer-readable storage medium, on which a station point determination program of a purification robot is stored. When the station point determination program of the purification robot is executed by a processor, the station point determination method of the purification robot as described in any one of the first aspects is implemented.

[0022] Through the above embodiments, before the purification robot performs a purification task in an operating area, it will first determine the initial station point on the operating map. In the case where there is an obstacle covering the initial station point, the target station point where the purification robot performs the purification task is determined according to the location of the obstacle and the purification width of the purification robot. Moreover, the total purification range of the purification robot performing the purification task based on the target station point can completely cover the operating area. In the embodiments of this specification, the purification robot can automatically determine the target station point for performing the purification task in the operating area without the assistance of any detection equipment.

[0023] Additional aspects and advantages of the present specification will be given in part in the description below and in part will become apparent from the description below or will be learned through the practice of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an example diagram of a scenario proposed in the implementation mode of this specification.

[0025] Figure 2 It is a flow chart of a method for determining a station point of a purification robot proposed in an embodiment of this specification.

[0026] Figure 3a Schematic diagram of candidate stationary points according to one embodiment of the present specification.

[0027] Figure 3b It is a schematic diagram of candidate stationary points according to another embodiment of the present specification.

[0028] Figure 4a It is a schematic diagram of candidate stationary point screening according to one embodiment of the present specification.

[0029] Figure 4b It is a schematic diagram of candidate stationary point screening according to another embodiment of the present specification.

[0030] Figure 5 It is a schematic diagram of determining the initial stationary point according to an embodiment of the present specification.

[0031] Figure 6a This is a schematic diagram of determining the initial stationary point of an embodiment of this specification.

[0032] Figure 6b This is a schematic diagram of determining the initial stationary point according to another embodiment of the present specification.

[0033] Figure 6c This is a schematic diagram of determining the initial stationary point according to another embodiment of the present specification.

[0034] Figure 7 It is a flow chart of a method for determining a station point of a purification robot according to an embodiment of the present specification.

[0035] Figure 8 It is a structural block diagram of a station point determination device of a purification robot according to an embodiment of this specification.

[0036] Fig. 9 It is a structural block diagram of a station point determination device of a purification robot according to an embodiment of the present specification.

[0037] Fig.10 It is a structural block diagram of a purification robot according to an embodiment of the present specification. DETAILED DESCRIPTION

[0038] The embodiments of the present specification are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present specification, and should not be construed as limiting the present specification.

[0039] This specification proposes a method for determining a station point of a purification robot, which can pre-plan a target station point for performing a purification task in an operation area before performing a purification operation without the help of other detection equipment.

[0040] This specification takes the purification of the homework area as an example and proposes a scenario example of a method for determining the station point of a purification robot. The method for determining the station point of the purification robot is applied to Figure 1 See the purification robot shown. Figure 1 In this scenario example, the work map is generated by the purification robot 110 using laser navigation or visual navigation, based on GMapping, Cartographer, ORB-SLAM and other frameworks for positioning and mapping, combined with the collected target depth information. And the purification robot stores the work map. The work map includes three work areas, namely, work area 1, work area 2 and work area 3. This scenario example takes the work map corresponding to work area 1 as an example to explain the method of station determination. Work area 2 represents the living room area in the home area. The black shadows in the figure represent obstacles such as TV cabinets, sofas, and coffee tables in work area 2.

[0041] Exemplarily, several initial stationary points are determined on the operation map. The location of the initial stationary point may fall on an obstacle in the operation map. If the obstacle is covered by at least one initial stationary point, the target stationary point where the purification robot performs the purification task can be determined based on the location of the obstacle, the purification width of the purification robot, and the initial stationary point not covered by the obstacle. Then, the motion path is planned according to the target stationary point so that the purification robot passes through each target stationary point along the motion path and performs the purification task at the target stationary point.

[0042] Among them, the purification width of the purification robot refers to the horizontal distance that the purification robot can effectively purify or cover in one purification task. It can be expressed as the width range of the air or surface that the purification robot can clean in a period of time.

[0043] See also Figure 1 , the width of the obstacle 120 is smaller than the purification width of the purification robot, indicating that the obstacle 120 covers an initial stationary point c. In one feasible manner, candidate stationary points not covered by obstacles can be generated on the operation map corresponding to the operation area 2 according to the position of the obstacle 120. Then, the target stationary point where the purification robot is located when performing the purification task is determined based on the purification width of the purification robot, the candidate stationary points, and the initial stationary points not covered by the obstacles. At this time, the initial stationary point c covered by the obstacle 120 can be directly deleted. The target stationary point includes the initial stationary point and some candidate stationary points not covered by obstacles in the operation area 2.

[0044] Figure 2 This is a flow chart of a method for determining a station point of a cleaning robot proposed in an embodiment of this specification. Figure 2 , the stationary point determination method includes:

[0045] S210, determining an initial station point on the operation map.

[0046] Among them, there are obstacles in the work map.

[0047] S220: If the obstacle covers at least one initial stationary point, determine the target stationary point where the cleaning robot is located when performing the cleaning task according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial stationary point not covered by the obstacle.

[0048] In an embodiment of the present specification, the purification robot stores an operation map corresponding to the operating area. The operation map can be generated by laser navigation or visual navigation, based on GMapping, Cartographer, ORB-SLAM and other frameworks for positioning and mapping, combined with the collected target depth information. The purification robot has a purification width, which refers to the horizontal distance that the purification robot can effectively purify or cover in a purification task. It can be expressed as the width range that the purification robot can clean the air or surface within a period of time.

[0049] Therefore, when determining the initial station point on the work map, the initial station point can be planned based on the purification width of the purification robot and the body width of the purification robot, so that the purification robot will not collide with the wall when passing through the initial station point, and the purification range of the purification robot at each initial station point determined based on the purification width can completely cover the entire work area.

[0050] Since the initial stationary point is planned only by the contour range of the working area, whether there are obstacles in the working area is not considered. Therefore, there may be a situation where the initial stationary point falls on an obstacle.

[0051] If the obstacle covers at least one initial stationary point, the target stationary point at which the purification robot can perform the purification task can be determined according to the position of the obstacle, the purification width of the purification robot and the initial stationary point not covered by the obstacle.

[0052] For example, see Figure 1 , several initial stationary points can be determined in the operation map corresponding to the operation area 2, namely, initial stationary points a, b, c, d, e, and f. Among them, the initial stationary point c is covered by the obstacle 120. In one feasible manner, if it is determined based on the purification width that the total purification range of the purification robot when it is at other initial stationary points other than the initial stationary point c can completely cover the operation area 2, the initial stationary point c can be directly deleted. The initial stationary points a, b, d, e, and f that are not covered by obstacles are used as target stationary points. In another feasible manner, after determining that the initial stationary point c is covered by the obstacle 120, candidate stationary points that are not covered by any obstacles are generated around the position where the obstacle 120 is located. Then, based on the initial stationary points a, b, d, e, and f that are not covered by obstacles and the purification width of the purification robot, the available stationary points are selected from the candidate stationary points as target stationary points, and the target stationary points also include the initial stationary points a, b, d, e, and f that are not covered by obstacles.

[0053] After determining the target stationary point, the purification robot can plan the motion path based on the position of the target stationary point. The purification robot will pass through each target stationary point while moving along the motion path, and will not collide with obstacles and walls. When planning the motion path, local path planning algorithms such as Dijkstra and artificial potential field method can be used, but are not limited to them.

[0054] Through the above embodiments, before the purification robot performs a purification task in an operating area, it will first determine the initial station point on the operating map. In the case where there is an obstacle covering the initial station point, the target station point where the purification robot performs the purification task is determined according to the location of the obstacle and the purification width of the purification robot. Moreover, the total purification range of the purification robot performing the purification task based on the target station point can completely cover the operating area. In the embodiments of this specification, the purification robot can automatically determine the target station point for performing the purification task in the operating area without the assistance of any detection equipment.

[0055] In some embodiments of the present specification, the target station point of the cleaning robot when performing the cleaning task is determined according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial station point not covered by the obstacle, including: generating candidate station points not covered by the obstacle on the operation map according to the position of the obstacle. The target station point of the cleaning robot when performing the cleaning task is determined based on the cleaning width of the cleaning robot, the candidate station points, and the initial station point not covered by the obstacle.

[0056] In the embodiments of the present specification, since the initial stationary point is planned based on factors such as the purification width and the body width of the robot, when there are obstacles covering the initial stationary point, there will generally be areas that the purification robot cannot purify when it is at other initial stationary points that are not covered by obstacles.

[0057] Therefore, if the obstacle covers at least one initial stationary point, candidate stationary points are generated first, and then the target stationary point is determined among the candidate stationary points and the initial stationary points not covered by the obstacle, so that the cleaning robot can clean any area of ​​the working area.

[0058] Exemplarily, if an obstacle covers at least one initial stationary point, the position of the obstacle covering the initial stationary point in the operation map is determined, and one or more candidate stationary points not covered by the obstacle are generated in the operation map according to the position of the obstacle. The candidate stationary point can be selected near the obstacle. Then, based on the purification width of the purification robot, the total purification range of the purification robot when performing the purification task can completely cover the target stationary point of the operation area is determined among the candidate stationary points and the initial stationary points not covered by the obstacle.

[0059] In some embodiments of this specification, the initial stationary point corresponds to a stationary point selection path. If an obstacle covers an initial stationary point, a candidate stationary point not covered by the obstacle is generated on the operation map according to the position of the obstacle, including:

[0060] Two fixed stationary points are generated on a stationary point selection path corresponding to an initial stationary point covered by an obstacle.

[0061] The two determined stationary points are located on both sides of the obstacle, and the distance between the determined stationary point and the first adjacent edge is greater than half of the body width of the cleaning robot, and the first adjacent edge is the edge of the obstacle that is closest to the determined stationary point.

[0062] At least one stationary point to be determined is generated in a first vertical direction in which a stationary point selection path corresponding to an initial stationary point covered by the obstacle tends to be vertical.

[0063] The distance between the stationary point to be determined and the second adjacent edge is greater than half the width of the cleaning robot; the first vertical direction passes through an initial stationary point covered by the obstacle, and the second adjacent edge is the edge of the obstacle that is closest to the stationary point to be determined.

[0064] Two determined stationary points and at least one stationary point to be determined constitute candidate stationary points.

[0065] In some cases, the initial stationary point corresponds to a stationary point selection path, and the interval distance between different initial stationary points in the same stationary point selection path is generally one purification width. Therefore, when the width of the obstacle is smaller than the purification width, it can only cover one initial stationary point.

[0066] If the obstacle only covers one initial stationary point, two fixed stationary points are generated on the stationary point selection path corresponding to the initial stationary point covered by the obstacle. Figure 3a , an initial stationary point c and an initial stationary point d are determined on the stationary point selection path 310. The obstacle 320 covers the initial stationary point c. Two determined stationary points are generated on the stationary point selection path 310 corresponding to the initial stationary point c, namely, the determined stationary point c' and the determined stationary point c".

[0067] The determined stationary point c' and the determined stationary point c" are located on both sides of the obstacle 320, and the distance between the determined stationary point c' and the first adjacent edge is greater than half of the body width of the cleaning robot, and the distance between the determined stationary point c" and the first adjacent edge is also greater than half of the body width of the cleaning robot. Different determined stationary points correspond to different first adjacent edges. The first adjacent edge is the edge of the obstacle that is closest to the determined stationary point. Please refer to Figure 3a , the first adjacent edge corresponding to the stationary point c' is determined to be the edge 3202 of the obstacle 320 close to the determined stationary point c'; the first adjacent edge corresponding to the stationary point c" is determined to be the edge 3204 of the obstacle 320 close to the determined stationary point c".

[0068] The two fixed stationary points generated on the stationary point selection path are to ensure that the purification robot can be in the purification range when performing the purification task at the fixed stationary point, covering the purification range when performing the purification task at the initial stationary point c, and reducing the situation where the area where the obstacle is located cannot be purified. The distance between the fixed stationary point and the first adjacent edge is greater than half of the body width of the purification robot to ensure that the purification robot will reduce the collision with obstacles when moving to the fixed stationary point and passing through the fixed stationary point.

[0069] In some cases, only generating determined stationary points on the stationary point selection path may not achieve complete coverage of the working area by the purification range. Therefore, stationary points to be determined may also be generated in other directions except the stationary point selection path.

[0070] Exemplarily, at least one stationary point to be determined is generated in a first vertical direction where a stationary point selection path corresponding to an initial stationary point covered by an obstacle tends to be vertical. Figure 3aFirst, determine the first vertical direction 330 that is perpendicular to the stationary point selection path 310, and the first vertical direction 330 passes through the initial stationary point c covered by the obstacle 320. One stationary point z' to be determined can be generated on the first vertical direction 330, or two stationary points z' and z'' to be determined can be generated, or multiple stationary points to be determined can be generated. The distance between the stationary point to be determined and the second adjacent edge is greater than half the body width of the cleaning robot, and the second adjacent edge is the edge of the obstacle that is closest to the stationary point to be determined. When multiple stationary points to be determined are generated, the multiple stationary points to be determined are distributed on both sides of the obstacle.

[0071] The two determined stationary points generated on the stationary point selection path and at least one to-be-determined stationary point generated in the first vertical direction constitute candidate stationary points.

[0072] In some embodiments of this specification, the initial stationary point corresponds to a stationary point selection path. If the obstacle covers multiple initial stationary points, candidate stationary points not covered by the obstacle are generated on the operation map according to the location of the obstacle, including:

[0073] Determine the stationary points to be processed that are on the same stationary point selection path among multiple initial stationary points covered by the obstacle.

[0074] On the station point selection path where the station point to be processed is located, two determined station points are generated. The two determined station points are located on both sides of the obstacle, and the distance between the determined station points and the first adjacent edge is greater than half of the body width of the cleaning robot, and the first adjacent edge is the edge of the obstacle that is closest to the determined station points.

[0075] For each stationary point to be processed, a second vertical direction is determined, which is perpendicular to the stationary point selection path corresponding to each stationary point to be processed. The second vertical direction passes through each stationary point to be processed.

[0076] At least one stationary point to be determined is generated in each second vertical direction. The distance between the stationary point to be determined and the second adjacent edge is greater than half of the body width of the cleaning robot, and the second adjacent edge is the edge of the obstacle closest to the stationary point to be determined.

[0077] In some cases, the initial stationary point corresponds to a stationary point selection path, and the interval distance between different initial stationary points in the same stationary point selection path is generally one purification width. Therefore, when the width of the obstacle is greater than the purification width, it may cover multiple initial stationary points.

[0078] For the case where an obstacle covers multiple initial stationary points, the following situations may exist: an obstacle in the working area covers multiple initial stationary points on the same stationary point selection path; an obstacle in the working area covers multiple initial stationary points on different stationary point selection paths; multiple obstacles in the working area respectively cover multiple initial stationary points on different stationary point selection paths.

[0079] For example, an obstacle covers multiple initial stationary points on the path of two stationary points. Figure 3b , the obstacle 340 covers the initial stationary point e and the initial stationary point f on the stationary point selection path 350, and also covers the initial stationary point g and the initial stationary point h on the stationary point selection path 360.

[0080] First, among the multiple initial stationary points covered by the obstacle 340, the stationary points to be processed that are located on the same stationary point selection path are determined, for example, the initial stationary point e and the initial stationary point f on the stationary point selection path 350, and the initial stationary point e and the initial stationary point f are the stationary points to be processed. On the stationary point selection path 350 where the stationary points to be processed are located, a determined stationary point e' and a determined stationary point f' are generated on both sides of the obstacle 340. The first adjacent edge corresponding to the determined stationary point e' is the edge 3402 in the obstacle 340, and the first adjacent edge corresponding to the determined stationary point f' is the edge 3404 in the obstacle 340. The first adjacent edge is the edge in the obstacle that is closest to the determined stationary point. The distance between the determined stationary point and the first adjacent edge is greater than half the body width of the cleaning robot. That is, the distance between the determined stationary point e' and the edge 3402 is greater than half the body width of the cleaning robot; the distance between the determined stationary point f' and the edge 3404 is greater than half the body width of the cleaning robot.

[0081] Similarly, the two determined stationary points generated on the stationary point selection path 350 are to ensure that the cleaning robot can be in the cleaning range when performing the cleaning task at the determined stationary point, covering the cleaning range when performing the cleaning task at the initial stationary point c, and reducing the situation where the area where the obstacle is located cannot be cleaned. The distance between the determined stationary point and the first adjacent edge is greater than half of the body width of the cleaning robot to ensure that the cleaning robot reduces the collision with obstacles when moving to the determined stationary point and passing through the determined stationary point.

[0082] Since the width of the obstacle is large, only generating a determined stationary point on the stationary point selection path may not achieve complete coverage of the operating area by the purification range. Therefore, stationary points to be determined can also be generated in other directions except the stationary point selection path.

[0083] For each stationary point to be processed, determine a second vertical direction perpendicular to the stationary point selection path area corresponding to each stationary point to be processed, and generate at least one stationary point to be determined in each second vertical direction. The second vertical direction passes through the corresponding stationary point to be processed. For example, continue to refer to Figure 3b, for the stationary points to be processed: initial stationary point e and initial stationary point f, first determine the second vertical direction 3506 that the stationary point selection path 350 corresponding to the initial stationary point e tends to be perpendicular to, and the second vertical direction 3508 that the stationary point selection path 350 corresponding to the initial stationary point f tends to be perpendicular to. The second vertical direction 3506 passes through the initial stationary point e, and the second vertical direction 3508 passes through the initial stationary point f.

[0084] One stationary point w' to be determined may be generated in the second vertical direction 3506, or two or more stationary points to be determined may be generated. If two or more stationary points to be determined are generated, the stationary points to be determined are distributed on both sides of the obstacle 340. If only one stationary point to be determined is generated, the stationary point to be determined is on the side of the edge of the obstacle closest to the initial stationary point in the second vertical direction. The distance between the stationary point to be determined and the second adjacent edge is greater than half the width of the body of the purification robot, and the second adjacent edge is the edge of the obstacle that is closest to the stationary point to be determined. Taking the stationary point w' to be determined as an example, the second adjacent edge of the stationary point w' to be determined is 3406, and the distance between the stationary point w' to be determined and the edge 3406 is greater than half the width of the body of the purification robot.

[0085] Similarly, one stationary point y' to be determined may be generated in the second vertical direction 3508, or two or more stationary points to be determined may be generated. If two or more stationary points to be determined are generated, the stationary points to be determined are distributed on both sides of the obstacle 340. If only one stationary point to be determined is generated, the stationary point to be determined is located on the side of the edge of the obstacle closest to the initial stationary point in the second vertical direction.

[0086] The determined stationary point e' and the determined stationary point f' determined in the stationary point selection direction, the at least one to-be-determined stationary point generated in the second vertical direction 3506, and the at least one to-be-determined stationary point generated in the second vertical direction 3508 are all candidate stationary points.

[0087] It is understandable that, in the case where the obstacle covers multiple initial stationary points, multiple groups of stationary points to be processed can be determined. The generation method of candidate stationary points corresponding to each group of stationary points to be processed is the same as the above process and will not be repeated.

[0088] According to the embodiments of this specification, when an obstacle covers an initial stationary point, there are two strategies: single stationary point processing and multi-stationary point processing, which can well adapt to the complex scene characteristics in the working environment. Among them, the above-mentioned obstacle covers one initial stationary point processing process is single stationary point processing, and the above-mentioned obstacle covers multiple initial stationary points processing process is multi-stationary point processing.

[0089] In some embodiments of the present specification, the target station point of the cleaning robot when performing the cleaning task is determined based on the cleaning width of the cleaning robot, the candidate station points, and the initial station point not covered by obstacles, including: screening the candidate station points according to the cleaning width and the initial station point not covered by obstacles, and determining the station point after screening among the candidate station points. The target station point is determined based on the initial station point not covered by obstacles and the station point after screening.

[0090] In some cases, the to-be-determined stationary points in the candidate stationary points are to ensure that the purification robot does not miss the purification of a certain area. The purification range of the purification robot at certain to-be-determined stationary points to perform purification tasks may be repeated, so the candidate stationary points need to be screened. Specifically, the candidate stationary points can be screened based on the purification width and the initial stationary points not covered by obstacles, so as to determine the stationary points after screening. In some implementable methods, the to-be-determined stationary points can also be screened based on the purification width, the initial stationary points not covered by obstacles, and the determined stationary points in the candidate stationary points. Then, the target stationary point is determined based on the initial stationary points not covered by obstacles and the stationary points after screening.

[0091] In some embodiments of the present specification, the candidate stationary points include determined stationary points and to-be-determined stationary points. The candidate stationary points are screened according to the purification width and the initial stationary points not covered by obstacles, and the stationary points after screening are determined among the candidate stationary points, including: determining the first purification range when the purification robot is at the initial stationary point not covered by obstacles and the determined stationary point based on the purification width. Determine the second purification range when the purification robot is at the to-be-determined stationary point based on the purification width. The to-be-determined stationary point and the determined stationary point corresponding to the second purification range that cannot be fully covered by the first purification range are used as the stationary point after screening.

[0092] When a purification robot is manufactured, a reasonable purification width is generally set for it according to its specific application. If the purification width is determined to be R according to the configuration parameters of the purification robot, then in theory the purification range of the purification robot is the area of ​​a circle with R as the diameter. In order to reduce the situation where there is an error between the actual purification width of the purification robot and the configured purification width, resulting in areas that cannot be purified in the operating area. In the embodiments of this specification, the side length D of the inscribed square of the circle with a diameter of R can be used as the purification width of the purification robot.

[0093] Exemplarily, the candidate stationary points are screened by taking the purification width of the purification robot at a stationary point to be D and the purification range to be a square with a side length of D as an example.

[0094] In an example, see Figure 4aIn the operation map, initial stationary point a, initial stationary point b, initial stationary point c and initial stationary point d are determined. Among them, initial stationary point c is covered by obstacle 410. According to the above-mentioned candidate stationary point generation method, for the obstacle 410 covering initial stationary point c, determined stationary point c' and determined stationary point c", as well as undetermined stationary point z' and undetermined stationary point z" are generated.

[0095] If the distance between the initial stationary points is equal to the cleaning width D, then based on the cleaning width D, the initial cleaning range of the cleaning robot when it is at the initial stationary point a, initial stationary point b, and initial stationary point d not covered by the obstacle 410 is determined. Figure 4a The point filling range shown is the initial purification range. Then, based on the purification width D, the determined purification range when the purification robot is at the determined stationary point c' and the determined stationary point c" is determined, as shown in FIG. Figure 4a The bar filled range in is the determined purification range. The determined purification range and the initial purification range constitute the first purification range. Since the width of the obstacle 410 is small, the first purification range has completely covered Figure 4a The working area shown. Therefore, the second purification range when the purification robot is at the to-be-determined stationary point z' and the to-be-determined stationary point z" determined based on the purification width D must be covered by the first purification range. In this case, the to-be-determined stationary point z' and the to-be-determined stationary point z" can be directly deleted, and only the determined stationary point c' and the determined stationary point c" are used as the stationary points after screening.

[0096] In another example, see Figure 4b , the operation map determines that there are initial stationary points e, initial stationary point f, initial stationary point g and initial stationary point h. Among them, the initial stationary point g is covered by the obstacle 420. Based on the above-mentioned method of generating candidate stationary points when an obstacle covers an initial stationary point, the determined stationary point g' and the determined stationary point g", as well as the undetermined stationary point w' and the undetermined stationary point w", are generated.

[0097] The distance between the initial stationary points is equal to the purification width D. Based on the purification width D, the initial purification range of the purification robot when it is at the initial stationary point e, the initial stationary point f, and the initial stationary point h not covered by the obstacle 420 is determined, such as Figure 4b The point filling range shown is the initial purification range. Then, based on the purification width D, the determined purification range when the purification robot is at the determined stationary point g' and the determined stationary point g" is determined, as shown in FIG. Figure 4b The bar filling range in is the determined purification range. The determined purification range and the initial purification range constitute the first purification range. As can be seen from the figure, the first purification range does not completely cover the working area. At this time, the second purification range when the purification robot is at the undetermined stationary point w' and the second purification range when the purification robot is at the undetermined stationary point w" can be determined based on the purification width D. It is judged whether the first purification range can fully cover the second purification range, such as Figure 4bAs shown, the second purification range when the purification robot is at the undetermined stationary point w' and the second purification range when the purification robot is at the undetermined stationary point w" both have partial ranges that cannot be covered by the first purification range. Therefore, the two undetermined stationary points can be retained as the stationary points after screening. The stationary points after screening also include two determined stationary points.

[0098] It can be understood that no matter the obstacle in the operation map covers multiple initial stationary points, the to-be-determined stationary points among the candidate stationary points are screened in the above manner to determine the stationary points after screening.

[0099] In some embodiments of the present specification, determining the initial stationary point on the operation map includes: determining any axial direction of the coordinate system corresponding to the operation map as the stationary point selection direction. Determining a stationary point selection path parallel to the stationary point selection direction in the operation map. Wherein, the first distance between the stationary point selection paths is less than or equal to the purification width; the second distance between the edge stationary point selection path close to the edge of the operation map in the stationary point selection path and the edge of the operation map is greater than half of the body width of the purification robot and less than half of the purification width. Determine the initial stationary point in the stationary point selection path.

[0100] Taking the work map corresponding to a home residence as an example, the rooms can be divided according to the work map, and initial station planning can be carried out for each room.

[0101] For the work map corresponding to a certain partition, first determine the coordinate system corresponding to the work map, and select any axial direction of the coordinate system as the station point selection direction. Based on the station point selection direction, multiple station point selection paths parallel to the station point selection direction are determined in the work map. In order to ensure that the purification range of the purification robot when it is at the initial station point to perform the purification task can completely cover the work area, the first distance between the station point selection paths is set to be less than or equal to the purification width. In order to ensure that the purification robot avoids collision with the wall when passing through the station point near the edge of the room, the second distance between the edge station point selection path close to the edge of the work map in the station point selection path and the edge of the work map is greater than half of the body width of the purification robot and less than half of the purification width.

[0102] For example, see Figure 5 When planning the initial stationary point, you can ignore the obstacles in the operation map. Select the y direction of the coordinate axis as the stationary point selection direction, determine the distance of the operation area in the x direction according to the operation map, and determine three stationary point selection paths based on the distance of the operation area in the x direction, the purification width, and the fuselage width. Then generate one or more initial stationary points on each of the three stationary point selection paths.

[0103] In some embodiments of the present specification, the width of the first edge of the operation map that is parallel to the stationary point selection path is recorded as the operation area width. The operation map has a second edge that is perpendicular to the stationary point selection path. Determining the initial stationary point in the stationary point selection path includes any of the following situations:

[0104] When the width of the working area is less than or equal to the purification width, the position at a distance from the second edge equal to half the width of the working area in the stationary point selection path is used as the initial stationary point.

[0105] When the width of the working area is less than or equal to twice the cleaning width, two initial stationary points are determined in the stationary point selection path according to the preset distance and the width of the working area. The preset distance is greater than or equal to half the width of the cleaning robot. Or

[0106] When the width of the working area is greater than twice the cleaning width, at least three initial stationary points are determined in the stationary point selection path based on the width of the working area, the cleaning width, and the preset distance, wherein the preset distance is greater than or equal to half the width of the cleaning robot.

[0107] See also Figure 6a The station point selection direction corresponds to the y-axis of the coordinate system of the operation map. Two station point selection paths are determined by combining the distance of the operation area in the x direction, the purification width and the fuselage width. The width of the first edge 610 in the operation map that is parallel to the station point selection path is recorded as the operation area width W r The operation map also has a second edge 620 and a second edge 630 that are perpendicular to the station point selection path.

[0108] Width of working area W r Less than or equal to the purification width W p In the case of , the distance from the second edge 620 can be directly set equal to the width W of the working area on the stationary point selection path. r The half position is taken as the initial stationary point. At this time, the distance between the initial stationary point and the second edge 630 is also equal to the width W of the working area. r That is, the distance between the initial stationary point and the second edge 620 and the second edge 630 is equal to

[0109] For example, Figure 6a The width of the working area is W r The cleaning width W of the cleaning robot is 2m. p The initial stationary point a determined on the stationary point selection path a is 1 m away from the second edge 620. The distance from the second edge 630 is 1 m. Similarly, the initial stationary point b determined on the stationary point selection path b is 1 m away from the second edge 620. The distance from the second edge 630 is 1 m.

[0110] Width of working area W r Less than or equal to the purification width W p If the distance W is twice the width of the working area, b The positions of two initial stationary points are determined on the stationary point selection path. The preset distance W b It can be understood as the minimum margin distance from the edge. Preset distance W b It needs to be greater than or equal to half of the width of the cleaning robot to ensure that the cleaning robot will not collide with the edge when it is at the initial stationary point near the edge to perform the cleaning task. r Less than or equal to the purification width W p If the initial station point is set to twice the initial station point, it will not be able to fully cover the operation area. If more than two initial station points are set, the purification repetition rate will be high. Therefore, setting two initial station points is the best choice for this situation.

[0111] For example, see Figure 6b The station point selection direction corresponds to the y-axis of the coordinate system of the operation map, combined with the distance of the operation area in the x-direction and the purification width W p The width of the first edge 640 in the operation map that is parallel to the stationary point selection path is recorded as the operation area width W r , the operation map also has a second edge 650 and a second edge 660 that are perpendicular to the stationary point selection path. Then the initial stationary point c and the initial stationary point d on the stationary point selection path c need to ensure that the distance from the second edge 650 and the second edge 660 is greater than or equal to the preset distance W b , and there must be a certain distance between the two, so that the total purification range of the purification robot at the initial stationary point c and the initial stationary point d in the y direction is greater than or equal to the width of the working area W r of.

[0112] Width of working area W r Greater than the purification width W p In the case of twice the width of the working area W r , Purification width W p , preset distance W b At least three initial stationary points are determined in the stationary point selection path. In this case, if less than three initial stationary points are selected on a stationary point selection path, the total purification range of the cleaning robot cannot meet the requirement of fully covering the working area. Therefore, at least three initial stationary points need to be determined on each stationary point selection path, so that the total purification range of each initial stationary point of the cleaning robot on the stationary point selection path can be greater than or equal to the working area width W in the stationary point selection direction.r Among them, the preset distance W b Greater than or equal to half the width of the purification robot.

[0113] For example, see Figure 6c The station point selection direction corresponds to the y-axis of the coordinate system of the operation map, combined with the distance of the operation area in the x-direction and the purification width W p The width of the first edge 670 in the operation map that is parallel to the stationary point selection path is recorded as the operation area width W r The operation map also has a second edge 680 and a second edge 690 that are perpendicular to the stationary point selection path. The distances between the three initial stationary points on the stationary point selection path d and the second edge 680 and the second edge 690 are greater than or equal to the preset distance W. b There is a certain distance between them to ensure that the total purification range of the purification robot at the three initial stationary points in the y direction is greater than or equal to the width of the working area W. r of.

[0114] In some embodiments of the present specification, the width of the first edge in the operation map that is parallel to the station point selection path is recorded as the operation area width. The operation map has a second edge that is perpendicular to the station point selection path. The width of the operation area is less than or equal to twice the purification width. Determining the initial station point in the station point selection path includes: determining a first difference between the width of the operation area and four times the preset distance. Wherein, the preset distance is greater than or equal to half of the body width of the purification robot. Determine the sum of the preset distance and half of the first difference as the point selection distance. In the station point selection path, the position where the distance from the second edge is equal to the point selection distance is used as the initial station point.

[0115] In an practicable manner, determining two initial stationary points in the stationary point selection path according to the preset distance and the width of the working area may include: determining a first difference between the width of the working area and four times the preset distance. Determining a sum of the preset distance and half of the first difference as the point selection distance. In the stationary point selection path, a position whose distance from the second edge is equal to the point selection distance is used as the initial stationary point.

[0116] For example, please refer to Figure 6b , if the width of the working area W r The cleaning width W of the cleaning robot is 3m. p Set the preset distance W to 2m. b 0.75m. Working area width W r Smaller than the purification width W p The distance between the initial stagnation point and the second edge can be determined by the following formula: That is, the distance between the initial stationary point c close to the second edge 650 and the second edge 650 is The distance between the initial stationary point d close to the second edge 660 and the second edge 660 is also Set the working area width W r The cleaning width W of the cleaning robot is 3m. p The preset distance is 2m. b Substituting 0.75m into the above formula, we can get that the distance between the initial stagnation point c and the second edge 650 is 0.75m, and the distance between the initial stagnation point d and the second edge 660 is also 0.75m. If the second edge 650 is used as a reference, the distance between the initial stagnation point c and the second edge 650 is 0.75m, and the distance between the initial stagnation point c and the second edge 660 is 2.25m.

[0117] It is understandable that if the distance value calculated by the above formula is less than the preset distance W b In the case of , directly select the distance from the second edge equal to the preset distance W b The position of the initial stationary point is used as the position of the initial stationary point. The purpose of doing this is also to reduce the collision between the purification robot and the wall.

[0118] In some embodiments of the present specification, the width of the first edge in the operation map that is parallel to the station selection path is recorded as the width of the operation area. The operation map has a second edge that is perpendicular to the station selection path. The width of the operation area is greater than twice the purification width. Determining the initial station point in the station selection path includes: taking the position in the station selection path that is equal to half the width of the operation area at a distance from the second edge as the intermediate station point. On the station selection path, an interval station point is determined from the intermediate station point to both sides for each purification width, until the difference between the interval distance between the interval station point closest to the second edge and the second edge and half of the purification width is less than or equal to the purification width, and an edge station point is determined between the interval station point closest to the second edge and the second edge based on the preset distance and the interval distance. The intermediate station point, the interval station point and the edge station point constitute the initial station point. Wherein, the preset distance is greater than or equal to half the body width of the purification robot.

[0119] In an practicable manner, when the width of the working area is greater than twice the purification width, at least three initial stationary points are determined in the stationary point selection path based on the width of the working area, the purification width, and the preset distance, which may include: taking the position in the stationary point selection path whose distance from the second edge is equal to half of the width of the working area as the middle stationary point. On the stationary point selection path, an interval stationary point is determined from the middle stationary point to both sides for each interval of the purification width, until the difference between the interval distance between the interval stationary point closest to the second edge and the second edge and half of the purification width is less than or equal to the purification width, and then an edge stationary point is determined between the interval stationary point closest to the second edge and the second edge based on the preset distance and the interval distance.

[0120] Specifically, the initial stationary point selection method can be expressed by the formula:

[0121]

[0122] See also Figure 6c , if the width of the working area W r The cleaning width W of the cleaning robot is 8m. p Set the preset distance W to 2m. b is 0.75m. Then, the initial stationary point is determined on the stationary point selection path d as an example. First, the intermediate stationary point e is determined. The distance between the intermediate stationary point e and the second edge 680 and the second edge 690 is That is 5m. Then, from the middle stationary point e to both sides, each interval of a purification width W p Determine an interval stationary point until the interval distance between the interval stationary point closest to the second edge and the second edge and the purification width W p The difference between half of the value is less than or equal to the purification width W p At this time, two interval stationary points are determined, namely, interval stationary point f and interval stationary point h. The distance between interval stationary point f and the middle stationary point e is 2m, and the distance between interval stationary point f and the second edge 680 is That is, 2m. The distance between the interval stationary point h and the middle stationary point e is 2m, and the distance between the interval stationary point h and the second edge 680 is That is, 6m. At this time, the interval distance between the interval stationary point f and the second edge 680 minus the purification width W p Half of the distance to be covered W d is 1m, the distance to be covered is W d is smaller than the cleaning width W p Therefore, based on the preset distance W b The distance to be covered W d The position of the edge stationary point is set by comparing the result of half of Less than or equal to the preset distance W b, then the edge stationary point is selected at a preset distance W from the second edge 680 b At the location of Greater than the preset distance W b , then the edge stationary point is selected at a distance of 680 from the second edge The distance to be covered W determined above d is 1m, is less than W b Therefore, the edge stationary point g can be selected to be at a distance from the second edge 680 equal to the preset distance W b Similarly, on the stationary point selection path d, an edge stationary point i is also generated at a position where the distance from the second edge 690 is 0.75 m.

[0123] The edge stationary point, interval stationary point and intermediate stationary point together constitute the initial stationary point.

[0124] It is understandable that in some cases, the initial stationary point may only include the middle stationary point and the edge stationary point. r The cleaning width W of the cleaning robot is 5m. p The preset distance is 2m. b When the distance between the initial stationary point and the second edge 680 is 0.75 m, only three initial stationary points need to be determined on a stationary point selection path. In the above manner, the distances between the initial stationary point and the second edge 680 can be determined to be 0.75 m, 2.5 m, and 4.25 m, respectively.

[0125] In some feasible ways, the idea of ​​the ox-ploughing algorithm can be used to plan the above-mentioned initial stationary point. For example, the idea of ​​the ox-ploughing algorithm is used to determine the initial motion path in the operation area, and the stationary point selection path for selecting the initial stationary point is determined in the initial motion path. In the case where there is an obstacle covering the initial stationary point, the target stationary point is determined based on the candidate stationary point and the initial stationary point not covered by the obstacle. Then, the running path is readjusted based on the target stationary point to obtain the target motion path.

[0126] In the embodiments of this specification, the edge priority strategy is used in the selection process of the initial station point, for example, the point selection method when the width of the working area is less than or equal to twice the purification width, and the edge station point when the width of the working area is greater than twice the purification width. When the initial station point is covered by an obstacle, the generation method of the candidate station point also refers to the edge priority strategy. This idea is to fully consider the purification needs of formaldehyde, wall dust, etc. in the home scene.

[0127] In a specific embodiment, see Figure 7 The method for determining the station point of the purification robot may further include the following steps:

[0128] S710: partition the room into two parts according to the operation map corresponding to the operation area stored by the purification robot.

[0129] S720: For each room partition, an initial station point is set based on the purification width on the operation map corresponding to the room partition.

[0130] S730, determining whether there is an obstacle covering the initial stationary point in the operation partition.

[0131] S740: If there is no obstacle covering the initial stationary point, the purification task is performed according to the current stationary point.

[0132] S750: When the obstacle covers at least one initial stationary point, determine whether the obstacle covers multiple initial stationary points.

[0133] S760: If the obstacle covers an initial stationary point, a single stationary point processing process is performed to determine a target stationary point, and after the processing is completed, the purification task is performed according to the currently determined target stationary point.

[0134] S770: If the obstacle covers multiple initial stationary points, a multi-stationary point processing process is performed to determine a target stationary point, and after the processing is completed, the purification task is performed according to the currently determined target stationary point.

[0135] Corresponding to the above embodiment, the embodiment of this specification also proposes a station point determination device for a cleaning robot. The cleaning robot stores an operation map corresponding to the operation area. Figure 8 , the stationary point determination device comprises:

[0136] The initial stationary point determination module 810 is used to determine the initial stationary point on the operation map.

[0137] Among them, there are obstacles in the work map.

[0138] The target station point determination module 820 is used to determine the target station point where the cleaning robot is located when performing the cleaning task according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial station point not covered by the obstacle if the obstacle covers at least one initial station point.

[0139] Through the above embodiments, before the purification robot performs a purification task in an operating area, it will first determine the initial station point on the operating map. In the case where there is an obstacle covering the initial station point, the target station point where the purification robot performs the purification task is determined according to the location of the obstacle and the purification width of the purification robot. Moreover, the total purification range of the purification robot performing the purification task based on the target station point can completely cover the operating area. In the embodiments of this specification, the purification robot can automatically determine the target station point for performing the purification task in the operating area without the assistance of any detection equipment.

[0140] For the specific definition of the station point determination device of the cleaning robot, please refer to the definition of the station point determination method of the cleaning robot above, which will not be repeated here. The various modules in the above-mentioned station point determination device of the cleaning robot can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0141] In a specific embodiment, see Fig. 9 The station point determination device of the cleaning robot may further include: a mapping and positioning module 910 , a path planning module 920 , and a motion execution module 930 .

[0142] Among them, the mapping and positioning module 910 is used to use laser navigation or visual navigation, based on GMapping, Cartographer, ORB-SLAM and other frameworks for positioning and mapping, combined with the collected target depth information. The purification robot stores the operation map.

[0143] The path planning module 920 is used to determine the initial motion path in the working area based on the idea of ​​the ox-ploughing algorithm, and determine the stationary point selection path for selecting the initial stationary point in the initial motion path. In the case where there is an obstacle covering the initial stationary point, the target stationary point is determined based on the candidate stationary point and the initial stationary point not covered by the obstacle. Then, the operation path is readjusted based on the target stationary point to obtain the target motion path. Among them, when determining the target motion path, local path planning algorithms such as Dijkstra and artificial potential field method can be used but are not limited to.

[0144] The motion execution module 930 is used to use the wheel hub motor to reach each target stationary point based on the target motion path to perform the purification task at each target stationary point.

[0145] It should be noted that the process of determining the initial stationary point and the process of determining the target stationary point in the path planning module 920 can refer to the above embodiment and will not be described in detail.

[0146] Through the above-mentioned embodiments, before the purification robot performs a purification task in an operating area, it will first determine the initial station point on the operating map. In the case where there is an obstacle covering the initial station point, the target station point where the purification robot performs the purification task is determined according to the position of the obstacle and the purification width of the purification robot. Moreover, the total purification range of the purification robot performing the purification task based on the target station point can completely cover the operating area. In the embodiments of this specification, the purification robot can automatically determine the target station point for performing the purification task in the operating area without the assistance of any detection equipment. Moreover, the algorithm of the embodiments of this specification is simple and highly feasible.

[0147] Fig.10 1 is a structural block diagram of a purification robot according to an embodiment of this specification. Fig.10 As shown, the cleaning robot 1000 includes a memory 1004, a processor 1002, and a cleaning robot station determination program 1006 stored in the memory 1004 and executable on the processor 1002. When the processor 1002 executes the cleaning robot station determination program 1006, the cleaning robot station determination method of any one of the above-mentioned embodiments is implemented.

[0148] According to the purification robot of the embodiment of this specification, when the processor 1002 executes the station point determination program 1006 of the purification robot, the purification robot can automatically determine the target station point for performing the purification task in the working area without the assistance of any detection equipment.

[0149] Corresponding to the above embodiment, the embodiment of this specification further proposes a computer-readable storage medium, on which a station point determination program of a cleaning robot is stored, and when the station point determination program of the cleaning robot is executed by a processor, the station point determination method of the cleaning robot as described in any one of the first aspects is implemented.

[0150] According to the computer-readable storage medium of the embodiment of this specification, when the station point determination program of the purification robot is executed by the processor, the purification robot can automatically determine the target station point for performing the purification task in the working area without the assistance of any detection equipment.

[0151] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0152] It should be understood that various parts of this specification can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0153] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0154] In the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this specification and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this specification.

[0155] In addition, the terms "first", "second", etc. used in the embodiments of this specification are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in this embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of this specification can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of this specification, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0156] In this specification, unless otherwise clearly specified or limited in the embodiments, the terms "install", "connect", "connect" and "fix" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this specification can be understood according to the specific implementation situation.

[0157] In this specification, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0158] Although the embodiments of the present specification have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limitations on the present specification. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present specification.

Claims

1. A method for determining a station point of a purification robot, characterized in that: The cleaning robot stores an operation map corresponding to the operation area in which it is located; the method includes: Determining an initial stationary point on the operation map; wherein obstacles exist in the operation map; If the obstacle covers at least one of the initial stationary points, the target stationary point where the cleaning robot is located when performing the cleaning task is determined according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial stationary points not covered by the obstacle.

2. The method according to claim 1, characterized in that: The step of determining the target stationary point when the cleaning robot performs the cleaning task according to the position of the obstacle, the cleaning width of the cleaning robot, and the initial stationary point not covered by the obstacle includes: Generating candidate stationary points not covered by the obstacle on the operation map according to the position of the obstacle; A target stationary point at which the cleaning robot performs a cleaning task is determined based on the cleaning width of the cleaning robot, the candidate stationary points, and the initial stationary point not covered by the obstacle.

3. The method according to claim 2, characterized in that The initial stationary point corresponds to a stationary point selection path; if the obstacle covers one of the initial stationary points, Generating, on the operation map, candidate stationary points that are not covered by the obstacles according to the positions of the obstacles, includes: On a stationary point selection path corresponding to an initial stationary point covered by the obstacle, two determined stationary points are generated; the two determined stationary points are located on both sides of the obstacle, and the distance between the determined stationary points and a first adjacent edge is greater than half of the body width of the cleaning robot, and the first adjacent edge is the edge of the obstacle that is closest to the determined stationary point; At least one stationary point to be determined is generated in a first vertical direction that is perpendicular to a stationary point selection path corresponding to an initial stationary point covered by the obstacle; the distance between the stationary point to be determined and the second adjacent edge is greater than half of the body width of the cleaning robot; the first vertical direction passes through an initial stationary point covered by the obstacle, and the second adjacent edge is the edge of the obstacle that is closest to the stationary point to be determined; The two determined stationary points and the at least one stationary point to be determined constitute the candidate stationary points.

4. The method according to claim 2, characterized in that: The initial stationary point corresponds to a stationary point selection path; if the obstacle covers a plurality of the initial stationary points, generating candidate stationary points not covered by the obstacle on the operation map according to the position of the obstacle includes: Determine a stationary point to be processed that is located on the same stationary point selection path among the multiple initial stationary points covered by the obstacle; Generate two determined stationary points on the stationary point selection path where the stationary point to be processed is located; the two determined stationary points are located on both sides of the obstacle, and the distance between the determined stationary points and the first adjacent edge is greater than half of the body width of the cleaning robot, and the first adjacent edge is the edge of the obstacle that is closest to the determined stationary points; For each stationary point to be processed, determining a second vertical direction that is perpendicular to the stationary point selection path corresponding to each stationary point to be processed; the second vertical direction passes through each stationary point to be processed; At least one stationary point to be determined is generated in each of the second vertical directions; the distance between the stationary point to be determined and the second adjacent edge is greater than half of the body width of the cleaning robot, and the second adjacent edge is the edge of the obstacle that is closest to the stationary point to be determined.

5. The method according to claim 2, characterized in that: Determining a target stationary point where the cleaning robot is located when performing a cleaning task based on the cleaning width of the cleaning robot, the candidate stationary point, and the initial stationary point not covered by the obstacle includes: Screening the candidate stationary points according to the initial stationary points not covered by the obstacles in the purification width, and determining the stationary points after screening among the candidate stationary points; A target stationary point is determined based on the initial stationary point not covered by the obstacle and the screened stationary point.

6. The method according to claim 5, characterized in that The candidate stationary points include determined stationary points and to-be-determined stationary points; the candidate stationary points are screened according to the purification width and the initial stationary points not covered by the obstacles, and the stationary points after screening are determined among the candidate stationary points, including: Determine, based on the cleaning width, an initial stationary point where the cleaning robot is not covered by the obstacle and a first cleaning range when the stationary point is determined; Determining a second purification range when the purification robot is at the stationary point to be determined based on the purification width; The undetermined stationary points corresponding to the second purification range that cannot be fully covered by the first purification range and the determined stationary points are used as the post-screening stationary points.

7. The method according to claim 1, characterized in that Determining an initial station point on the operation map includes: Determine any axial direction of the coordinate system corresponding to the operation map as a stationary point selection direction; Determine a station point selection path parallel to the station point selection direction in the operation map; wherein a first distance between the station point selection paths is less than or equal to the purification width; a second distance between an edge station point selection path close to the edge of the operation map in the station point selection path and the edge of the operation map is greater than half of the body width of the cleaning robot and less than half of the purification width; The initial stationary point is determined in the stationary point selection path.

8. The method according to claim 7, characterized in that The width of the first edge of the operation map tending to be parallel to the station point selection path is recorded as the operation area width; the operation map has a second edge tending to be perpendicular to the station point selection path; and determining the initial station point in the station point selection path includes any one of the following situations: When the width of the working area is less than or equal to the purification width, a position in the stationary point selection path whose distance from the second edge is equal to half of the width of the working area is used as the initial stationary point; or When the width of the working area is less than or equal to twice the cleaning width, two initial stationary points are determined in the stationary point selection path according to a preset distance and the width of the working area; wherein the preset distance is greater than or equal to half of the body width of the cleaning robot; or When the width of the working area is greater than twice the purification width, at least three initial stationary points are determined in the stationary point selection path based on the width of the working area, the purification width, and a preset distance; wherein the preset distance is greater than or equal to half of the body width of the purification robot.

9. The method according to claim 7, characterized in that: The width of the first edge of the operation map that is parallel to the station point selection path is recorded as the operation area width; the operation map has a second edge that is perpendicular to the station point selection path; the operation area width is less than or equal to twice the purification width; Determining the initial stationary point in the stationary point selection path includes: Determine a first difference between the width of the working area and four times the preset distance; wherein the preset distance is greater than or equal to half the width of the body of the cleaning robot; Determine a sum of the preset distance and half of the first difference as a point selection distance; In the stationary point selection path, a position whose distance from the second edge is equal to the selection point distance is used as the initial stationary point.

10. The method according to claim 7, characterized in that The width of the first edge of the operation map that is parallel to the station point selection path is recorded as the operation area width; the operation map has a second edge that is perpendicular to the station point selection path; The width of the working area is greater than twice the width of the purification area; Determining the initial stationary point in the stationary point selection path includes: In the station point selection path, a position whose distance from the second edge is equal to half the width of the working area is used as an intermediate station point; On the station point selection path, an interval station point is determined from the middle station point to both sides at intervals of the purification width until the difference between the interval station point closest to the second edge and the second edge and half of the purification width is less than or equal to the purification width, and an edge station point is determined between the interval station point closest to the second edge and the second edge based on a preset distance and the interval distance; wherein the preset distance is greater than or equal to half of the body width of the cleaning robot; The middle stationary point, the interval stationary point and the edge stationary point constitute the initial stationary point.

11. A cleaning robot, characterized in that: The method comprises a memory, a processor, and a station point determination program of a purification robot stored in the memory and executable on the processor. When the processor executes the station point determination program of the purification robot, the station point determination method of the purification robot as described in any one of claims 1 to 10 is implemented.

12. A computer-readable storage medium, characterized in that: A station point determination program of the cleaning robot is stored thereon, and when the station point determination program of the cleaning robot is executed by the processor, the station point determination method of the cleaning robot as described in any one of claims 1-10 is implemented.

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