Method for setting purification working point of air purification robot

Abstract

The invention discloses a purification working point setting method for an air purification robot, the air purification robot is currently located in a to-be-purified area, and an air inlet of the air purification robot faces the to-be-purified area; the method comprises the following steps: step A, setting a detection ray in a to-be-purified area according to a preset rule, then controlling a position point where the detection ray intersects with the outline of the to-be-purified area for the first time to execute a preset offset operation in the to-be-purified area to obtain a purification working point, and marking the purification working point in a map; then executing the step B; step B, expanding outwards by taking the purification working point marked in the map as an expansion center to obtain an actual expansion area; then executing the step C; c, according to the distribution relation between the actual expansion area and the to-be-purified area, a new purification working point is arranged in the to-be-purified area till the to-be-purified area is traversed. Therefore, the purification working points which are uniformly distributed are reasonably arranged in the to-be-purified area.

Description

Technical Field

[0001] The invention relates to the technical field of robot position planning, and in particular to a method for setting a purification working point of an air purification robot. Background Art

[0002] Decorations or furniture in the home environment will produce formaldehyde or other harmful gases, affecting people's quality of life and health. Therefore, purification robots have gradually begun to enter ordinary people's homes. The working principle of the purification robot is mainly to absorb the indoor air into the purification robot, and then purify the air sucked into the purification robot through the filter, activated carbon or other purification structure, filter out the solid particles and even harmful gases in it, and then discharge the purified air, so that the air is continuously purified and circulated in the room, thereby achieving a better air purification effect.

[0003] Since the purification robot is limited by power, volume and structural conditions, it has a maximum area that it can purify, namely, the rated purification area, forming a certain purification radius. Only when the actual purification area is smaller than the rated purification area can the purification robot effectively purify it, but the purification robot may only complete the air purification operation within a fixed purification range at a specific location point, and then determine not to continue to purify the air within the fixed purification range or to make up for the leak. Therefore, the purification robot lacks the automatic layout of a more comprehensive purification area in the indoor environment, and cannot achieve a good purification effect. Summary of the invention

[0004] The present application discloses a method for setting a purification working point for an air purification robot, and the specific technical solution is as follows: A method for setting a purification working point for an air purification robot, wherein the air purification robot is currently in an area to be purified, and an air inlet of the air purification robot faces the area to be purified; the method comprises: step A, setting a detection ray in the area to be purified according to a preset rule, and then controlling the position point where the detection ray intersects with the outline of the area to be purified for the first time to perform a preset offset operation in the area to be purified to obtain a purification working point, and then marking the purification working point in a map; then executing step B; step B, expanding outward with the purification working point marked in the map as the expansion center to obtain an actual expansion area; then executing step C; step C, setting a new purification working point in the area to be purified according to the distribution relationship between the actual expansion area and the area to be purified, until the area to be purified is traversed. In summary, the aforementioned steps A to C are based on the detection rays set in the area to be purified, select the intersection point with the outline of the area to be purified and control the intersection point to deviate from the outline of the area to be purified to obtain the purification working point, and then expand outward from the purification working point, and use the relationship between the real-time expanded area and the area to be purified in each expansion process as a judgment condition for fully covering the area to be purified, and also as a decision condition for whether to continue setting the purification working point, so that in the area to be purified, a plurality of evenly distributed purification working points are set in sequence by multiple expansions of a single point, so that the plurality of purification working points set in succession are not concentrated in the same fixed area, and the plurality of purification working points set in succession are not just distributed along the outline of the area to be purified; thereby, the air purification robot can complete the air purification operation or other cleaning operations in the area to be purified without omission in the process of moving through the various purification working points set in the area to be purified in turn.

[0005] Further, the step C includes: step C1, judging whether the actual expansion area covers the area to be purified, if so, determining that the area to be purified has been traversed and the purification working point is stopped in the area to be purified, otherwise, executing step C2; step C2, controlling the actual expansion area to continue to expand until the expansion radius reaches the target purification radius, obtaining the reference expansion area, and then executing step C3; step C3, judging whether there is an intersection between the outline of the reference expansion area and the outline of the area to be purified, if so, executing step C4, otherwise, determining that the area to be purified has been traversed and the purification working point is stopped in the area to be purified; step C4, selecting a candidate point from the intersection between the outline of the reference expansion area and the outline of the area to be purified, and then controlling the candidate point to perform a preset offset operation to obtain a new purification working point, and then marking the new purification working point in the map, and then executing step B.

[0006] Compared with the prior art, the present application detects whether the actual expansion area covers the area to be purified by expanding outward with the purification working point marked in the map as the expansion center, then introduces the target purification radius to constrain the size of the expansion area and judges whether the expanded reference expansion area covers the area to be purified on this basis, then selects a candidate point from the intersection between the outline of the reference expansion area and the outline of the area to be purified, and then obtains a new purification working point through a preset offset operation; thereby, in the process of the same purification working point expanding outward, the purification working point is reasonably set twice according to the positional relationship between the area to be purified and the expansion area, so as to achieve the setting of purification working points evenly distributed in the area to be purified from the intersection of the outline of the expansion area with different coverage ranges and the outline of the area to be purified.

[0007] Furthermore, if the step C1 determines that the actual expansion area covers the area to be purified, the area to be purified is marked as a traversed purification area, and then the purification work point is stopped in the area to be purified until the air purification robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then executes steps A to C. Thus, all the areas to be purified in a complete indoor environment are traversed by repeatedly executing steps A to C4.

[0008] Further, if the step C3 determines that the outline of the reference expansion area has no intersection with the outline of the area to be purified, it is determined that the outline of the reference expansion area completely covers the outside of the area to be purified, and the area to be purified is marked as a traversed purification area, and then the purification work point is stopped in the area to be purified until the air purification robot moves to the purification area that has not been traversed and updates the purification area that has not been traversed to the area to be purified, and then steps A to C are executed; if the step C3 determines that all the intersections between the outline of the reference expansion area and the outline of the area to be purified have been set as the candidate points, the purification work point is stopped in the area to be purified until the air purification robot moves to the purification area that has not been traversed and updates the purification area that has not been traversed to the area to be purified, and then steps A to C are executed; wherein, a purification work point is expanded according to the target purification radius to obtain a unit expansion area; after all the purification work points marked in the map are expanded according to the target purification radius, the area occupied by each unit expansion area is marked as the reference expansion area. Thus, two situations are provided for the air purification robot to identify that the reference expansion area covers the area to be purified.

[0009] Further, each time step B is executed, the purification working point marked in the map is set as the expansion center, the expansion operation is performed according to the preset expansion step length, and the area obtained by the expansion is updated as the actual expansion area, and the expansion center is marked as the expanded purification working point; wherein the preset expansion step length is smaller than the target purification radius; each time step C2 is executed, the actual expansion area obtained by the expansion of step B is controlled to continue to expand until the reference expansion area is obtained, and then steps C3 and C4 are executed. Thus, when only part of the area to be purified is covered by the reference expansion area, a new purification working point is found in the area to be purified, so as to cover the remaining area of ​​the area to be purified by expanding a new actual expansion area or a reference expansion area.

[0010] Further, in the case where a new purification working point is obtained in step C4, before step C4 returns to step B, the reference expansion area is cleared, and the purification working point set as the expansion center in the last step B is marked as a purification working point that has not been expanded; and the new purification working point is marked as a purification working point that has not been expanded; then step B is executed; each time step B is executed, each purification working point that has not been expanded is set as the expansion center, and then each expansion center is controlled to perform regional expansion operation according to the preset expansion step length at the same time. Then, in the case where it is judged in step C1 that the actual expansion area does not cover the area to be purified, the expansion radius of each expansion center is controlled by step C2 to reach the target purification radius, and a reference expansion area that can cover the new area is obtained. Then, in the case where it is judged in step C3 that there is an intersection between the outline of the reference expansion area and the outline of the area to be purified, the candidate point selected in step C4 is different from the pre-marked candidate point, and the purification working point can be set in the area not covered by the reference expansion area expanded last time.

[0011] Furthermore, the distance between the purification working point obtained in step C4 and the purification working point marked in the map described in step B is greater than the standard purification radius; the target purification radius is equal to twice the standard purification radius; wherein, each time step C4 is executed, the number of purification working points marked in the map increases once, so that the actual expansion area is expanded. Thus, by limiting the distance between two purification working points set successively to expand the distribution range of the newly added purification working points in the area to be purified, it can not only adapt to the trend of the expansion area increasing, but also fully and evenly cover the area to be purified.

[0012] Furthermore, before executing step A, the area to be purified is divided by a pre-set dividing line; the area to be purified is a unit purification area, a local purification area or a reference purification area; the area and shape of the unit purification area are sufficient to allow the air purification robot to set a purification work point in the unit purification area, and then stop executing steps A, B and C; the area of ​​the local purification area is twice the area of ​​the unit purification area, so that the air purification robot sets two purification work points in the local purification area, and then stops executing steps A, B and C; the area of ​​the reference purification area is greater than twice the area of ​​the unit purification area, so that the air purification robot sets at least three purification work points in the reference purification area, and then stops executing steps A, B and C. In summary, after constructing the map, the air purification robot can reasonably set the number of purification work points according to the size (such as area and shape) of the divided purification area.

[0013] Further, in the case where it is determined that the area to be purified is a local purification area, in step A, the method of setting detection rays in the area to be purified by preset rules includes: step A1, calculating the center of gravity of the local purification area; then executing step A2; step A2, determining the longest side from the sides of the circumscribed rectangular frame of the local purification area; then executing step A3; step A3, using a line segment passing through the center of gravity of the local purification area and perpendicular to the longest side to divide the local purification area into two unit purification areas; then executing step A4; step A4, setting detection rays in the two unit purification areas respectively by preset rules, and updating each unit purification area to the area to be purified. Therefore, in the case where it is determined that the area to be purified is a local purification area, the two unit purification areas are divided by the center of gravity to set the detection rays, so as to achieve the simultaneous setting of purification working points in the two unit purification areas, and provide two purification working points for the local purification area at one time.

[0014] Further, in the case where it is determined that the area to be purified is a unit purification area, the preset rules include: calculating the center of gravity of the unit purification area; selecting an edge that is closest to the center of gravity of the unit purification area from the edges of the circumscribed rectangular frame of the unit purification area, and then setting the selected edge as a reference edge; drawing a vertical line through the center of gravity of the unit purification area to the reference edge, and then setting the intersection of the reference edge and the vertical line as the starting point of the ray; starting from the ray starting point, setting a ray passing through the center of gravity of the unit purification area, and then setting the ray passing through the center of gravity of the unit purification area as the detection ray. In summary, the detection ray is set according to the center of gravity and the edge of the circumscribed rectangular frame of the area. Then, the position point where the detection ray intersects with the outline of the area to be purified for the first time is controlled to perform a preset offset operation within the unit purification area to obtain a purification working point, thereby obtaining a unique purification working point in the area to be purified.

[0015] Further, in the case where it is determined that the area to be purified is a reference purification area, in step A, the preset rules include: calculating the center of gravity of the reference purification area; selecting an edge that is closest to the center of gravity of the reference purification area from the edges of the circumscribed rectangular box of the reference purification area, and then setting the selected edge as the reference edge; setting the center of gravity of the reference purification area as the starting point of the ray; starting from the starting point of the ray, setting a ray extending toward the reference edge so that the ray extending toward the reference edge is perpendicular or parallel to one of the edges of the circumscribed rectangular box of the reference purification area; and then setting the ray extending toward the reference edge as the detection ray. The technical solution controls the detection ray to extend toward the reference edge so that the detection ray searches for a candidate position of the purification working point on the contour of the area closest to the center of gravity; then controls the position point where the detection ray intersects with the contour of the area to be purified for the first time to perform a preset offset operation within the unit purification area to obtain a purification working point, thereby obtaining the first purification working point marked on the map within the reference purification area.

[0016] Furthermore, the preset offset operation includes: in the area to be purified, controlling the selected point on the contour of the area to be purified to be offset along a direction by a preset interval to a passable position point, and then marking the passable position point as the purification working point, so that when the air purification robot is located at the purification working point, there is a gap for air circulation between the air inlet of the air purification robot and the contour of the area to be purified; wherein, the selected point on the contour of the area to be purified in step A is the position point where the detection ray and the contour of the area to be purified intersect for the first time; wherein, the selected point on the contour of the area to be purified in step C4 is the candidate point, and the candidate point is randomly selected from the intersection points between the contour of the reference expansion area and the contour of the area to be purified that are not marked as candidate points. Therefore, the preset offset operation allows the body or air inlet or outlet of the air purification robot to not be attached to the wall, leaving a little gap for air circulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 An embodiment of the present application discloses a schematic diagram of setting a purification working point P1 in a unit purification area R1 and expanding a standard purification radius from the purification working point P1 to obtain an actual expansion area (the circular area where the expansion arc L1 is located), wherein the area occupied by the actual expansion area in the unit purification area R1 is a closed area filled with black scattered points and surrounded by the outline of the unit purification area and the expansion arc L1, marked as area #1.

[0018] Figure 2 is a schematic diagram of an embodiment of the present application disclosing that the local purification area R2 is divided into two sub-areas by the dividing line L2, wherein the area of ​​each sub-area is equal to Figure 1 The area of ​​the unit purification area R1.

[0019] Figure 3 An embodiment of the present application discloses a schematic diagram of setting a purification working point P3 in a reference purification area R3 and expanding a target purification radius from the purification working point P3 to obtain a unit expansion area (the circular area where the arc line L32 is located), wherein the expansion area obtained by expanding a standard purification radius from the purification working point P3 is the circular area where the arc line L31 is located.

[0020] Figure 4An embodiment of the present application discloses a schematic diagram of setting a purification working point P3 and a purification working point P4 in a reference purification area R3 and expanding a unit expansion area starting from the purification working point P3 and the purification working point P4 respectively; the area occupied by the two unit expansion areas in the reference purification area R3 is a closed area surrounded by the intersection of the arc line L32, the arc line L42 and the outline of the reference purification area R3, wherein the arc line L32 and the arc line L42 both intersect with the outline of the reference purification area R3; the area composed of the circular area where the arc line L32 is located and the circular area where the arc line L42 is located is Figure 4 The reference expansion region in .

[0021] Figure 5 An embodiment of the present application discloses a schematic diagram of successively setting purification working points P3, P4 and P5 in a reference purification area R3, and expanding a unit expansion area starting from the purification working points P3, P4 and P5 respectively; the three unit expansion areas obtained by the expansion are the circular area where the arc line L32 is located, the circular area where the arc line L42 is located, and the circular area where the arc line L52 is located; the circular area where the arc line L32 is located, the circular area where the arc line L42 is located, and the circular area where the arc line L52 is located together cover the reference purification area R3; the closed area enclosed by the arc lines L32, L42 and L52 in sequence forms Figure 5 The reference expansion region in Figure 5 The contour of the reference expansion region in does not intersect with the contour of the reference purification region R3.

[0022] Figure 6 A flowchart of a method for setting a purification working point for an air purification robot is disclosed in an embodiment of the present application.

[0023] Figure 7 Another embodiment of the present application discloses a flow chart of a method for setting a purification working point for an air purification robot. Implementation

[0024] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those of ordinary skill in the art to which the present application belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] As an existing product, the internal components of the air purification robot should belong to the prior art, but in order to facilitate the understanding of this application, it is still necessary to give a general description of its main components and the functions of each component. The internal components of the air purification robot disclosed in this application mainly include: a processor, a sensor module, a map building module, a purification module, a mobile module and a storage module.

[0027] The processor is electrically connected to all other modules, and the sensor module and the map building module are electrically connected to the storage module respectively.

[0028] The processor can process the data in the map construction module and the sensor module; the map construction module can establish a surrounding map of the working environment through laser scanning technology or image acquisition technology, obtain relevant data, store the data in the storage module, and then accurately locate its own position; the map construction module also scans the outline of the surrounding environment, and can also divide the scanned environmental area into regions, for example, using the door as the dividing line to divide the map into multiple sub-regions.

[0029] The sensor module is mainly used to detect the air quality of the surrounding environment, such as the distribution and content of PM2.5, formaldehyde or other harmful gases, and transmit the acquired relevant data to the processor and store it in the storage module.

[0030] The purification module is mainly used to purify the air in the surrounding environment. The purification module mainly includes but is not limited to core components such as filters and activated carbon that can purify the air.

[0031] The mobile module can be a mechanism including various structures such as rollers and tracks, which is used to drive the air purification robot to move in the working environment. The storage module is mainly used to store the data of air conditions in the surrounding environment obtained by the sensor module; the contour data of the surrounding environment, the position occupied by the body and the position of obstacles obtained by the map building module.

[0032] In addition, the air purification robot is equipped with an air inlet and an air outlet, and the air purification robot can adjust the direction of the air inlet and the air outlet.

[0033] Regardless of the movement mode adopted by the air purification robot for purification work, since the working area covers a larger range, it is necessary to first divide the working area into smaller working areas and mark them as areas to be purified; then the air purification robot moves to the area to be purified to perform purification work to improve the air purification effect.

[0034] As an example, Figure 6 This is a flow chart of the method for setting a purification working point for the air purification robot provided in this embodiment. The method is applied to an air purification robot, and the air purification robot can be a purifier installed with a mobile base. The air purification robot is currently in the area to be purified, and the air inlet of the air purification robot faces the area to be purified; before executing the method, the air purification robot automatically divides the pre-constructed global map into multiple sub-areas with closed contours, and two adjacent sub-areas are separated by pre-identified doors; each sub-area is marked as an area to be purified; the area to be purified can be an irregular area, and the shape of the area to be purified and the area of ​​the area to be purified are both pre-identified. Figure 6 As shown, the method comprises the following steps: Step A, set the detection ray in the area to be purified according to the preset rules, then control the position point where the detection ray intersects with the outline of the area to be purified for the first time to perform the preset offset operation in the area to be purified, obtain the purification working point, and then mark the purification working point in the map; then execute step B. In step A, in order to set the detection ray, it is necessary to identify the outline of the area to be purified in advance, and then use the intersection of the detection ray and the outline of the area to be purified in the ray direction to set the position point that deviates from the outline of the area to be purified, as the position point close to the outline of the area to be purified and relative to the outline to reserve a passage for the air purification robot to walk, that is, the purification working point. Then mark the purification working point in the map, which can be understood as adding the purification working point to the target purification point set to facilitate traversal of subsequent steps.

[0035] If multiple purification working points need to be set in the area to be purified, the purification working point obtained in step A is the first purification working point.

[0036] Step B: Expand outward with the purification working point marked in the map as the expansion center to obtain the actual expansion area, which can be recorded as all areas that expand in real time starting from at least one purification working point; then execute step C. In the case where multiple purification working points have been marked in the map, each purification working point is used as the expansion center, and then the expansion operation is performed according to a certain step length. Each expansion updates the actual expansion area once, so that the actual coverage of the purification range of the updated actual expansion area is expanded. Preferably, the expansion radius corresponding to multiple purification working points will have a maximum value, so that the expansion area corresponding to at least one or two purification working points covers the area to be purified.

[0037] It should be noted that the expansion or expansion operation involved in the present application is to start from a purification working point (the expansion center represented by pixel points or grid points) in the map area where the area to be purified is located, and expand to the neighborhood of the purification working point (the range involved in the neighborhood here is determined by the size of the preset structural element / expansion template), so that the position points with the same grayscale value as the purification working point (for example, all binary 1) are increased, wherein the expanded points are position points with the same grayscale value as the purification working point, also marked as expanded position points, and the expanded points can be understood as being connected to the purification working point to simulate the gas diffusion range; until the maximum straight-line distance between the expanded position points and the purification working point is equal to a certain expansion step length and encloses a graphic area constrained by the preset structural element, the enclosed graphic area is marked as the expansion area corresponding to a purification working point, and the boundary expansion of the neighborhood of a single purification working point is realized, which is equivalent to adding pixel values ​​at the edge of the map image to expand the overall pixel value, thereby achieving the expansion effect of the map image.

[0038] Step C: according to the distribution relationship between the actual expansion area and the area to be purified, a new purification working point is set in the area to be purified until the area to be purified is traversed. The distribution relationship between the actual expansion area and the area to be purified here includes: whether the actual expansion area covers the area to be purified in the process of performing the expansion operation according to a certain step length, and / or whether there is an intersection between the outline of the reference expansion area obtained when expanding to the expected maximum expansion radius and the outline of the area to be purified; based on this, a new purification working point is set in the area to be purified, for example, an intersection is selected at the position where the outline of the reference expansion area intersects with the outline of the area to be purified, and then a preset offset operation is performed on the intersection to obtain a new purification working point, and then the new purification working point is marked in the map to return to step B until the area to be purified is traversed, so that the actual expansion area has covered the area to be purified, or when there is no intersection between the outline of the reference expansion area obtained when expanding to the expected maximum expansion radius and the outline of the area to be purified, stop setting the purification working point in the area to be purified, and determine that all purification working points are fully laid out in the area to be purified.

[0039] In summary, the aforementioned steps A to C are based on the detection rays set in the area to be purified, select the intersection point with the outline of the area to be purified and control the intersection point to deviate from the outline of the area to be purified to obtain the purification working point, and then expand outward from the purification working point, and use the relationship between the real-time expanded area and the area to be purified in each expansion process as a judgment condition for fully covering the area to be purified, and also as a decision condition for whether to continue setting the purification working point, so that in the area to be purified, a plurality of evenly distributed purification working points are set in sequence by multiple expansions of a single point, so that the plurality of purification working points set in succession are not concentrated in the same fixed area, and the plurality of purification working points set in succession are not just distributed along the outline of the area to be purified; thereby, the air purification robot can complete the air purification operation or other cleaning operations in the area to be purified without omission in the process of moving through the various purification working points set in the area to be purified in turn.

[0040] As an example, Figure 7 A flowchart of the method of the air purification robot is also provided, relative to Figure 6 The method provided, Figure 7 right Figure 6 Step C in the above is described in detail. Figure 7 As shown, the method comprises the following steps: Step A: set a detection ray in the area to be purified according to a preset rule, and then control the position point where the detection ray intersects with the outline of the area to be purified for the first time to perform a preset offset operation in the area to be purified to obtain a purification working point, and then mark the purification working point in the map; then execute step B.

[0041] Step B, expand outward with the purification working point marked in the map as the expansion center to obtain the actual expansion area, which can be understood as marking all areas that expand in real time from all the purification working points marked in the map as the actual expansion area, so that all the position points covered by the actual expansion area except the expansion center are marked with expansion information; of course, each purification working point as the expansion center is also marked with expansion information; but the actual expansion area does not necessarily represent the actual purification range of the air purification robot in the area to be purified, and the actual expansion area may be larger than the area to be purified; then execute step C1. The purification working point that is expanded in step B is marked as the expanded purification working point.

[0042] Step C1, judging whether the actual expanded area covers the area to be purified. If so, determining that the area to be purified has been traversed and stopping setting the purification working point in the area to be purified, otherwise executing step C2; Step C1 is used to judge whether the total area expanded in real time by all purification working points in step B covers the area to be purified; if the actual expanded area expanded by the latest executed step B just covers the area to be purified (the actual expanded area covers the area to be purified, and the contour of the actual expanded area and the contour of the area to be purified have an intersection), then the contour of the actual expanded area expanded by the latest executed step B and the contour of the area to be purified have an overlapping area, that is, there is an intersection, and it can be determined whether the actual expanded area covers the area to be purified; if the actual expanded area expanded by the latest executed step B has covered the area to be purified, then the complete contour of the actual expanded area expanded by the latest executed step B is distributed outside the area to be purified, that is, there is no intersection between the contour of the actual expanded area and the contour of the area to be purified, at this time, it can be determined whether the actual expanded area covers the area to be purified.

[0043] Step C2, control the actual expansion area to continue to expand until the expansion radius reaches the target purification radius, and obtain the reference expansion area, which can be understood as marking the actual expansion area after expanding by a target purification radius as the reference expansion area; then execute step C3; the expansion operation of step C2 is for the actual expansion area obtained in step B, specifically, continues to expand for each purification working point marked in the map, preferably performs the regional expansion operation according to the preset expansion step length to increase the expansion radius; when the expansion radius increases to the target purification radius, the actual expansion area is expanded to the reference expansion area, which is equivalent to updating the actual expansion area to the reference expansion area, so as to predict the maximum range that the air purification robot can purify at a purification working point, and then enter step C3 to determine the coverage relationship between the reference expansion area and the area to be purified, so as to set a new purification working point or not set a purification working point.

[0044] Step C3, determine whether there is an intersection between the outline of the reference expansion area and the outline of the area to be purified. If yes, execute step C4; otherwise, determine that the area to be purified has been traversed and stop setting purification work points in the area to be purified. It should be noted that before the reference expansion area covers the area to be purified, there is always an intersection between the outline of the reference expansion area and the outline of the area to be purified. Therefore, step C3 determines whether the reference expansion area covers the area to be purified by determining whether there is an intersection between the outline of the reference expansion area and the outline of the area to be purified, so as to set as many purification work points as possible for the area to be purified within the maximum purification area range, so as to ensure that the air purification robot performs air purification operations on the area to be purified comprehensively and completely.

[0045] Step C4, select a candidate point from the intersection points between the outline of the reference expansion area and the outline of the area to be purified. The selection here is a random selection method. From the multiple intersection points formed by the intersection of the outline of the reference expansion area and the outline of the area to be purified, a non-traversed intersection point is randomly selected as the current candidate point; then the candidate point is controlled to perform a preset offset operation to obtain a new purification working point to avoid sticking to the wall outline of the area to be purified and affecting the air flow into the air inlet of the air purification robot; then the new purification working point is marked in the map, and then the step B is executed to enter the iterative operation to add reasonable purification working points to the area to be purified in real time to ensure that the air purification robot performs uniform air purification operations in the area to be purified.

[0046] By analogy, in a scenario where the area to be purified is large enough, if the actual expansion areas obtained by the two purification working points in step B or the reference expansion areas obtained in step C2 have not yet covered the entire area to be purified, it is necessary to continue to execute step C4 to set the third purification working point, and then execute step B to simultaneously expand the three purification working points, and then determine whether the expansion areas corresponding to the three purification working points cover the entire area to be purified. If the entire area to be purified is still not covered, iteratively execute steps B to step C4 to continue looking for the fourth purification working point or even more purification working points that have not been traversed until the entire area to be purified is covered.

[0047] It should be noted that each time step C4 is executed, the number of purification working points marked in the map increases once, and then the actual expansion area obtained when executing step B is expanded. Correspondingly, when executing step C2, the reference expansion area is also expanded. It can be understood that the area occupied by the expansion areas of multiple purification working points in the area to be purified is expanded until the actual expansion area covers the area to be purified or there is no intersection between the outline of the reference expansion area and the outline of the area to be purified.

[0048] Wherein, the actual expansion area is composed of the area corresponding to the expansion of all the purification working points marked in step B, and the portion occupied by the actual expansion area in the area to be purified is regarded as a closed area surrounded by the outline of the area expanded by all the purification working points marked in step B at the same time and the outline of the area to be purified, and all purification working points are located in the actual expansion area. Preferably, overlapping areas are allowed between the areas corresponding to the expansion of multiple purification working points. Similarly, the reference expansion area is the area composed of all the purification working points marked in step B when they are expanded by a target purification radius, and the portion occupied by the reference expansion area in the area to be purified is regarded as a closed area surrounded by the outline of the area composed of all the purification working points marked in step B when they are expanded by a target purification radius at the same time and the outline of the area to be purified, and all purification working points are located in the reference expansion area, preferably, after all purification working points are expanded by a target purification radius at the same time. Overlapping areas are allowed between the areas corresponding to the expansion of multiple purification working points.

[0049] The aforementioned embodiment detects whether the actual expansion area covers the area to be purified by expanding outward with the purification working point marked in the map as the expansion center, then introduces the target purification radius to constrain the size of the expansion area and judges whether the expanded reference expansion area covers the area to be purified on this basis, then selects a candidate point from the intersection between the outline of the reference expansion area and the outline of the area to be purified, and then obtains a new purification working point through a preset offset operation; thereby, in the process of the same purification working point expanding outward, the purification working point is reasonably set twice according to the positional relationship between the area to be purified and the expansion area, so that purification working points evenly distributed in the area to be purified are set from the intersections of the outlines of the expansion areas with different coverage ranges and the outlines of the area to be purified.

[0050] On the basis of the above embodiment, if the step C1 determines that the actual expansion area covers the area to be purified, the area to be purified is marked as a traversed purification area, and then the purification working point is stopped in the area to be purified until the air purification robot moves to the purification area that has not been traversed and updates the purification area that has not been traversed to the area to be purified, and then executes steps A to C, which actually repeats steps A to C4 until all areas to be purified in a complete indoor environment are traversed.

[0051] The situation in which the step C1 determines that the actual expanded area completely covers the area to be purified includes: there is no intersection between the contour of the reference expanded area expanded in step C2 and the contour of the area to be purified (indicating that the complete contour of the actual expanded area expanded in step B is distributed outside the area to be purified); or, the actual expanded area expanded in step B just covers the area to be purified, that is, the actual expanded area covers the area to be purified and the contour of the actual expanded area intersects with the contour of the area to be purified.

[0052] Specifically, if the step C3 determines that the outline of the reference expansion area has no intersection with the outline of the area to be purified, it is determined that the outline of the reference expansion area completely covers the outside of the area to be purified, and the area to be purified is marked as a traversed purification area, such as Figure 5 As shown, starting from the purification working point P3, the purification working point P4 and the purification working point P5, the target purification radius is expanded outward at the same time, and the three unit expansion areas obtained are the circular area where the arc line L32 is located, the circular area where the arc line L42 is located, and the circular area where the arc line L52 is located. The circular area where the arc line L32 is located, the circular area where the arc line L42 is located, and the circular area where the arc line L52 is located together cover the reference purification area R3. The closed area surrounded by the arc lines L32, L42 and L52 in sequence is the reference expansion area, and there is no intersection between the outline of the reference expansion area and the outline of the reference purification area R3. Then stop setting the purification working point in the area to be purified until the air purification robot moves to the purification area that has not been traversed, and then execute steps A to C; If the step C3 determines that the actual expanded area just covers the area to be purified, it can be understood that the actual expanded area covers the area to be purified and the contour of the actual expanded area has an intersection with the contour of the area to be purified, then the area to be purified is marked as a traversed purification area, and it is determined that there is at least one intersection between the contour of the actual expanded area and the contour of the area to be purified, so that if the regional expansion operation is continued according to the preset expansion step length, the contour of the actual expanded area becomes non-intersecting with the contour of the area to be purified; then stop setting the purification working point in the area to be purified until the robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then execute steps A to C. At this time, the shape and size of the area to be purified before and after the update are not necessarily the same.

[0053] If the step C3 determines that all the intersections between the outline of the reference expansion area and the outline of the area to be purified have been set as the candidate points, then stop setting the purification working points in the area to be purified, and determine that the air purification robot has traversed all the intersections between the outline of the reference expansion area and the outline of the area to be purified. It can be determined that the number of purification working points set in the area to be purified has reached the upper limit value, and the purification working points set in the area to be purified have been considered to be evenly distributed, so there is no need to continue setting new purification working points in the area to be purified. Of course, the area to be purified can be marked as a traversed purification area or a covered purification area to improve the efficiency of selecting purification working points. Until the air purification robot moves to the purification area that has not been traversed and updates the purification area that has not been traversed to the area to be purified, then execute steps A to C.

[0054] It should be noted that a purification working point is expanded according to the target purification radius to obtain a unit expansion area, which is preferably a circular area with the purification working point as the expansion center and the expansion radius as the target purification radius, so that the entire area or part of the area to be purified is covered; after all the purification working points marked in the map are expanded according to the target purification radius, the area occupied by each unit expansion area is marked as the reference expansion area, so that each position point covered by it except the expansion center is marked with expansion information; of course, each purification working point as the expansion center is also marked with expansion information; the reference expansion area is an area where multiple unit expansion areas are superimposed, and its outline may have an arc and / or the outline of the area to be purified.

[0055] Among them, both step B and step C2 control the expansion of all purification work points marked in the map. The difference is that the requirements for the expansion radius are different. The expansion radius constrained by step C2 is generally larger than the expansion radius constrained by step B to cover as large an area as possible in the area to be purified.

[0056] In some embodiments, each time step B is executed, the purification working point marked in the map is set as the expansion center, the expansion operation is performed according to the preset expansion step length, and the area obtained by expansion is updated to the actual expansion area, and the expansion center is marked as the expanded purification working point, also recorded as the traversed purification working point; it is worth noting that each time step B is executed, the number of purification working points marked in the map is different, but each purification working point is still used as the expansion center, and the expansion operation is performed according to the preset expansion step length. A purification working point is expanded according to the preset expansion step length, preferably to obtain an expansion circle or other graphic area that obeys the expansion template constraint, and each purification working point marked in the map corresponds to the expanded expansion circle or other graphic area that obeys the expansion template constraint, which is superimposed to form the actual expansion area.

[0057] Furthermore, when the actual expansion area covers the area to be purified and the expansion radius does not reach the target purification radius (the actual expansion area does not expand to the reference expansion area), stop searching for a new purification work point in the area to be purified. The preset expansion step is smaller than the target purification radius; the target purification radius is determined by the power and volume structure conditions of the air purification robot, and is used to describe the maximum area that can be purified. In some embodiments, the maximum area that the air purification robot can purify is less than or equal to the rated purification area; the preset expansion step is preferably half of the target purification radius to speed up the setting efficiency of the purification work point.

[0058] In the case that the actual expansion area does not completely cover the area to be purified, step C2 is executed; each time step C2 is executed, the actual expansion area obtained by the expansion in step B is controlled to continue to expand until the reference expansion area is obtained, and then step C3 is executed.

[0059] Specifically, each purification working point marked in the map can continue to expand until the expansion radius reaches the target purification radius, then each purification working point marked in the map expands a corresponding unit expansion area, and then all the currently expanded unit expansion areas are superimposed to form the reference expansion area; when the area to be purified is completely covered by the reference expansion area, stop looking for new purification working points in the area to be purified; when only a part of the area to be purified is covered by the reference expansion area, look for new purification working points in the area to be purified to cover the remaining area of ​​the area to be purified by expanding a new actual expansion area or a reference expansion area.

[0060] Indicatively, Figure 3An embodiment of the present application discloses a schematic diagram of setting a purification working point P3 in a reference purification area R3 (equivalent to the area to be purified where multiple purification working points need to be set) and expanding a target purification radius from the purification working point P3 to obtain a unit expansion area (the circular area where the arc line L32 is located), wherein the expansion area obtained by expanding a standard purification radius from the purification working point P3 is the circular area where the arc line L31 is located, and the circular area where the arc line L31 is located is an expansion area with the arc line L31 as the outline, which is obtained during the execution of step B, and the standard purification radius is half of the target purification radius; the circular area where the arc line L31 is located is used as the actual expansion area, and in step C1, it is judged that the actual expansion area does not cover the area to be purified, then step C2 is executed to expand to obtain a reference expansion area, that is, the circular area where the arc line L32 is located; then in step C3, it is judged that there is an intersection between the outline of the reference expansion area and the outline of the area to be purified, and then a new purification working point is set in the reference purification area R3 by executing step C4, such as Figure 4 As shown, a new purification working point P4 is set.

[0061] Figure 4 An embodiment of the present application discloses a schematic diagram of setting a purification working point P4 in a reference purification area R3 and expanding a unit expansion area starting from the purification working point P4, wherein the expansion area obtained by expanding a standard purification radius starting from the purification working point P4 is the circular area where the arc line L41 is located, the circular area where the arc line L41 is located is the expansion area with the arc line L41 as the outline, and is the expansion area obtained in the process of executing step B, and the standard purification radius is half of the target purification radius; then in step C2, a unit expansion area is expanded from the purification working point P3 The expansion area and a unit expansion area expanding from the purification working point P4 occupy an area in the reference purification area R3 that is a closed area surrounded by the intersection of the arc line L32, the arc line L42 and the outline of the reference purification area R3; then in step C3, it is determined that the arc line L32 and the arc line L42 both intersect with the reference purification area R3, and the area composed of the circular area where the arc line L32 is located (a unit expansion area expanding from the purification working point P2) and the circular area where the arc line L42 is located (a unit expansion area expanding from the purification working point P3) is Figure 4 The reference expansion region in Figure 4 There is an intersection between the outline of the reference expansion area in and the outline of the reference purification area R3, so it can be determined that only a part of the reference purification area R3 is covered by the reference expansion area, and there is still a blank area that is not covered. Then, by executing step C4, a new purification working point is continued to be set in the reference purification area R3, such as Figure 5 As shown, a new purification working point P5 is set in the reference purification area R3.

[0062] Figure 5 An embodiment of the present application discloses that purification working points P3, P4 and P5 are successively set in a reference purification area R3, and a schematic diagram of each unit expansion area is expanded from the purification working point P3, P4 and P5 respectively by executing step B, step C1 and step C2, wherein the expansion area obtained by expanding a standard purification radius from the purification working point P5 is the circular area where the arc line L51 is located, and the circular area where the arc line L51 is located is the expansion area with the arc line L51 as the outline, is the expansion area obtained in the process of executing step B, and the standard purification radius is half of the target purification radius; the three unit expansion areas obtained by the expansion of step C2 are the circular area where the arc line L32 is located, the circular area where the arc line L42 is located, and the circular area where the arc line L52 is located. The circular area where the arc line L32 is located, the circular area where the arc line L42 is located, and the circular area where the arc line L52 is located together cover the reference purification area R3, and the closed area surrounded by the arc line L32, the arc line L42 and the arc line L52 in sequence forms Figure 5 Then, in step C3, it is determined that the outline of the reference expansion area does not intersect with the outline of the reference purification area R3, wherein arc line L32 intersects with arc line L42 at point U3, arc line L32 intersects with arc line L52 at point U1, arc line L52 intersects with arc line L42 at point U2, and points U3, U1 and U2 are all located outside the reference purification area R3 and do not touch its outline; then, it is determined that the outline of the reference expansion area completely covers the reference purification area R3. Figure 5 The area to be purified in Figure 5 The reference purification area R3) is outside, and the area to be purified is marked as a purification area that has been traversed, and then the purification working point is stopped in the area to be purified.

[0063] Combination Figures 3 to 5 It can be seen from the illustrated embodiment that each time step C4 is executed, the number of purification work points marked in the map increases once, the positions of the purification work points in the area to be purified are more evenly distributed, the actual expansion area is expanded and covers more directions, and then the coverage range of the reference expansion area is expanded, so that the number of intersections between the outline of the reference expansion area and the outline of the area to be purified is reduced, until the reference expansion area covers the area to be purified, and the number of intersections between the outline of the reference expansion area and the outline of the area to be purified becomes zero, thereby completing the setting of all purification work points in the area to be purified.

[0064] Preferably, in the case where a new purification working point is obtained in step C4, before step C4 returns to execute step B, the reference expansion area is cleared, and the purification working point set as the expansion center in the previous step B is marked as a purification working point that has not been expanded; and the new purification working point is marked as a purification working point that has not been expanded, so that all purification working points marked in the map are marked as purification working points that have not been expanded; and then step B is executed. It is worth noting that before returning to step B from step C4, the mark of the reference expansion area is cleared, including clearing the expansion information marked in each position point covered by the reference expansion area except the expansion center; and the expansion center is marked as a purification working point that has not been expanded, thereby clearing all the expansion information marked in the reference expansion area; then step B is executed, and each purification working point marked in the map can be expanded again at the same time. The contour of the reference expansion area generated by the expansion will generate multiple intersections with the contour of the area to be purified. If the reference expansion area obtained in the last executed step C2 is not deleted, then in the currently executed step B or the currently executed step C2, when the new purification working point obtained in the last executed step C4 is used as the expansion center for outward expansion, the actual expansion area will be blocked by the reference expansion area obtained in the last executed step C2 and cannot overlap, and the area expanded outward by the new purification working point will be considered as disconnected from the reference expansion area obtained in the last executed step C2.

[0065] Therefore, each time step B is executed, it is necessary to first clear the reference expansion area, and mark the purification working point set as the expansion center in the previous step B as a purification working point that has not been expanded; and mark the new purification working point as a purification working point that has not been expanded; then in the currently executed step B, each purification working point that has not been expanded is set as the expansion center, and then each expansion center is controlled to perform regional expansion operation according to the preset expansion step length at the same time. In the case that it is judged in step C1 that the actual expansion area does not cover the entire area to be purified, the expansion radius of each expansion center is controlled by step C2 to reach the target purification radius, and a reference expansion area that can cover the new area is obtained. In the case that it is judged in step C3 that there is an intersection between the outline of the reference expansion area and the outline of the area to be purified, and the candidate point selected in step C4 is different from the pre-marked candidate point, then a purification working point can be set in the area not covered by the reference expansion area expanded last time.

[0066] Preferably, the distance between the purification working point obtained in step C4 and the purification working point marked in the map described in step B is greater than the standard purification radius; specifically, the purification working point obtained in step C4 and the purification working point marked in the map described in step B can be regarded as two purification working points set successively; the distance between the purification working point newly obtained in step C4 and any purification working point marked in the map described in step B is greater than the standard purification radius, wherein the target purification radius is equal to twice the standard purification radius; and, each time step C4 is executed, the number of purification working points marked in the map increases once, so that the actual expansion area is expanded, and the reference expansion area is also expanded. Therefore, by limiting the distance between the two purification working points set successively to expand the distribution range of the newly added purification working points in the area to be purified, it can not only adapt to the trend of the expansion area increasing, but also comprehensively and evenly cover the area to be purified.

[0067] As an embodiment, before executing step A, the area to be purified is divided by a preset dividing line; the preset dividing line is the door position pre-identified by the air purification robot, including the position occupied by the door frame, the threshold, etc., and is marked in the map to divide the sub-map, and the range of the sub-map is the area to be purified. The area to be purified is a unit purification area (expressed as Figure 1 Irregular area R1), local purification area (expressed as Figure 2 The irregular area R2) or the reference clean area (expressed as Figure 3 The irregular area R3) can be divided according to the purification radius set by the air purification robot, and is also related to the area and shape of the purification area.

[0068] The area and shape of the unit purification area are sufficient to allow the air purification robot to set a purification working point in the unit purification area and then stop executing steps A, B and C; therefore, in combination with the foregoing embodiments, it can be seen that by executing steps A, B and C, a unit expansion area is expanded to cover the unit purification area.

[0069] The area of ​​the local purification area is twice the area of ​​the unit purification area, so that the air purification robot sets two purification working points in the local purification area, and then stops executing steps A, B and C; therefore, combined with the foregoing embodiments, it can be seen that by executing steps A, B and C, two unit expansion areas are expanded to cover the local purification area.

[0070] The area of ​​the reference purification area is larger than twice the area of ​​the unit purification area, so that the air purification robot sets at least three purification working points in the reference purification area, and then stops executing steps A, B and C; therefore, in combination with the foregoing embodiments, it can be seen that by executing steps A, B and C, at least three unit expansion areas are expanded to cover the reference purification area.

[0071] In summary, after constructing the map, the air purification robot can reasonably set the number of purification working points according to the size (such as area and shape) of the divided purification area.

[0072] As an embodiment, when it is determined that the area to be purified is a local purification area, in step A, the method of setting detection rays in the area to be purified according to a preset rule includes: Step A1, calculate the center of gravity of the local purification area; then execute step A2; of course, before calculating the center of gravity of the local purification area, extract the outline of the local purification area, determine the coordinate coverage range of the local purification area by the outline of the local purification area, and then use the coordinate average value or gray value weighted average value (grayscale center of gravity method) of the local purification area to calculate the center of gravity coordinate value of the local purification area.

[0073] Step A2, determine the longest side from the sides of the circumscribed rectangular frame of the local purification area; then execute step A3. The circumscribed rectangular frame of the local purification area is the smallest rectangular frame surrounding the outline of the local purification area, which better covers the range of the local purification area and improves the accuracy of the purification area and purification working point finally determined.

[0074] Step A3, using a line segment passing through the centroid of the local purification area and perpendicular to the longest side to divide the local purification area into two unit purification areas; then executing step A4. Figure 2 This is a schematic diagram of an embodiment of the present application that discloses that a local purification area is divided into two unit purification areas by a dividing line L2. Due to the scanning characteristics of the map building module of the air purification robot, the local purification areas obtained by scanning the map building module are usually irregularly shaped areas. By executing step A3, Figure 2 The bottom edge of the circumscribed rectangular frame of the local purification area R2 is set to a vertical line passing through the center of gravity of the local purification area R2, such as Figure 2 As shown by the boundary line L2, the boundary line L2 divides the local purification area R2 into a unit purification area on the left and a unit purification area on the right.

[0075] Step A4, setting detection rays in the two unit purification areas according to preset rules, and updating each unit purification area to the area to be purified. Thus, by executing step B, a purification working point P21 is set in the unit purification area on the left, and a standard purification radius is expanded from the purification working point P21. The expanded area obtained by the expansion of the purification working point P21 occupies the area #21 (the area filled with black scattered points on the left side of the dividing line L21) in the unit purification area on the left; a purification working point P22 is set in the unit purification area on the right, and a standard purification radius is expanded from the purification working point P22. The expanded area obtained by the expansion of the purification working point P22 occupies the area #22 (the area filled with black scattered points on the right side of the dividing line L21) in the unit purification area on the right, wherein the preset expansion step is preferably the standard purification radius.

[0076] Combining steps A1 to A4, in this embodiment, when it is determined that the area to be purified is a local purification area, the two unit purification areas are divided by the center of gravity to set the detection rays, so as to set the purification working points in the two unit purification areas at the same time, and provide two purification working points for the local purification area at one time.

[0077] On the basis of the above embodiment, when it is determined that the area to be purified is a unit purification area, the preset rules include: Calculate the center of gravity of the unit purification area; it should be noted that before calculating the center of gravity of the unit purification area, the contour of the unit purification area is extracted, and the coordinate coverage range of the unit purification area is determined by the contour of the unit purification area, and then the coordinate value of the center of gravity of the unit purification area is calculated using the coordinate average value or gray value weighted average value (grayscale center of gravity method) of the unit purification area. Then, among the edges of the circumscribed rectangular frame of the unit purification area, select the edge closest to the center of gravity of the unit purification area, and then set the selected edge as the reference edge to search for the starting point of the detection ray. Among them, the circumscribed rectangular frame of the unit purification area is the smallest rectangular frame surrounding the contour of the unit purification area, and each edge of the circumscribed rectangular frame of the unit purification area is in contact with the contour of the unit purification area. Draw a vertical line through the center of gravity of the unit purification area to the reference edge, and then set the intersection of the reference edge and the vertical line as the starting point of the ray. Starting from the starting point of the ray, set the ray passing through the center of gravity of the unit purification area, and then set the ray passing through the center of gravity of the unit purification area as the detection ray, forming a ray passing through the center of gravity in the unit purification area and extending in the direction away from the reference edge. In summary, the detection ray is set according to the edge of the circumscribed rectangular frame of the center of gravity and the area. Then control the position point where the detection ray intersects with the outline of the area to be purified for the first time to perform a preset offset operation in the unit purification area to obtain a purification working point, thereby obtaining a unique purification working point in the area to be purified.

[0078] Accordingly, Figure 1 In the above figure, a purification working point P1 is set in the unit purification area R1 and a standard purification radius is expanded from the purification working point P1 to obtain the actual expansion area (the circular area where the expansion arc L1 is located), and then a target purification radius is expanded from the purification working point P1 to obtain the reference expansion area (not shown in the figure but its outline is all located outside the unit purification area R1, so that the reference expansion area completely covers the unit purification area R1). The area occupied by the actual expansion area in the unit purification area R1 is a closed area filled with black scattered points and surrounded by the outline of the unit purification area and the expansion arc L1. Figure 1 Marked as area #1, wherein the preset expansion step is preferably a standard purification radius, and twice the standard purification radius is equal to the target purification radius.

[0079] As an embodiment, when it is determined that the area to be purified is a reference purification area, in step A, the preset rule includes: Calculate the center of gravity of the reference cleansing area; it should be noted that before calculating the center of gravity of the reference cleansing area, extract the outline of the reference cleansing area, determine the coordinate coverage of the reference cleansing area by the outline of the reference cleansing area, and then use the coordinate average value or grayscale value weighted average value (grayscale center of gravity method) of the reference cleansing area to calculate the coordinate value of the center of gravity of the reference cleansing area. Among the edges of the circumscribed rectangular frame of the reference cleansing area, select the edge that is closest to the center of gravity of the reference cleansing area, and then set the selected edge as the reference edge to search for the detection ray. Then set the center of gravity of the reference cleansing area as the starting point of the ray; then, starting from the starting point of the ray, set the ray extending toward the reference edge so that the ray extending toward the reference edge is perpendicular or parallel to one of the edges of the circumscribed rectangular frame of the reference cleansing area; then set the ray extending toward the reference edge as the detection ray. This embodiment controls the detection ray to extend toward the reference edge, so that the detection ray searches for a candidate position of the purification working point on the contour of the area closest to the center of gravity; then controls the position point where the detection ray intersects with the contour of the area to be purified for the first time to perform a preset offset operation within the unit purification area to obtain the purification working point, thereby obtaining the first purification working point marked on the map within the reference purification area.

[0080] It should be noted that in the aforementioned embodiment, the preset offset operation includes: in the area to be purified, controlling the selected point on the contour of the area to be purified to be offset along a direction by a preset spacing to obtain the purification working point, so that when the air purification robot is located at the purification working point, there is a gap for air circulation between the air inlet of the air purification robot and the obstacles on the contour of the area to be purified; wherein, the offset direction along which the selected point is offset is preferably perpendicular to the tangent direction of the contour. The preset spacing supports customization, and is preferably the width of the mobile base of the air purification robot. Therefore, the preset offset operation allows the body or air inlet or outlet of the air purification robot to not be attached to the wall, leaving a little gap for air circulation.

[0081] The contour of the region to be purified is preferably the outer contour of the region to be purified, so as to accept the contour of the expansion region or the detection ray to intersect and generate a required intersection point.

[0082] Based on the above-mentioned embodiment, the point selected on the contour of the area to be cleaned in step A is the position point where the detection ray intersects the contour of the area to be cleaned for the first time.

[0083] In addition, the point selected on the contour of the area to be purified in step C4 is the candidate point, and the candidate point is an intersection point that is not marked as a candidate point (an intersection point that is not traversed by the detection ray) randomly selected from the intersection points between the contour of the reference dilated area and the contour of the area to be purified.

[0084] It should be noted that after extracting the outline of the area to be purified, the center of gravity of the area to be purified is generally calculated using the grayscale centroid method. In the grayscale centroid method, the center of gravity of the area to be purified is the center position of the area to be purified, which can be calculated by weighting the positions and grayscale values ​​of all pixels in the area to be purified.

[0085] The center of gravity of the area to be purified can also be directly calculated using the average value of the coordinates of the grid points (cells) of the map area. Specifically, the method of calculating the center of gravity of the area to be purified includes: the horizontal coordinate of the center of gravity of the area to be purified = the ratio between the sum of the horizontal coordinates of all traversable grid points in the area to be purified and the number of all traversable grid points in the area to be purified. The vertical coordinate of the center of gravity of the area to be purified = the ratio between the sum of the vertical coordinates of all traversable grid points in the area to be purified and the number of all traversable grid points in the area to be purified. Among them, the traversable grid points are grid position points in the grid map pre-constructed by the robot, which are connected relative to the current position point of the robot.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A method for setting a purification working point for an air purification robot, wherein the air purification robot is currently in an area to be purified, and an air inlet of the air purification robot faces the area to be purified; characterized in that: The method comprises: Step A: set a detection ray in the area to be purified according to a preset rule, and then control the position point where the detection ray intersects with the outline of the area to be purified for the first time to perform a preset offset operation in the area to be purified to obtain a purification working point, and then mark the purification working point in the map; then execute step B; Step B, expanding outward with the purification working point marked in the map as the expansion center to obtain the actual expansion area; then executing step C; Step C: according to the distribution relationship between the actual expansion area and the area to be purified, a new purification working point is set in the area to be purified until the area to be purified is traversed.

2. The method according to claim 1, characterized in that: The step C comprises: Step C1, judging whether the actual expansion area covers the area to be purified. If yes, determining that the area to be purified is completely traversed and stopping setting purification working points in the area to be purified. Otherwise, executing step C2; Step C2, controlling the actual expansion area to continue to expand until the expansion radius reaches the target purification radius, obtaining a reference expansion area, and then executing step C3; Step C3, judging whether there is an intersection between the outline of the reference expansion area and the outline of the area to be purified, if yes, executing step C4, otherwise determining that the area to be purified has been traversed and stopping setting purification working points in the area to be purified; Step C4: Select a candidate point from the intersection between the outline of the reference expansion area and the outline of the area to be purified, and then control the candidate point to perform a preset offset operation to obtain a new purification working point, and then mark the new purification working point in the map, and then execute step B.

3. The method according to claim 2, characterized in that: If the step C1 determines that the actual expansion area covers the area to be purified, the area to be purified is marked as a traversed purification area, and then the purification working point is stopped in the area to be purified until the air purification robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then executes steps A to C.

4. The method according to claim 3, characterized in that: If the step C3 determines that the outline of the reference expansion area has no intersection with the outline of the area to be purified, it is determined that the outline of the reference expansion area completely covers the outside of the area to be purified, and the area to be purified is marked as a traversed purification area, and then the purification working point is stopped in the area to be purified until the air purification robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then steps A to C are executed; If the step C3 determines that all the intersection points between the contour of the reference expansion area and the contour of the area to be purified have been set as the candidate points, then stop setting the purification working point in the area to be purified until the air purification robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then execute steps A to C; Among them, a purification work point is expanded according to the target purification radius to obtain a unit expansion area; after all the purification work points marked in the map are expanded according to the target purification radius, the area occupied by each unit expansion area is marked as the reference expansion area.

5. The method according to claim 4, characterized in that: Each time step B is executed, the purification working point marked in the map is set as the expansion center, the expansion operation is performed according to the preset expansion step length, and the area obtained by the expansion is updated as the actual expansion area, and the expansion center is marked as the expanded purification working point; wherein the preset expansion step length is smaller than the target purification radius; Each time step C2 is performed, the actual expansion area obtained by the expansion in step B is controlled to continue to expand until the reference expansion area is obtained.

6. The method according to claim 5, characterized in that: In the case where a new purification working point is obtained in step C4, step C4 returns to the step B before executing, clears the reference expansion area, and marks the purification working point set as the expansion center in the previous step B as a purification working point that has not been expanded; and marks the new purification working point as a purification working point that has not been expanded; and then executes step B; Each time step B is performed, each unexpanded purification working point is set as an expansion center, and then each expansion center is controlled to perform a regional expansion operation according to the preset expansion step length at the same time.

7. The method according to claim 6, characterized in that: The distance between the purification working point obtained in step C4 and the purification working point marked in the map described in step B is greater than the standard purification radius; the target purification radius is equal to twice the standard purification radius; Wherein, each time step C4 is executed, the number of purification working points marked in the map increases once, so that the actual expansion area is expanded.

8. The method according to claim 2, characterized in that: Before executing step A, the area to be purified is divided by a pre-set boundary line; The area to be purified is a unit purification area, a local purification area or a reference purification area; The area and shape of the unit purification area are sufficient to allow the air purification robot to set a purification working point in the unit purification area, and then stop executing step A, step B and step C; The area of ​​the local purification area is twice the area of ​​the unit purification area, so that the air purification robot sets two purification working points in the local purification area, and then stops executing step A, step B and step C; The area of ​​the reference purification area is larger than twice the area of ​​the unit purification area, so that the air purification robot sets at least three purification working points in the reference purification area, and then stops executing step A, step B and step C.

9. The method according to claim 8, characterized in that: In the case where it is determined that the area to be purified is a local purification area, in step A, the method of setting detection rays in the area to be purified according to a preset rule includes: Step A1, calculating the center of gravity of the local purification area; then executing step A2; Step A2, determining the longest side from the sides of the circumscribed rectangular frame of the local purification area; then executing step A3; Step A3, dividing the local purification area into two unit purification areas using a line segment passing through the center of gravity of the local purification area and perpendicular to the longest side; then executing step A4; Step A4: setting detection rays in the two unit purification areas according to preset rules, and updating each unit purification area as the area to be purified.

10. The method according to claim 9, characterized in that: When it is determined that the area to be purified is a unit purification area, the preset rules include: Calculating the center of gravity of the unit purification area; Among the edges of the circumscribed rectangular frame of the unit purification area, select an edge that is closest to the center of gravity of the unit purification area, and then set the selected edge as a reference edge; Draw a vertical line through the center of gravity of the unit purification area to the reference edge, and then set the intersection of the reference edge and the vertical line as the starting point of the ray; Starting from the ray starting point, a ray passing through the center of gravity of the unit purification area is set, and then the ray passing through the center of gravity of the unit purification area is set as the detection ray.

11. The method according to claim 8, characterized in that: When it is determined that the area to be purified is a reference purification area, in step A, the preset rule includes: Calculating the center of gravity of the reference purification area; Among the edges of the circumscribed rectangular frame of the reference purification area, select an edge that is closest to the center of gravity of the reference purification area, and then set the selected edge as the reference edge; Setting the center of gravity of the reference purification area as the ray starting point; Starting from the ray starting point, a ray extending toward the reference edge is set so that the ray extending toward the reference edge is perpendicular or parallel to one of the sides of the circumscribed rectangular frame of the reference purification area; and the ray extending toward the reference edge is set as the detection ray.

12. The method according to claim 2, characterized in that: The preset offset operation includes: In the area to be purified, a selected point on the outline of the area to be purified is controlled to be offset along a direction by a preset distance to a passable position point, and the passable position point is then marked as the purification working point, so that when the air purification robot is located at the purification working point, there is a gap for air circulation between the air inlet of the air purification robot and the outline of the area to be purified; The point selected on the contour of the area to be cleaned in step A is the position point where the detection ray intersects the contour of the area to be cleaned for the first time; The points selected on the contour of the area to be purified in step C4 are the candidate points, which are randomly selected intersection points not marked as candidate points from the intersection points between the contour of the reference dilated area and the contour of the area to be purified.

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