Planning method for robot purification working point

Abstract

The invention discloses a robot purification working point planning method which comprises the following steps: step 1, setting a first purification working point based on the gravity center of a to-be-purified area and an external rectangular frame of the to-be-purified area, and marking the first purification working point in a map; then executing the step 2; 2, each purification working point marked in the map is controlled to perform expansion operation according to the target purification radius, and a planned purification area is obtained; then executing the step 3; 3, judging whether the planned purification area completely covers the to-be-purified area or not, if so, stopping setting the purification working point in the to-be-purified area, and if not, executing the step 4; and 4, selecting a planning point from intersection points between the outline of the planning purification area and the outline of the area to be purified, then controlling the planning point to execute preset offset operation to obtain a new purification working point, then marking the new purification working point in the map, and then executing the step 2. And the intelligence and the purification work efficiency of the robot are improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot position planning, and relates to a planning method for a robot purification work point. Background Art

[0002] The decoration or furniture in the home environment will produce formaldehyde or other harmful gases, which will affect people's quality of life and health. Therefore, air purifiers have gradually entered the homes of ordinary people. The working principle of the purifier is mainly to absorb the indoor air into the purifier, and then purify the air sucked into the purifier 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 indoors.

[0003] Currently, most air purifiers cannot move autonomously and need to be manually moved to a fixed location by users to purify the air. Moreover, since the purifier is limited by power and volume structure conditions, the purifier needs to adjust its purification area according to a certain step size, and it is impossible to predict in advance whether its purification range and the distribution of purification working points are reasonable, which affects the work efficiency of the robot. Summary of the invention

[0004] This application discloses a planning method for robot purification work points, which is implemented through the following technical solutions: A planning method for a robot purification work point, the robot is currently in an area to be purified; the planning method comprises: step 1, setting a first purification work point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified, and then marking the first purification work point in a map; then executing step 2; step 2, controlling each purification work point marked in the map to expand according to a target purification radius to obtain a planned purification area; then executing step 3; step 3, judging whether the planned purification area covers the area to be purified, if so, stopping setting purification work points in the area to be purified, otherwise executing step 4; step 4, selecting a planning point from the intersection between the outline of the planned purification area and the outline of the area to be purified, and then controlling the planning point to perform a preset offset operation to obtain a new purification work point, and then marking the new purification work point in the map, and then executing step 2.

[0005] To summarize, after determining the first purification working point, by repeatedly executing steps 2 to 4, multiple purification working points are controlled to expand according to a target purification radius, and the current maximum purification range of the robot (corresponding to the planned purification area) is predicted in advance; and when the area to be purified is not fully covered, a new purification working point can be introduced at the intersection between the outline of the planned purification area and the outline of the area to be purified, so as to predict a larger purification range of the robot and set more purification working points; compared with the prior art, the present application can autonomously layout multiple evenly distributed purification working points based on the advance prediction of the purification range (corresponding to the planned purification area) by relying on a single purification radius, thereby improving the intelligence and purification work efficiency of the robot.

[0006] Furthermore, before the planned purification area covers the area to be purified, the outline of the planned purification area remains intersecting with the outline of the area to be purified; each time step 4 is executed, the number of purification work points marked in the map increases, and then the planned purification area obtained when step 2 is executed is expanded; wherein, the area occupied by the unit expansion area obtained by the expansion operation of each purification work point marked in the map is marked as the planned purification area; a purification work point is expanded according to the target purification radius in step 2 to obtain a unit expansion area; wherein, the planned point is randomly selected from the intersection between the outline of the planned purification area and the outline of the area to be purified that is not marked as a planned point. The planned purification area is the area formed when all purification work points in step 2 are expanded by a target purification radius; before the planned purification area is expanded to completely cover the area to be purified, all purification work points are located in the planned purification area or in the area to be purified; thereby setting as many purification work points as possible for the area to be purified within the maximum purification area range to ensure that the robot performs air purification operations in the area to be purified in a comprehensive and complete manner.

[0007] Further, in step 3, the method for judging whether the planned purification area covers the area to be purified includes: if the outline of the planned purification area surrounds the area to be purified and the outline of the planned purification area contacts the outline of the area to be purified, then it is determined that the planned purification area covers 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 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 1 to 4 are executed; if the outline of the planned purification area has no intersection with the outline of the area to be purified, then it is determined that the outline of the planned purification area covers the outside of the area to be purified to determine that the planned purification area covers 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 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 1 to 4 are executed. Thus, steps 1 to 4 are repeatedly executed until all the areas to be purified in a complete indoor environment are traversed.

[0008] Furthermore, in the case where a new purification working point is obtained in step 4, before step 4 returns to step 2, the mark of the planned purification area is cleared, and the purification working point that was expanded in the last step 2 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 2 is executed; each time step 2 is executed, each purification working point that has not been expanded is set as an expansion center, and then each expansion center is controlled to expand according to the target purification radius at the same time, so that the planning point selected in step 4 is different from the pre-marked planning point. Then, a purification working point can be set in an area that is not covered by the planned purification area expanded last time.

[0009] Furthermore, the distance between the new purification working point obtained in the current step 4 and the purification working point obtained in the previous step 4 is greater than the standard purification radius; the target purification radius is equal to twice the standard purification radius. 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 increasing the purification area to be covered, but also fully and evenly cover the area to be purified.

[0010] Furthermore, before executing step 1, 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; by executing steps 1 to 4, a unit expansion area is expanded to cover the unit purification area; by executing steps 1 to 4, two unit expansion areas are expanded to cover the local purification area; wherein the area of ​​the local purification area is twice the area of ​​the unit purification area; by executing steps 1 to 4, at least three unit expansion areas are expanded to cover the reference purification area; wherein the area of ​​the reference purification area is greater than twice the area of ​​the unit purification area. In summary, after constructing the map, the robot can reasonably set the number of purification work points according to the size (such as area and shape) of the divided purification area.

[0011] Further, in the case where it is determined that the area to be purified is a unit purification area, the method for setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: step 11, extracting the outline of the unit purification area, and then executing step 12; step 12, calculating the center of gravity of the unit purification area, and then executing step 13; step 13, 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 the reference edge, and then executing step 14; step 14, drawing a vertical line from 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 ray starting point, and then executing step 15; step 15, starting from the ray starting point, setting a ray passing through the center of gravity of the unit purification area; then setting the ray passing through the center of gravity of the unit purification area as a detection ray, and then executing step 16; step 16, 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 unit purification area to obtain the first purification working point. It can be seen from step 11 to step 16 that the present application sets the detection ray according to the center of gravity of the region and the edge of the circumscribed rectangular frame of the region. 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 in the unit purification area to obtain a purification working point, thereby obtaining a unique purification working point in the area to be purified.

[0012] Further, in the case where it is determined that the area to be purified is a local purification area, in step 1, the method for setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: calculating the center of gravity of the local purification area; determining the longest side from the sides of the circumscribed rectangular frame of the local purification area, and 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 performing step 11 in both of the unit purification areas, so that the first purification working point is obtained in both of the unit purification areas. Therefore, in the present application, 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 and two unit expansion areas are set accordingly to explore the purification areas on both sides of the dividing line in advance, 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.

[0013] Further, when it is determined that the area to be purified is a reference purification area, in step 1, the method for setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: 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 frame 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 a 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 frame of the reference purification area; and then setting the ray extending toward the reference edge as a detection ray; 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 within the unit purification area to obtain the first purification working point, thereby obtaining the purification working point marked on the map for the first time.

[0014] Further, the preset offset operation includes: in the area to be purified, controlling the selected intersection on the contour of the area to be purified to be offset by a preset spacing in the vertical direction of the tangent of the contour where it is located, to obtain a purification working point; wherein the selected intersection on the contour of the area to be purified in step 1 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 intersection on the contour of the area to be purified is the planning point in step 4. Therefore, the preset offset operation guides the body or air inlet or outlet of the robot not to be attached to the wall, leaving a little gap for air circulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1An embodiment of the present application discloses a schematic diagram of setting a purification working point P1 in a region to be purified R1 and expanding a target purification radius from the purification working point P1 to obtain a planned purification region (a circular region where the expansion arc L1 is located).

[0016] Figure 2 is a schematic diagram of an embodiment of the present application disclosing that the area to be purified R2 is divided into two sub-areas by a dividing line H, wherein the area of ​​each sub-area is equal to Figure 1 The area of ​​the area to be purified R1 is obtained; a purification working point P21 is set in the sub-area #21 on the left, and a target purification radius is expanded from the purification working point P21 to obtain a unit expansion area (the circular area where the expansion arc L21 is located); a purification working point P22 is set in the unit purification area on the right, and a target purification radius is expanded from the purification working point P22 to obtain a unit expansion area (the circular area where the expansion arc L22 is located).

[0017] Figure 3 An embodiment of the present application discloses a schematic diagram of setting a purification working point P3 in the area to be purified 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 L3 is located).

[0018] Figure 4 An embodiment of the present application discloses a schematic diagram of setting a purification working point P3 and a purification working point P4 in the area to be purified 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 area to be purified R3 is a closed area surrounded by the intersection of the arc line L3, the arc line L4 and the outline of the area to be purified R3, wherein the closed area is an irregular area filled with black scattered points; the unit expansion area where the arc line L3 is located and the unit expansion area where the arc line L4 is located constitute Figure 4 Planning purification areas in Figure 4 The outline of the planned purification area in intersects with the outline of the area to be purified R3.

[0019] Figure 5 An embodiment of the present application discloses a schematic diagram of successively setting purification working points P3, P4 and P5 in the area to be purified 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 expansion are the circular area where the arc line L3 is located, the circular area where the arc line L4 is located, and the circular area where the arc line L5 is located; the circular area where the arc line L3 is located, the circular area where the arc line L4 is located, and the circular area where the arc line L5 is located together cover the area to be purified R3; the closed area enclosed by the arc lines L3, L4 and L5 in sequence is Figure 5 Planning purification areas in Figure 5 The outline of the planned purification area in does not intersect with the outline of the area to be purified R3.

[0020] Figure 6 An embodiment of the present application discloses a flow chart of a method for planning a robot purification work point. Implementation

[0021] 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.

[0022] 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 the present application, it is still necessary to describe its main components and the functions of each component in a general way. The internal components of the air purification robot disclosed in the present application mainly include: a processor, a sensor module, a map construction module, a purification module, a mobile module and a storage module. The processor is electrically connected to all other modules, and the sensor module and the map construction module are electrically connected to the storage module respectively. 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 posture data, store the posture data in the storage module, scan the contour of the surrounding environment, and divide the scanned environmental area into regions, for example, using the door as the dividing line to divide the map into multiple regions. 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. 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. 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 on the 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 construction module. 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.

[0023] As an example, Figure 6This is a flow chart of the planning method for the robot purification work point provided in this embodiment. The planning method is applied to the robot, and the robot can be a purifier installed with a mobile base. The robot is currently in the area to be purified, and the air inlet of the robot faces the area to be purified; before executing the planning method, the robot automatically divides the pre-constructed global map into multiple sub-areas, and the two adjacent sub-areas are divided by the pre-identified door; each sub-area can be marked as an area to be purified; the area to be purified can be an irregular area, so it is necessary to predict the maximum purification range in advance to facilitate accurate, fast and uniform planning of purification work points. Figure 6 As shown, the planning method comprises the following steps: Step 1: Set the first purification work point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified, and then mark the first purification work point in the map; then execute step 2. In step 1, in order to set the first purification work point in the area to be purified where no purification work point was originally marked, it is necessary to identify the outline of the area to be purified in advance, and then use the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified to set a position point that is not on any outline of the area to be purified as a passable position point that maintains a distance from the outline of the area to be purified, that is, the purification work point. Then mark the purification work point in the map, which can be understood as adding the purification work point to the purification point set for subsequent traversal.

[0024] Step 2: Control each purification work point marked in the map to expand according to the target purification radius to obtain a planned purification area, and then execute step 3. The planned purification area is the result of combining / superimposing the expansion areas with a fixed purification radius expanded from each purification work point as the expansion center.

[0025] When multiple purification work points have been marked in the map, expansion operations are performed with each purification work point as the expansion center. However, multiple expansion operations are not performed starting from the same purification work point at a certain step length. Instead, an expansion operation is performed once according to the target purification radius to obtain a planned purification area. The planned purification area does not necessarily represent the actual purification range of the robot in the area to be purified. In the present application, only when the number of purification work points increases, the purification range actually covered by the planned purification area in the area to be purified is expanded until the expansion area corresponding to at least one purification work point or the planned purification area formed by the expansion corresponding to two purification work points covers the area to be purified.

[0026] It should be noted that the expansion or expansion operation involved in the present application starts from a purification working point (expansion center represented by pixel points) in the map area (stored as a binary map image) where the area to be purified is located, and expands 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 the target purification radius and encloses a graphic area constrained by the preset structural element, the enclosed graphic area is marked as an expansion area corresponding to a purification working point, and the boundary expansion of the neighborhood of the 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 image. Therefore, the planned purification area is a result of combining / superimposing expansion areas with a fixed purification radius that are expanded with each purification working point as the expansion center.

[0027] Step 3, determine whether the planned purification area covers the area to be purified. If yes, stop setting purification working points in the area to be purified and determine that the area to be purified has been traversed. Otherwise, execute step 4. If the planned purification area expanded by the latest executed step 2 does not cover the area to be purified (the planned purification area has surrounded the area to be purified, and the outline of the planned purification area is in contact with the outline of the area to be purified), then the outline of the planned purification area expanded by the latest executed step 2 and the outline of the area to be purified have an intersection. If the planned purification area expanded by the latest executed step 2 just covers the area to be purified (the planned purification area has surrounded the area to be purified, and the outline of the planned purification area is in contact with the outline of the area to be purified), then the outline of the planned purification area expanded by the latest executed step 2 and the outline of the area to be purified have an overlapping area, that is, there is an intersection. If the planned purification area expanded by the latest executed step 2 has completely covered the area to be purified, then the complete outline of the planned purification area expanded by the latest executed step 2 is distributed outside the area to be purified, that is, there is no intersection between the outline of the planned purification area and the outline of the area to be purified. Therefore, according to the covering relationship between the planned purification area and the area to be purified, a new purification working point is set or the purification working point is not set any more.

[0028] Step 4, select a planning point from the intersection points between the outline of the planned purification area and the outline of the area to be purified, and then control the planning point to perform a preset offset operation to obtain a new purification work point, and then mark the new purification work point in the map, and then execute step 2. The selection in step 4 is a random selection method, randomly selecting an untraversed intersection point from the multiple intersection points formed by the intersection of the outline of the planned purification area and the outline of the area to be purified as the current planning point; then control the current planning point to perform a preset offset operation to obtain a new purification work point, so as 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 mark the new purification work point in the map, and then execute step 2, enter the loop operation of iteratively setting the purification work point, add a purification work point with a larger layout span to the area to be purified, and ensure that the robot performs comprehensive and uniform air purification operations in the area to be purified.

[0029] Similarly, in a scenario where the area to be purified is large enough, if the planned purification area obtained by the two purification work points in step 2 has not yet covered the area to be purified, it is necessary to continue to perform steps 3 and 4 to set the third purification work point, and then perform step 2 to expand the three purification work points at the same time, and then determine whether the expanded areas corresponding to the three purification work points cover the area to be purified. If the area to be purified still cannot be covered, iteratively perform steps 1 to 4 to continue looking for the fourth purification work point or even more purification work points that have not been traversed, until the planned purification areas obtained by the expansion of multiple purification work points according to the target purification radius cover the area to be purified. It should be noted that each time step 4 is performed, the number of purification work points marked in the map increases once, and the expansion of the planned purification area obtained when step 2 is performed again can be understood as the total area occupied by the expanded areas of multiple purification work points in the area to be purified is expanded until the planned purification area covers the area to be purified.

[0030] To summarize, after determining the first purification working point, by repeatedly executing steps 2 to 4, multiple purification working points are controlled to expand according to a target purification radius, and the current maximum purification range of the robot (corresponding to the planned purification area) is predicted in advance; and when the area to be purified is not fully covered, a new purification working point can be introduced at the intersection between the outline of the planned purification area and the outline of the area to be purified, so as to predict a larger purification range of the robot and set more purification working points; compared with the prior art, the present application can autonomously layout multiple evenly distributed purification working points based on the advance prediction of the purification range (corresponding to the planned purification area) by relying on a single purification radius, thereby improving the intelligence and purification work efficiency of the robot.

[0031] In the above embodiment, before the planned purification area covers the area to be purified, the outline of the planned purification area remains intersected with the outline of the area to be purified; therefore, it can be determined whether the planned purification area covers the area to be purified by judging whether there is an intersection between the outline of the planned purification area and the outline of the area to be purified. The planned purification area is the area formed when all purification working points in step 2 are expanded by a target purification radius; before the planned purification area is expanded to completely cover the area to be purified, all purification working points are located in the planned purification area or in the area to be purified; thus, as many purification working points as possible are set for the area to be purified within the maximum purification area range to ensure that the robot performs air purification operations in the area to be purified comprehensively and completely.

[0032] Preferably, after all purification working points are expanded by a target purification radius at the same time, it is allowed that there are overlapping local areas between the expansion areas obtained by respectively expanding a plurality of purification working points by a target purification radius.

[0033] Each time step 4 is executed, the number of purification work points marked in the map increases, and then the planned purification area obtained when executing step 2 is expanded; wherein, all areas occupied by the unit expansion area obtained by the expansion operation of each purification work point marked in the map are marked as the planned purification area, so that each position point covered by the planned purification area except the expansion center is marked with expansion information; of course, each purification work point as the expansion center is also marked with expansion information; a purification work point is expanded according to the target purification radius in step 2 to obtain a unit expansion area; the unit expansion area is marked as the expansion area obtained by expanding a purification work point once; the purification work point that is expanded according to the target purification radius in step 2 is marked as the expanded purification work point. wherein, the planned point is an intersection point that is not marked as a planned point randomly selected from the intersection points between the outline of the planned purification area and the outline of the area to be purified, so that the purification work point is not repeatedly marked in the map, then the planned purification area obtained when the current step 2 is executed will cover the unmarked area (the area that has not been expanded) and the planned purification area obtained by the last execution of step 2.

[0034] It should be noted that a purification work point is expanded according to the target purification radius to obtain a unit expansion area, preferably a circular area with the purification work point as the center and the radius as the target purification radius, so that the entire area of ​​the area to be purified is covered or part of the area is covered; 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 planned purification area, so that the planned purification area is an area where multiple unit expansion areas are superimposed, and the outline of the planned purification area can have an arc and / or the outline of the area to be purified. In some embodiments, each purification work point marked in the map can continue to expand until the expansion radius reaches the target purification radius, then each purification work point marked in the map expands the corresponding unit expansion area, and then all the currently expanded unit expansion areas are superimposed into the planned purification area; when the area to be purified is completely covered by the planned purification area, stop looking for new purification work points in the area to be purified; when only part of the area to be purified is covered by the planned purification area, find new purification work points in the area to be purified to cover the remaining area of ​​the area to be purified by expanding a new planned purification area.

[0035] Therefore, the aforementioned embodiment accelerates the detection of whether the area to be purified is covered by expanding a fixed purification radius outward with the purification work point marked in the map as the expansion center, and then selects a planned point from the intersection between the outline of the planned purification area and the outline of the area to be purified, and then obtains a new purification work point through a preset offset operation; thereby, the purification work point is reasonably set according to the positional relationship between the area to be purified and the planned purification area, so as to accelerate the setting of a reasonable number and reasonable position of purification work points in the area to be purified from the intersection of the outline of the predicted expansion area (the planned purification area) and the outline of the area to be purified.

[0036] As an embodiment, in step 3, the method for determining whether the planned purification area covers the area to be purified includes: If the outline of the planned purification area surrounds the area to be purified and the outline of the planned purification area contacts the outline of the area to be purified (there is at least one intersection point), it is determined that all the purification work points set in the area to be purified are marked as traversed points, and it is determined that the planned purification area covers the area to be purified, and the area to be purified is marked as a traversed purification area, and then the purification work points in the area to be purified are stopped until the robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then executes steps 1 to 4. Thus, steps 1 to 4 are repeatedly executed until all the areas to be purified in a complete indoor environment are traversed.

[0037] If the outline of the planned purification area has no intersection with the outline of the area to be purified, it is determined that the outline of the planned purification area 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 robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then executes steps 1 to 4. Thus, steps 1 to 4 are repeated until all areas to be purified in a complete indoor environment are traversed.

[0038] It should be noted that the target purification radius is set relatively large in the area to be purified, so that the area obtained by the expansion operation according to the target purification radius just covers the area to be purified, and the area to be purified can be formed as an inscribed figure of the planned purification area; thus, when the outline of the planned purification area surrounds the area to be purified and the outline of the planned purification area contacts the outline of the area to be purified (there is at least one intersection), it is determined that the planned purification area covers the area to be purified. The target purification radius is set relatively small in the area to be purified, so that the area obtained by the expansion operation according to the target purification radius has covered the outside of the area to be purified, then there is no intersection between the outline of the planned purification area and the outline of the area to be purified (indicating that the complete outline of the planned purification area expanded in step 2 is distributed outside the area to be purified).

[0039] Specifically, if the step 3 determines that the outline of the planned purification area has no intersection with the outline of the area to be purified, it is determined that the outline of the planned purification 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 L3 is located, the circular area where the arc line L4 is located and the circular area where the arc line L5 is located. The circular area where the arc line L3 is located, the circular area where the arc line L4 is located and the circular area where the arc line L5 is located together cover the area to be purified R3; the closed area surrounded by the arc lines L3, L4 and L5 in sequence is the planned purification area, and there is no intersection between the outline of the planned purification 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 robot moves to the purification area that has not been traversed, and then execute steps 1 to 4.

[0040] If the step 3 determines that the outline of the planned purification area surrounds the area to be purified and the outline of the planned purification area touches the outline of the area to be purified, 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 outline of the planned purification area and the outline of the area to be purified. Then, there is no need to continue the area expansion operation, and it is chosen to stop setting the purification work 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 executes steps 1 to 4. At this time, the shape and size of the areas to be purified before and after the update are not necessarily the same.

[0041] If the step 3 determines that all the intersection points between the outline of the planned purification area and the outline of the area to be purified have been set as the planned points, then stop setting purification work points in the area to be purified, and determine that the robot has traversed all the intersection points between the outline of the planned purification area and the outline of the area to be purified, or step 2 shows the phenomenon of repeated expansion operation on the same purification work point; however, it can be determined that the number of purification work points set in the area to be purified has reached the upper limit value, and the purification work points set in the area to be purified have been regarded as uniformly distributed, then there is no need to continue setting new purification work 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 work points.

[0042] Indicatively, Figure 3 This is a schematic diagram of an embodiment of the present application, which discloses setting a purification working point P3 in the area to be purified 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 L3 is located), which is obtained during the execution of step 2; the circular area where the arc line L4 is located is the expansion area with the arc line L4 as the outline. Figure 3 In the example, the circular area where the arc line L3 is located is used as the planned purification area. In step 3, it is determined that the area to be purified is not completely covered. Then, a new purification working point is set in the reference purification area R3 by executing step 4. Figure 4 As shown, a new purification working point P4 is set.

[0043] like Figure 4As shown, a purification working point P4 is set in the area to be purified R3, and starting from the purification working point P4, a target purification radius is expanded to obtain a circular area where the arc line L4 is located (that is, the unit expansion area), and the circular area where the arc line L4 is located is an expansion area with the arc line L4 as the outline. Specifically, in the execution of step 2, a unit expansion area expanding from the purification working point P3 and a unit expansion area expanding from the purification working point P4 occupy an area in the area to be purified R3, which is a closed area surrounded by the intersection of the arc line L3, the arc line L4 and the outline of the reference purification area R3, and is an irregular area filled with black scattered points; then in step 3, it is judged that the arc line L3 and the arc line L4 both intersect with the area to be purified R3, and the circular area where the arc line L3 is located (a unit expansion area expanding from the purification working point P2, the figure shows the arc L3 in the area to be purified) and the circular area where the arc line L4 is located (a unit expansion area expanding from the purification working point P3, the figure shows the arc L4 in the area to be purified) The area composed of is Figure 4 Planning purification areas in Figure 4 There is an intersection between the outline of the planned purification area in and the outline of the area to be purified R3, so it can be determined that only part of the area to be purified R3 is covered by the planned purification area, and there is still a blank area that is not covered. Then, by executing step 4, a new purification working point is continued to be set in the area to be purified R3. Figure 5 As shown, a new purification working point P5 is set in the area to be purified R3.

[0044] like Figure 5 As shown, purification working points P3, P4 and P5 are successively set in the area to be purified R3, and at the same time, starting from the purification working points P3, P4 and P5, each expands a target purification radius to obtain three unit expansion areas, forming a planned purification area; wherein, starting from the purification working point P5, a target purification radius is expanded, and the expansion area obtained is the circular area where the arc line L5 is located, and the circular area where the arc line L5 is located is the expansion area with the arc line L5 as the outline. The three unit expansion areas obtained by the expansion in the aforementioned step 2 are respectively the circular area where the arc line L3 is located, the circular area where the arc line L4 is located, and the circular area where the arc line L5 is located. The circular area where the arc line L3 is located, the circular area where the arc line L4 is located, and the circular area where the arc line L5 is located, together cover the area to be purified R3; the closed area surrounded by the arc lines L3, L4 and L5 in sequence forms a Figure 5 Then in step 3, it is determined that Figure 5The outline of the planned purification area in does not intersect with the outline of the area to be purified R3, wherein the arc line L3 intersects with the arc line L4 at point U3, the arc line L3 intersects with the arc line L5 at point U1, the arc line L5 intersects with the arc line L4 at point U2, and the points U3, U1 and U2 are all located outside the area to be purified R3 and do not touch its outline; then determine that the outline of the planned purification area completely covers Figure 5 The outside of the to-be-purified area R3 in the planned purification area is marked as the traversed purification area, and then the purification work points in the to-be-purified area are stopped; at this time, the number of intersections between the outline of the planned purification area and the outline of the to-be-purified area becomes zero, and the setting of all purification work points in the to-be-purified area is completed.

[0045] Combination Figures 3 to 5 It can be seen from the illustrated embodiment that each time step 4 is executed, the number of purification work points marked in the map increases once, and the purification work points are arranged in the area to be purified according to the area newly covered by the unit expansion area, thereby improving the uniformity of the distribution of the purification work points, and the planned purification area is expanded and covers more directions.

[0046] Preferably, in the case where a new purification working point is obtained in step 4, before returning from step 4 to step 2, the mark of the planned purification area is cleared, including clearing the expansion information marked in each position point covered by the planned purification area except the expansion center, and marking the purification working point set as the expansion center in the previous step 2 as a purification working point that has not been expanded; and marking the new purification working point 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, so as to clear all expansion information marked in the area to be purified; and then executing step 2. It is worth noting that before returning from step 4 to step 2, the expanded planned purification area is cleared and the expansion center is marked as a purification working point that has not been expanded. Then, step 2 is executed, and each purification working point marked in the map can be expanded again at the same time. The outline of the planned purification area generated by the expansion (or the partial outline of multiple unit expansion areas) will produce multiple intersections with the outline of the area to be purified. If the planned purification area obtained in the last executed step 2 is not deleted, then in the currently executed step 2, when the purification working point obtained in the last execution of step 4 is used as the expansion center for expansion operation, the last obtained planned purification area will be blocked by the area to be purified obtained in the last executed step 2, and the area expanded outward from the new purification working point will be regarded as disconnected from the planned purification area obtained in the last executed step 2. Therefore, each time step 2 is executed, it is necessary to first clear the planned purification area, and mark the purification working point set as the expansion center in the previous step 2 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 2, each purification working point that has not been expanded is set as the expansion center; then each expansion center is controlled to expand according to the target purification radius at the same time. If it is determined in step 3 that the planned purification area does not cover the area to be purified, step 4 is executed to make the planned point selected in step 4 different from the pre-marked planned point, and then a purification working point can be set in the area not covered by the planned purification area expanded last time.

[0047] Preferably, the distance between the new purification working point obtained in the current execution of step 4 and the purification working point obtained in the previous execution of step 4 is greater than the standard purification radius; the target purification radius is equal to twice the standard purification radius. Specifically, the new purification working point obtained in the current execution of step 4 and the purification working point obtained in the previous execution of step 4 can be regarded as two purification working points set successively; moreover, each time step 4 is executed, the number of purification working points marked in the map increases once, and when multiple unit expansion areas do not overlap, step 4 is executed twice in succession to expand the planned purification area. Therefore, 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 increasing the purification area to be covered, but also comprehensively and evenly cover the area to be purified.

[0048] As an embodiment, before executing step 1, 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 (composed of Figure 1 Irregular area R1), local purification area (represented by Figure 2 The irregular area R2) or the reference purification area (represented by Figure 3 The irregular area R3 is represented by the figure), which can be divided according to the purification radius set by the robot and is also related to the area and shape of the purification area.

[0049] By executing steps 1 to 4, a unit expansion area is expanded to cover the unit 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.

[0050] By executing steps 1 to 4, two unit expansion areas are expanded to cover the local purification area; wherein the area of ​​the local purification area is twice the area of ​​the unit purification area; 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.

[0051] By executing steps 1 to 4, at least three unit expansion areas are expanded to cover the reference purification area; wherein the area of ​​the reference purification area is larger than twice the area of ​​the unit purification area; the area of ​​the reference purification area is larger than twice the area of ​​the unit purification area, so that the robot sets at least three purification work points in the reference purification area.

[0052] In summary, after constructing the map, the robot can reasonably set the number of purification work points according to the size (such as area and shape) of the divided purification area.

[0053] As an embodiment, when it is determined that the area to be purified is a unit purification area, the method for setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: Step 11: extract the outline of the unit purification area, and then execute step 12.

[0054] Step 12, calculate the center of gravity of the unit purification area, and then execute step 13; it should be noted that before calculating the center of gravity of the unit purification area, the outline of the unit purification area is extracted, and the coordinate coverage range of the unit purification area is determined by the outline of the unit purification area, and then the coordinate average value or gray value weighted average value (grayscale center of gravity method) of the unit purification area is used to calculate the center of gravity coordinate value of the unit purification area.

[0055] Step 13, 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 the reference edge; then execute step 14. The circumscribed rectangular frame of the unit purification area is the smallest rectangular frame that surrounds the outline of the unit purification area, and each edge of the circumscribed rectangular frame of the unit purification area is in contact with the outline of the unit purification area.

[0056] Step 14: Draw a vertical line through the centroid of the unit purification area to the reference edge, and then set the intersection of the reference edge and the vertical line as the ray starting point, and then execute step 15.

[0057] Step 15, starting from the ray starting point, 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 in the unit purification area that passes through the center of gravity and extends away from the reference edge; then execute step 16.

[0058] Step 16: Control 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 first purification working point.

[0059] It can be seen from step 11 to step 16 that the detection ray is set according to the center of gravity of the region and the edge of the circumscribed rectangular frame of the region. 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 in the unit purification area to obtain a purification working point, thereby obtaining a unique purification working point in the area to be purified.

[0060] Accordingly, Figure 1 In the above example, a purification working point P1 is set in the unit purification area R1 and a target purification radius is expanded from the purification working point P1 to obtain a planned purification area (the circular area where the expanded arc L1 is located). The outline of the planned purification area is all located outside the unit purification area R1, so that the planned purification area covers the unit purification area R1. The area occupied by the planned purification 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 expanded arc L1.

[0061] On the basis of the above embodiment, when it is determined that the area to be purified is a local purification area, in step 1, the method of setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: Calculate the centroid of the local purification area. Preferably, before calculating the centroid of the local purification area, the contour of the local purification area can be extracted, the coordinate coverage of the local purification area can be determined by the contour of the local purification area, and then the centroid of the local purification area can be calculated using the coordinate average or weighted average (grayscale centroid method) of the local purification area.

[0062] Then, the longest side is determined from the sides of the circumscribed rectangular frame of the local purification area; wherein 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.

[0063] Then, the local purification area is divided into two unit purification areas using a line segment passing through the centroid of the local purification area and perpendicular to the longest side; Figure 2 This is a schematic diagram of an embodiment of the present application that discloses that a local purification area R2 is divided into two unit purification areas by a dividing line H. The dividing line H is a line segment passing through the center of gravity of the local purification area R2 and perpendicular to the longest side of the circumscribed rectangular frame of the local purification area. 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 dividing line H, the dividing line H divides the local purification area R2 into a unit purification area #21 and a unit purification area #22, and the area of ​​the unit purification area on the left is considered to be equal to the area of ​​the unit purification area on the right.

[0064] Then, each of the unit purification areas is updated as the area to be purified, and step 11 is performed in the two unit purification areas, so that the first purification working point is obtained in the two unit purification areas; then, by performing step 2, a purification working point P21 is set in the unit purification area #21, and a target purification radius is expanded from the purification working point P21 to obtain a unit expansion area (the circular area where the expansion arc L21 is located), and a purification working point P22 is set in the unit purification area #22, and a target purification radius is expanded from the purification working point P22 to obtain a unit expansion area (the circular area where the expansion arc L22 is located).

[0065] Therefore, when the present embodiment determines that the area to be purified is a local purification area, a vertical line passing through the center of gravity is used to divide the two unit purification areas and accordingly set up two unit expansion areas to explore the purification areas on both sides of the dividing line in advance, thereby setting purification working points in the two unit purification areas at the same time, and providing two purification working points for the local purification area at one time.

[0066] As an embodiment, when it is determined that the area to be purified is a reference purification area, in step 1, the method of setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: Calculate the center of gravity of the reference clean area; it should be noted that before calculating the center of gravity of the reference clean area, extract the outline of the reference clean area, and then use the coordinate coverage of the outline of the reference clean area, and then use the coordinate average or weighted average (grayscale center of gravity method) of the reference clean area to calculate the center of gravity of the reference clean area; wherein, the circumscribed rectangular frame of the reference clean area is the smallest rectangular frame that surrounds the entire outline of the reference clean area, and better covers the reference clean area. Then, among the edges of the circumscribed rectangular frame of the reference clean area, select the edge that is closest to the center of gravity of the reference clean area, and then set the selected edge as the reference edge. Then, the centroid of the reference purification area is set as the starting point of the ray; then, starting from the starting point of the ray, 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 box of the reference purification area. Here, the ray extending toward the reference edge can be understood as starting from the ray starting point and shooting toward the reference edge along an edge of the circumscribed rectangular box and intersecting with the reference edge; then, the ray extending toward the reference edge is set as a detection ray. In this embodiment, the detection ray is controlled to extend toward the reference edge so that the detection ray searches for a candidate position of a purification working point on the contour of the area closest to the centroid (derived from the intersection of the detection ray and the contour of the reference purification area); then, the position point where the detection ray intersects with the contour 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 the first purification working point, thereby obtaining the purification working point marked on the map for the first time within the reference purification area.

[0067] It should be noted that the preset offset operation includes: in the area to be purified, controlling the selected intersection on the contour of the area to be purified to be offset by a preset spacing in the vertical direction of the tangent of the contour where it is located, to obtain a purification working point, so that when the robot is located at the purification working point, there is a gap for air circulation between the air inlet of the robot and the obstacles on the contour of the area to be purified; the preset spacing is preferably the width of the mobile base of the robot, such as the axle length of the mobile module of the robot. Therefore, the preset offset operation guides the body or air inlet or outlet of the robot not to be attached to the wall, leaving a little gap for air circulation.

[0068] Among them, the intersection point selected on the contour of the area to be purified in step 1 is the position point where the detection ray intersects with the contour of the area to be purified for the first time; the contour of the area to be purified is preferably the outer contour of the area to be purified, so as to accept the contour of the expansion area or the intersection of the detection ray and generate the required intersection point.

[0069] Among them, the selected intersection on the contour of the area to be purified is the planning point in step 4, and the planning point is an intersection that is randomly selected from the intersection between the contour of the planned purification area and the contour of the area to be purified and is not marked as a planning point (an intersection that is not traversed by the detection ray). Furthermore, by executing the expansion operation of step 2, multiple uniformly distributed purification work points are set in sequence, so that multiple purification work points set in succession are not concentrated in the same fixed area, and multiple purification work points set in succession are not only distributed along the contour of the area to be purified; so that the robot can complete the air purification operation or other cleaning operation in the area to be purified without omission in the process of moving through each purification work point set in the area to be purified in succession.

[0070] 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. The center of gravity of the area to be purified can also be directly calculated using the average coordinate value of the grid points (cells) in 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.

[0071] 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.

[0072] 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 planning a robot purification work point, wherein the robot is currently in an area to be purified; the method is characterized in that: The planning method includes: Step 1: Set the first purification work point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified, and then mark the first purification work point on the map; then execute step 2; Step 2: Control each purification work point marked in the map to expand according to the target purification radius to obtain the planned purification area; then execute step 3; Step 3: Determine whether the planned purification area covers the area to be purified. If yes, stop setting purification work points in the area to be purified. Otherwise, execute step 4. Step 4: Select a planning point from the intersection of the outline of the planned purification area and the outline of the area to be purified, and then control the planning point to perform a preset offset operation to obtain a new purification work point, and then mark the new purification work point in the map, and then execute step 2.

2. The planning method according to claim 1, characterized in that: Before the planned purification area completely covers the area to be purified, the outline of the planned purification area keeps intersecting with the outline of the area to be purified; Each time step 4 is executed, the number of purification work points marked in the map increases, and then the planned purification area obtained when executing step 2 is expanded; wherein, the area occupied by the unit expansion area obtained by the expansion operation of each purification work point marked in the map is marked as the planned purification area; a purification work point is expanded according to the target purification radius in step 2 to obtain a unit expansion area; The planning point is an intersection point randomly selected from the intersection points between the outline of the planned purification area and the outline of the area to be purified and not marked as a planning point.

3. The planning method according to claim 2, characterized in that: In step 3, the method for determining whether the planned purification area covers the area to be purified includes: If the outline of the planned purification area surrounds the area to be purified and the outline of the planned purification area contacts the outline of the area to be purified, it is determined that the planned purification area covers 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 robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then steps 1 to 4 are executed; If the outline of the planned purification area has no intersection with the outline of the area to be purified, it is determined that the outline of the planned purification area covers the outside of the area to be purified to determine that the planned purification area covers the entire 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 robot moves to the untraversed purification area and updates the untraversed purification area to the area to be purified, and then executes steps 1 to 4.

4. The planning method according to claim 1, characterized in that: In the case where a new purification working point is obtained in step 4, step 4 returns to the step 2 before executing, clears the mark of the planned purification area, marks the purification working point that was expanded in the previous step 2 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; then execute step 2; Each time step 2 is executed, each unexpanded purification working point is set as the expansion center, and then each expansion center is controlled to perform expansion operation according to the target purification radius at the same time, so that the planning point selected in step 4 is different from the pre-marked planning point.

5. The planning method according to claim 4, characterized in that: The distance between the new purification working point obtained in the current execution of step 4 and the purification working point obtained in the previous execution of step 4 is greater than the standard purification radius; the target purification radius is equal to twice the standard purification radius.

6. The planning method according to claim 2, characterized in that: Before executing step 1, 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; By executing steps 1 to 4, a unit expansion area is expanded to cover the unit purification area; By executing steps 1 to 4, two unit expansion areas are expanded to completely cover the local purification area; wherein the area of ​​the local purification area is twice the area of ​​the unit purification area; By executing steps 1 to 4, at least three unit expansion areas are expanded to completely cover the reference purification area; wherein the area of ​​the reference purification area is greater than twice the area of ​​the unit purification area.

7. The planning method according to claim 6, characterized in that: In the case where it is determined that the area to be purified is a unit purification area, the method for setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: Step 11, extracting the outline of the unit purification area, and then executing step 12; Step 12, calculating the center of gravity of the unit purification area, and then executing step 13; Step 13, selecting an edge closest to the center of gravity of the unit purification area from among the edges of the circumscribed rectangular frame of the unit purification area, setting the selected edge as a reference edge, and then executing step 14; Step 14, 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 ray starting point, and then execute step 15; Step 15, starting from the ray starting point, setting a ray passing through the center of gravity of the unit purification area; then setting the ray passing through the center of gravity of the unit purification area as the detection ray, and then executing step 16; Step 16: Control 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 first purification working point.

8. The planning method according to claim 7, characterized in that: When it is determined that the area to be purified is a local purification area, in step 1, the method of setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified includes: Calculating the center of gravity of the local purification area; Determine the longest side from the sides of the circumscribed rectangular frame of the local purification area, and use 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 perform step 11 in both unit purification areas, so that the first purification working point is obtained in both unit purification areas.

9. The planning method according to claim 6, characterized in that: When it is determined that the area to be purified is a reference purification area, in step 1, the method of setting the first purification working point based on the center of gravity of the area to be purified and the circumscribed rectangular frame of the area to be purified 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, 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 sides of the circumscribed rectangular frame of the reference purification area; and then setting the ray extending toward the reference edge as the detection ray; The position point where the detection ray intersects with the contour of the area to be cleaned for the first time is controlled to perform a preset offset operation within the unit cleaning area to obtain the first cleaning working point.

10. The method for setting a purification work point according to any one of claims 7 to 9, characterized in that: The preset offset operation includes: In the area to be purified, the selected intersection points on the contour of the area to be purified are controlled to be offset by a preset interval in the vertical direction of the tangent of the contour where the intersection points are located, so as to obtain purification working points; The intersection point selected on the contour of the area to be cleaned in step 1 is the position point where the detection ray intersects with the contour of the area to be cleaned for the first time; The intersection point selected on the outline of the area to be purified in step 4 is the planning point.

Images