CN113876241A - Reminding method, cleaning robot and computer readable storage medium - Google Patents
Reminding method, cleaning robot and computer readable storage medium Download PDFInfo
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- CN113876241A CN113876241A CN202010622603.0A CN202010622603A CN113876241A CN 113876241 A CN113876241 A CN 113876241A CN 202010622603 A CN202010622603 A CN 202010622603A CN 113876241 A CN113876241 A CN 113876241A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Electric Vacuum Cleaner (AREA)
Abstract
本申请提供一种提醒方法、清洁机器人以及计算机可读存储介质，其中，所述方法包括：获取工作区域对应的区域环境地图；在所述清洁机器人进行清洁作业的过程中，实时获取目标清洁区域，根据所述目标清洁区域是否为已清洁区域生成不同的提醒信息；更新所述已清洁区域并记录在所述区域环境地图中。本申请通过在所述清洁机器人进行清洁作业的过程中，实时获取目标清洁区域，根据所述目标清洁区域是否为已清洁区域生成不同的提醒信息，向用户提供一种能够帮助用户区分地面是否已经清扫的技术方案，使得用户在利用清洁机器人进行清洁的过程中实时的掌握工作区域的地面清洗进度，有效地提高了用户的清洗效率，节约了清洗时间。
The present application provides a reminder method, a cleaning robot, and a computer-readable storage medium, wherein the method includes: acquiring an area environment map corresponding to a work area; and acquiring a target cleaning area in real time during the cleaning operation of the cleaning robot , and generate different reminder information according to whether the target cleaning area is a cleaned area; update the cleaned area and record it in the area environment map. In the present application, the target cleaning area is acquired in real time during the cleaning operation of the cleaning robot, and different reminder information is generated according to whether the target cleaning area is a cleaned area, so as to provide the user with a method that can help the user to distinguish whether the ground has been cleaned. The cleaning technical solution enables the user to grasp the ground cleaning progress of the work area in real time during the cleaning process with the cleaning robot, which effectively improves the user's cleaning efficiency and saves cleaning time.
Description
Technical Field
The present application relates to the field of intelligent home appliances, and in particular, to a reminding method, a cleaning robot, and a computer-readable storage medium.
Background
With the development of social productivity, the living standard of people is also improved. On the premise that the material basis is guaranteed, people begin to reduce labor and improve life quality by means of various tools, and household cleaning equipment is in operation. In recent years, household cleaning machine devices have been said to have entered a bottleneck period of development, and it is difficult for enterprises to realize qualitative breakthrough in their functions or cleaning capabilities.
For a user, the household cleaning device is used for cleaning stains on the ground, and whether the ground is sufficiently cleaned during the use process of the user is difficult to distinguish by the intuitive feeling of the user, so that the user seems to clean the ground once, but some places are repeatedly cleaned, and some places are simply covered by the household cleaning device once or not cleaned, and the difference of the cleaning degree is probably caused by the fact that the ground is unevenly cleaned for a long time under the drive of the use habit of the user. Therefore, it is an urgent need to provide a technical solution that can help users distinguish whether the floor has been cleaned.
Disclosure of Invention
The present application is directed to overcoming the drawbacks of the prior art and providing a reminding method, a cleaning robot, and a computer-readable storage medium.
In order to achieve the purpose, the following technical scheme is adopted in the application:
the application provides a reminding method, which is applied to a cleaning robot, and comprises the following steps:
acquiring a regional environment map corresponding to a working region;
in the process of cleaning operation of the cleaning robot, a target cleaning area is obtained in real time, and different reminding information is generated according to whether the target cleaning area is a cleaned area or not;
and updating the cleaned area and recording the cleaned area in the area environment map.
The present application also provides a cleaning robot, including:
the machine comprises a machine body, wherein at least one processor and at least one memory for storing computer instructions are arranged on the machine body;
the at least one processor is configured to execute computer instructions to implement the following method:
acquiring a regional environment map corresponding to a working region;
in the process of cleaning operation of the cleaning robot, a target cleaning area is obtained in real time, and different reminding information is generated according to whether the target cleaning area is a cleaned area or not;
and updating the cleaned area and recording the cleaned area in the area environment map.
The present application also provides a computer readable storage medium storing computer instructions that, when executed by a processor, implement a method comprising:
acquiring a regional environment map;
updating a cleaned area in the area environment map in real time during the cleaning process of the cleaning robot by the user;
and acquiring a target cleaning area in real time, and generating different reminding information according to whether the target cleaning area is the cleaned area.
The reminding method, the cleaning robot and the computer readable storage medium obtain the target cleaning area in real time through the cleaning robot carries out the in-process of cleaning operation, and according to whether the target cleaning area generates different reminding information for the cleaned area or not, and updates the cleaned area in real time, a technical scheme which can help a user to distinguish whether the ground is cleaned or not is provided for the user in a novel way from an intelligent direction, so that the user can master the ground cleaning progress of a working area in real time in the process of cleaning by utilizing the cleaning robot, the cleaning efficiency of the user is effectively improved, and the cleaning time is saved.
In addition, the cleaning robot of this application can use based on user's direct operation for cleaning robot only need take notes the washing orbit and judges cleaning robot self position, need not plan operations such as motion trajectory control self motion like from mobile robot, and comparatively speaking the logic of this application is simpler and realize easily, and corresponding cost is also lower.
Simultaneously, this application is through setting up projection module and/or light module on cleaning machines people, according to whether the clean region of target is the clear region of the warning information that generates difference to whether make the user can be accurate quick when cleaning learn to carry out clear work area for clear region, effectual improvement user's cleaning efficiency, practiced thrift the scavenging period.
Drawings
FIG. 1 is a schematic diagram of a regional environment map provided by an embodiment of the present application;
FIG. 2 is a flowchart of a prompting method provided in an embodiment of the present application;
fig. 3 is a flowchart of a target cleaning area determination method provided by an embodiment of the present application;
FIG. 4 is a flow chart of a method for determining a calibrated cleaning area provided in an embodiment of the present application;
FIG. 5 is a flowchart of a regional environment mapping method provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of a work area provided by an embodiment of the present application;
FIG. 7 is a schematic view of a cleaning process of a cleaning robot provided in an embodiment of the present application;
FIG. 8 is a schematic view of a virtual structure of a cleaning robot provided in an embodiment of the present application;
fig. 9 is a partially enlarged view of a cleaning robot provided in an embodiment of the present application;
fig. 10 is a schematic overall structure diagram of a cleaning robot provided in an embodiment of the present application.
Detailed Description
The following description of specific embodiments of the present application refers to the accompanying drawings.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.
In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.
Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
First, the noun terms referred to in the present application are explained.
And (3) regional environment map: as shown in fig. 1, the regional environment map may be created by the cleaning robot when the working area is used for the first time or updated when the same working area is used continuously after the regional environment map is created, or may be an electronic map created by other mapping devices (such as a cleaning robot of the same type or an intelligent robot with different purposes but a mapping function), and is transmitted to the cleaning robot currently used through a storage device or a network. The working area referred to herein refers to a closed working area to be cleaned by the cleaning robot, and may be an indoor area, such as a factory building, a house, or the like, an outdoor area, such as an outdoor playground, a mall, a supermarket, or the like, a wall surface, such as a glass curtain wall, a solar panel surface, or a surface of a mobile device, such as an outer surface of a car body, an outer surface of an airplane body, or the like. The regional environment map is a two-dimensional or three-dimensional map of the working region of the cleaning robot, and in practice, the regional environment map may have different representation methods, and the basic representation mode of the regional environment map includes a grid map.
Pose: the pose may specifically include position information and heading information, the position information may be a two-dimensional coordinate (for example, a coordinate in a regional environment map coordinate system), and the heading information may specifically be a heading angle, and the like. The pose of the cleaning robot in the regional environment map is determined by adjusting the pose of the cleaning robot in the regional environment map to be substantially consistent with the actual pose of the cleaning robot in the working area (for example, coordinate positions of the cleaning robot in the regional environment map and the working area are substantially consistent, and heading angles of the cleaning robot in the regional environment map and the working area are substantially consistent), so that the movement of the cleaning robot in the actual working area is consistent with the movement on the regional environment map, and accurate navigation can be realized by using the regional environment map.
Next, the cleaning robot to which the present application relates is schematically explained. The cleaning robot mentioned in the present application can be various intelligent devices with cleaning function, for example, self-moving or hand-held cleaning devices including a sweeping robot, a hand-held dust collector, a hand-held cleaning machine, a window cleaning robot, etc. The cleaning robot is provided with sensors for following functions, such as a camera, a pulse radio (UWB), a sensor and the like, and the sensors are matched with a proper algorithm to realize an effective and high-precision and high-efficiency drawing establishing function.
The sensors comprise various types, such as a vision sensor, a laser ranging sensor, an infrared sensor, a laser sensor and the like, in the initial traveling process of the cleaning robot, the vision sensor is used for shooting images of a target area, and then the images are spliced into a panoramic image according to the obtained images and stored.
In addition, the use scene of the cleaning robot for area identification includes the ground of places such as families, markets, schools, supermarkets, and the like, and can also include the surfaces of various objects, such as glass walls, automobile bodies, bullet train bodies, airplane bodies, and the like.
The form of the cleaning robot is not limited in the application, and the cleaning robot can be a self-moving cleaning robot or a handheld cleaning robot; meanwhile, the present application also does not limit various shapes of the cleaning robot, such as an oval shape, a circular shape, a polygonal shape, a square shape, etc., and the cleaning robot may implement a method logic of controlling the movement of the cleaning robot by installing application software, APP, or writing a program in a corresponding device inside the cleaning robot in a controller used in cooperation with the cleaning robot.
In the present application, a reminding method, a cleaning robot, and a computer-readable storage medium are provided, which are described in detail one by one in the following embodiments.
Fig. 2 is a schematic flowchart illustrating a reminding method according to an embodiment of the present application, applied to a cleaning robot, including steps 202 to 206.
Step 202: and acquiring a regional environment map corresponding to the working region.
In the embodiments of the present application, the working area refers to a closed working area to be cleaned by the cleaning robot, and may be an indoor area, such as a factory building, a house, or the like, or an outdoor area, such as a square or a sports field. The regional environment map is established when the cleaning robot is used for the first time in a working region or is updated when the cleaning robot is continuously used in the same working region after the regional environment map is established, the working region is mapped to a two-dimensional or three-dimensional map in a processor of the cleaning robot, and in practice, the regional environment map can have different representation methods, and the basic representation mode of the regional environment map is a grid map.
Step 204: and in the process of cleaning operation of the cleaning robot, acquiring a target cleaning area in real time, and generating different reminding information according to whether the target cleaning area is a cleaned area.
In an embodiment of the application, the cleaning robot may perform a cleaning operation under the control of a user or according to a route set by the user, where the control of the user may be that the user directly operates the cleaning robot to move, or that the user controls the cleaning robot to move through a remote control device or a mobile terminal, and in a process of performing the cleaning operation by the cleaning robot, the cleaning robot acquires a target cleaning area to be cleaned in real time, and generates different reminding information according to whether the target cleaning area is a cleaned area, so as to prompt the user whether the target cleaning area is cleaned.
In an embodiment of the present application, as shown in fig. 3, the target cleaning area is obtained in real time, including steps 302 to 304.
Step 302: and acquiring regional environment information corresponding to a working region in the sensing range of the cleaning robot in real time.
In the embodiment of the present application, the cleaning robot has a specific sensing range, for example, the sensing range may be a specific range directly in front of the cleaning robot, or may be a specific range directly in front of the cleaning robot and 45 ° obliquely in front of the cleaning robot, and the present application is not limited thereto. In the cleaning operation process of the cleaning robot, the cleaning robot acquires area environment information corresponding to a working area within a sensing range of the cleaning robot in real time, wherein the area environment information at least comprises coded disc information, Inertial Measurement Unit (IMU) information, image information, sensor data and the like, and the sensor data comprises collision sensor information, proximity sensor information, distance measurement sensor information and the like.
Step 304: and determining the target cleaning area according to the area environment information corresponding to the working area in the sensing range of the cleaning robot.
In an embodiment of the application, the cleaning robot maps the collected regional environment information into the regional environment map as description information corresponding to a target cleaning region, so as to determine the position and size of the target cleaning region in the regional environment map.
According to the method and the device, the regional environment information corresponding to the working region in the sensing range of the cleaning robot is acquired, so that the target cleaning region is determined, the accurate acquisition of the target cleaning region is realized, and the reliability of the reminding of the cleaned region is accurately ensured.
In a specific embodiment of the present application, a projection module is provided on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and according to whether the target cleaning area is a cleaned area in the area environment map or not, carrying out projection prompt on the target cleaning area through the projection module.
Specifically, when the target cleaning area is a cleaned area, a first color light is projected to the target cleaning area through the projection module, and when the target cleaning area is an uncleaned area, a second color light is projected to the target cleaning area through the projection module, where there is a color difference between the first color and the second color, for example, the first color and the second color are red and green, or red and blue, respectively.
Of course, it is conceivable that the projection module may project light of any color to the target cleaning region when the target cleaning region is a cleaned region, and the projection module may be in an off state without projecting any light when the target cleaning region is an uncleaned region. It is also possible to project characters or patterns formed by light, for example, characters "unclean" and "cleaned" and patterns of the same type, etc.
This application is through setting up projection module on cleaning machines people, according to whether the clean region of target is the different warning information of clean regional generation to whether make the user can be accurate quick when cleaning learn to carry out clear work area for clean region, effectual improvement user's cleaning efficiency, practiced thrift the scavenging period.
In a specific embodiment of the present application, a light module is provided on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and according to whether the target cleaning area is a cleaned area in the area environment map or not, carrying out illumination prompt on the target cleaning area through the light module.
Specifically, in the case that the target cleaning region is a cleaned region, a light of a first color is lit up at an arbitrary visible position on the cleaning robot (i.e., a visible position of a user) by the light module, and in the case that the target cleaning region is an uncleaned region, a light of a second color is lit up at an arbitrary visible position on the cleaning robot (i.e., a visible position of a user) by the light module, wherein there is a color difference between the first color and the second color, for example, the first color and the second color are red and green, or red and blue, respectively, and the like.
Of course, it is conceivable that the light module may illuminate light of any color on the target cleaning region when the target cleaning region is a cleaned region, and the light module may be turned off without illuminating any light when the target cleaning region is an uncleaned region.
This application is through setting up light module on cleaning machines people, according to whether the clean region of target is the different warning information of clean regional generation to whether make the user can be accurate quick when cleaning learn to carry out clear work area for clean region, effectual improvement user's cleaning efficiency, practiced thrift the scavenging period.
In a specific embodiment of the present application, a projection module and a light module are simultaneously disposed on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and according to whether the target cleaning area is a cleaned area in the area environment map, carrying out projection prompt on the target cleaning area through the projection module and the light module.
Specifically, when the target cleaning area is a cleaned area, the projection module projects light of a first color to the target cleaning area, and the light of the first color is lightened up at any visible position (i.e., a visible position of a user) on the cleaning robot through the light module; in the case that the target cleaning region is an uncleaned region, a light of a second color is projected to the target cleaning region through the projection module, and the light of the second color is lighted up at any visible position (i.e., a visible position of a user) on the cleaning robot through the light module, wherein there is a color difference between the first color and the second color, for example, the first color and the second color are red and green, or red and blue, respectively, and the like.
This application is through setting up projection module and light module on cleaning machines people, according to whether the clean region of target is the different warning information of clean regional generation to whether make the user can be accurate quick when cleaning learn to carry out clear work area for clean region, effectual improvement user's cleaning efficiency, practiced thrift the scavenging period.
In a specific embodiment of the present application, a voice system is provided on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and carrying out voice prompt on the target cleaning area through the voice system according to whether the target cleaning area is a cleaned area in the area environment map.
Specifically, under the condition that the target cleaning area is the cleaned area, the voice system broadcasts the voice prompt that the target cleaning area is the cleaned area, and under the condition that the target cleaning area is the uncleaned area, the voice system broadcasts the voice prompt that the target cleaning area is the uncleaned area.
This application is through setting up voice module on cleaning machines people, according to whether the clean region of target is the different warning information of clean regional generation to whether make the user can be accurate quick when cleaning learn to carry out clear work area for clean region, effectual improvement user's cleaning efficiency, practiced thrift the scavenging period.
Step 206: and updating the cleaned area and recording the cleaned area in the area environment map.
In the embodiment of the present application, during the cleaning operation of the cleaning robot, once the cleaning robot moves (without considering the repetition of the path), a new cleaned area is generated in the working area, and the cleaning robot updates the cleaned area in time and records the newly added cleaned area in the area environment map together with the original cleaned area.
In the above embodiment, as shown in fig. 4, the cleaned area is updated and recorded in the area environment map, including steps 402 to 408.
Step 402: determining an effective cleaning area of the cleaning robot in the working area according to the configuration information of the cleaning robot.
In an embodiment of the application, the configuration information of the cleaning robot includes hardware information of the cleaning robot, for example, specification parameters or experimental data of a specific mechanical structure corresponding to a cleaning module, so as to determine an effective cleaning area of the cleaning robot in the working area, that is, an actual area range having a cleaning effect, according to the configuration information of the cleaning robot.
In a specific embodiment, a rolling brush is provided on the cleaning robot;
determining an effective cleaning area of the cleaning robot in the work area according to the configuration information of the cleaning robot, including:
acquiring length information of the rolling brush and width information of the rolling brush;
and determining the effective cleaning area of the cleaning robot according to the length information of the rolling brush and the width information of the rolling brush.
This application is through the area of calculating the round brush as cleaning machines people is in effective clean area in the workspace, the actual clean demand of satisfying that can be practical fast.
Step 404: and taking the position of the cleaning robot when the cleaning robot is started as an initial position, and acquiring the motion track, the motion direction and the effective cleaning path of the cleaning robot in the working area in real time.
Step 406: updating the cleaned area according to an effective cleaning area, a motion trajectory, a motion direction, and an effective cleaning path of the cleaning robot.
In the embodiment of the application, when a user actually controls or remotely controls the cleaning robot to clean, the position of the cleaning robot when the cleaning robot is started is taken as a starting position, the motion track and the motion direction of the cleaning robot in the working area and the effective cleaning path passed by the cleaning module are obtained in real time, and therefore the cleaned area in the working area is calculated and updated according to the data.
Step 408: mapping the updated cleaned area in the regional environment map.
In the embodiment of the present application, after calculating and updating the cleaned area in the working area, the updated cleaned area needs to be mapped in the area environment map, so that the cleaning robot realizes the determination process of whether the target cleaning area is the cleaned area.
This application is through cleaning machines people carries out the in-process of cleaning operation, acquires the clean region of target in real time, according to whether the clean region of target is the different warning information of clean region formation, and real-time update clean region, the developing way is followed intelligent direction and is taken on the way, provides the technical scheme that can help the user to distinguish whether ground has cleaned to the user for the user is utilizing cleaning machines people to carry out the real-time ground washing progress of mastering work area of clean in-process, has improved user's cleaning efficiency effectively, has practiced thrift the washing time.
In addition, the cleaning robot of this application can use based on user's direct operation for cleaning robot only need take notes the washing orbit and judges cleaning robot self position, need not plan operations such as motion trajectory control self motion like from mobile robot, and comparatively speaking the logic of this application is simpler and realize easily, and corresponding cost is also lower.
In the embodiment of the present application, as shown in fig. 5, the regional environment map is generated by the following method, including steps 502 to 506.
Step 502: acquiring regional environment information detected by the cleaning robot in the moving process.
In an embodiment of the present application, during a first time that the cleaning robot moves in a working area as shown in fig. 6, area environment information detected by the cleaning robot during the movement is acquired in real time, the area environment information including at least code wheel information, Inertial Measurement Unit (IMU) information, image information, sensor data, and the like, wherein the sensor data includes collision sensor information, proximity sensor information, distance measurement sensor information, and the like.
Step 504: and determining the pose of the cleaning robot in the working area according to the area environment information.
In an embodiment of the present application, the area environment information acquired in step 502 is input to a visual synchronous positioning and mapping (vSLAM) module, so that the visual synchronous positioning and mapping module processes the area environment information, thereby obtaining the position and the posture of the cleaning robot in the working area.
Step 506: and establishing and storing a regional environment map corresponding to the regional environment according to the pose of the cleaning robot in the working region and the position of the obstacle in the regional environment.
In the embodiment of the present application, as shown in fig. 7, an area environment map is created by using the pose of the cleaning robot, image data, and other sensor data, and images and features on the images taken by the cleaning robot at coordinates in the area environment map are recorded, so as to realize the identification of the target cleaning area 71 and the recording of the cleaned area 72.
According to the cleaning robot, the regional environment map corresponding to the working region is constructed, the target cleaning region and the cleaned region are sensed and recorded by adopting a digital map method, so that the cleaning robot can accurately judge whether the target cleaning region is the cleaned region, a humanized cleaning auxiliary scheme is provided for a user, and the use experience of the user is improved.
The present application also provides a cleaning robot, see fig. 8, comprising a machine body 80 having at least one processor 801 and at least one memory 802 storing computer instructions disposed thereon.
Wherein the memory 802 is used for storing a control method program for supporting the self-moving device to execute the foregoing embodiments, and the at least one processor 801 is used for executing computer instructions to implement the following method:
acquiring a regional environment map corresponding to a working region;
in the process of cleaning operation of the cleaning robot, a target cleaning area is obtained in real time, and different reminding information is generated according to whether the target cleaning area is a cleaned area or not;
and updating the cleaned area and recording the cleaned area in the area environment map.
In an embodiment of the present application, as shown in fig. 9, the cleaning robot further includes:
a projection module 901, where the projection module 901 is arranged on the machine body 80 and is used to perform projection prompt on the target cleaning area according to whether the target cleaning area is a cleaned area in the area environment map.
Optionally, the projection module 901 may be a laser projection device or a light emitting diode.
In an embodiment of the present application, as shown in fig. 9, the cleaning robot further includes:
and the light module 902 is arranged on the machine body 80 and used for carrying out illumination prompt on the target cleaning area according to whether the target cleaning area is a cleaned area in the area environment map.
Optionally, the light module 902 may be a light emitting diode.
In an embodiment of the present application, as shown in fig. 10, the cleaning robot further includes:
a motion module 1001, wherein the motion module 1001 is arranged on the machine body 80 and is used for driving the cleaning robot to move;
the cleaning module 1002 is arranged on the machine body 80 and used for cleaning a working area passed by the movement module, wherein the cleaning module 1002 comprises a floor brush, the floor brush is connected with the machine body through a dust suction channel, and the floor brush comprises a rolling brush, and a water pump and a dust suction port which are correspondingly arranged on the rolling brush.
This application is through cleaning machines people carries out the in-process of cleaning operation, acquires the clean region of target in real time, according to whether the clean region of target is the different warning information of clean region formation, and real-time update clean region, the developing way is followed intelligent direction and is taken on the way, provides the technical scheme that can help the user to distinguish whether ground has cleaned to the user for the user is utilizing cleaning machines people to carry out the real-time ground washing progress of mastering work area of clean in-process, has improved user's cleaning efficiency effectively, has practiced thrift the washing time.
In addition, the cleaning robot of this application can use based on user's direct operation for cleaning robot only need take notes the washing orbit and judges cleaning robot self position, need not plan operations such as motion trajectory control self motion like from mobile robot, and comparatively speaking the logic of this application is simpler and realize easily, and corresponding cost is also lower.
It is noted that one or more processors 801 and one or more memories 802 may be disposed inside the machine body, or disposed on the surface of the machine body 80.
The machine body 80 is an execution mechanism that is relied upon from the mobile device to perform a task, and can perform processor-specified operations in a determined environment. The mechanical body 80 represents the appearance of the mobile device to some extent. In the present embodiment, the external appearance of the mobile device is not limited, and may be, for example, a circle, an ellipse, a triangle, a convex polygon, or the like.
The one or more memories 802 are used primarily to store computer instructions that are executable by the one or more processors 801 to cause the one or more processors 801 to control the execution of travel tasks from the machine body 800 of the mobile device. In addition to storing computer instructions, the one or more memories 802 may also be configured to store various other data to support operations on the mobile device. Examples of such data include instructions for any application or method operating on the mobile device, map data from the environment/scene in which the mobile device is located, information of the area to be cleaned, time to clean, and so forth.
The one or more memories 802, may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
One or more processors 801, which may be considered control systems for the self-moving device, may be used to execute computer instructions stored in one or more memories 802 to control the self-moving device to perform travel tasks.
The above is an illustrative scheme of the self-moving device of the embodiment. It should be noted that the technical solution of the self-moving device and the technical solution of the above-mentioned traveling method belong to the same concept, and details that are not described in detail in the technical solution of the self-moving device can be referred to the description of the technical solution of the above-mentioned traveling method.
An embodiment of the present application further provides a computer readable storage medium storing computer instructions that, when executed by a processor, implement the steps of:
acquiring a regional environment map corresponding to a working region;
in the process of cleaning operation of the cleaning robot, a target cleaning area is obtained in real time, and different reminding information is generated according to whether the target cleaning area is a cleaned area or not;
and updating the cleaned area and recording the cleaned area in the area environment map.
Optionally, acquiring the target cleaning area in real time includes:
acquiring regional environment information corresponding to a working region in a sensing range of the cleaning robot in real time;
and determining the target cleaning area according to the area environment information corresponding to the working area in the sensing range of the cleaning robot.
Optionally, a projection module is arranged on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and according to whether the target cleaning area is a cleaned area in the area environment map or not, carrying out projection prompt on the target cleaning area through the projection module.
Optionally, performing projection prompting on the target cleaning area through the projection module includes:
under the condition that a target cleaning area is a cleaned area, projecting light of a first color to the target cleaning area through the projection module;
and under the condition that the target cleaning area is an uncleaned area, projecting light of a second color to the target cleaning area through the projection module, wherein a color difference exists between the first color and the second color.
Optionally, a light module is arranged on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and according to whether the target cleaning area is a cleaned area in the area environment map or not, carrying out illumination prompt on the target cleaning area through the light module.
Optionally, the light module is used for performing illumination prompt on the target cleaning area, and the method includes:
in the case that a target cleaning area is a cleaned area, lighting up light of a first color at an arbitrary visible position on the cleaning robot by the light module;
and in the case that the target cleaning area is an uncleaned area, lighting up light of a second color at any visible position on the cleaning robot by the light module, wherein a color difference exists between the first color and the second color.
Optionally, a voice system is arranged on the cleaning robot;
generating different reminding information according to whether the target cleaning area is a cleaned area or not, wherein the reminding information comprises the following steps:
and carrying out voice prompt on the target cleaning area through the voice system according to whether the target cleaning area is a cleaned area in the area environment map.
Optionally, updating and recording the cleaned area in the area environment map, including:
determining an effective cleaning area of the cleaning robot in the working area according to the configuration information of the cleaning robot;
taking the position of the cleaning robot when the cleaning robot is started as an initial position, and acquiring the motion track, the motion direction and the effective cleaning path of the cleaning robot in the working area in real time;
updating the cleaned area according to an effective cleaning area, a motion trajectory, a motion direction, and an effective cleaning path of the cleaning robot;
mapping the updated cleaned area in the regional environment map.
Optionally, a rolling brush is provided on the cleaning robot;
determining an effective cleaning area of the cleaning robot in the work area according to the configuration information of the cleaning robot, including:
acquiring length information of the rolling brush and width information of the rolling brush;
and determining the effective cleaning area of the cleaning robot according to the length information of the rolling brush and the width information of the rolling brush.
Optionally, the regional environment map is generated by the following method:
acquiring regional environment information detected by the cleaning robot in the moving process;
determining the pose of the cleaning robot in the working area according to the area environment information;
and establishing and storing a regional environment map corresponding to the regional environment according to the pose of the cleaning robot in the working region and the position of the obstacle in the regional environment.
The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the above-mentioned travel method, and details that are not described in detail in the technical solution of the storage medium can be referred to the description of the technical solution of the above-mentioned travel method.
The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Application scenario 1
Taking the example of a cleaning robot that a user needs to manually control movement, the cleaning robot is a handheld washing machine applied to a home location, and a user needs to sanitarily clean the floor at home.
The method comprises the steps that a user can manually push and pull the handheld cleaning machine to clean the ground at home, the handheld cleaning machine is controlled to clean the ground in spaces such as a living room, a bedroom and a kitchen in a home place in a Z-shaped moving mode, the handheld cleaning machine records a cleaned area under the condition that the user moves in the Z-shaped mode along the same direction, the handheld cleaning machine projects a second color representing an uncleaned area on the ground through a projection system, or the handheld cleaning machine is lightened up at any visible position of the handheld cleaning machine through a lighting system to represent the second color of the uncleaned area; under the condition that a user moves along different directions according to a Z shape, the handheld cleaning machine obtains a target cleaning area and judges whether the target cleaning area is a cleaned area, and under the condition that the target cleaning area is the cleaned area, light of a first color is projected to the target cleaning area through the projection module, or the light of the first color is lightened at any visible position on the handheld cleaning machine through the light module; and under the condition that the target cleaning area is an uncleaned area, projecting light rays of a second color to the target cleaning area through the projection module, or lightening the light rays of the second color at any visible position on the handheld washing machine through the light module.
Application scenario 2
Taking a cleaning robot moving according to a preset route as an example, the cleaning robot is a self-moving floor sweeping robot applied to an office, and a user needs to clean indoor floor in a company hygienically.
The user controls the sweeping robot to clean the ground of a company hygienically through a preset route, controls the sweeping robot to clean the ground of spaces such as office areas, meeting rooms and rest areas in the company, records the cleaned area under the condition that the sweeping robot moves according to a 'return' shape or a 'bow' shape, and projects a second color representing an uncleaned area on the ground through a projection system or lights up the second color representing the uncleaned area at any visible position of the sweeping robot through a lighting system; under the condition that the sweeping robot moves along different directions, the sweeping robot acquires a target cleaning area and judges whether the target cleaning area is a cleaned area, and under the condition that the target cleaning area is the cleaned area, light rays with a first color are projected to the target cleaning area through the projection module, or the light rays with the first color are lightened at any visible position on the sweeping robot through the lighting module; and under the condition that the target cleaning area is an uncleaned area, projecting light rays with a second color to the target cleaning area through the projection module, or lightening the light rays with the second color at any visible position on the sweeping robot through the lighting module.
The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010622603.0A CN113876241A (en) | 2020-07-01 | 2020-07-01 | Reminding method, cleaning robot and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010622603.0A CN113876241A (en) | 2020-07-01 | 2020-07-01 | Reminding method, cleaning robot and computer readable storage medium |
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| CN113876241A true CN113876241A (en) | 2022-01-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115474867A (en) * | 2022-08-23 | 2022-12-16 | 启思半导体(杭州)有限责任公司 | Cleaning methods based on odor detection |
| WO2023179209A1 (en) * | 2022-03-22 | 2023-09-28 | 追觅创新科技(苏州)有限公司 | Area cleaning control method and apparatus, storage medium and electronic apparatus |
| CN119908618A (en) * | 2025-02-27 | 2025-05-02 | 优地机器人(无锡)股份有限公司 | Multi-cleaning robot collaborative cleaning method and storage medium |
-
2020
- 2020-07-01 CN CN202010622603.0A patent/CN113876241A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023179209A1 (en) * | 2022-03-22 | 2023-09-28 | 追觅创新科技(苏州)有限公司 | Area cleaning control method and apparatus, storage medium and electronic apparatus |
| CN115474867A (en) * | 2022-08-23 | 2022-12-16 | 启思半导体(杭州)有限责任公司 | Cleaning methods based on odor detection |
| CN119908618A (en) * | 2025-02-27 | 2025-05-02 | 优地机器人(无锡)股份有限公司 | Multi-cleaning robot collaborative cleaning method and storage medium |
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