CN-121971005-A - Cleaning robot expanding cleaning method

CN121971005ACN 121971005 ACN121971005 ACN 121971005ACN-121971005-A

Abstract

The present disclosure relates to a cleaning robot extended cleaning method. The cleaning robot expansion cleaning method comprises the steps of responding to a cleaning instruction, determining a target cleaning area and a corresponding initial cleaning strategy, cleaning the target cleaning area according to the initial cleaning strategy when the target cleaning area is reached, directly cleaning the adjacent expansion area and the target cleaning area according to a preset cleaning strategy if the adjacent expansion area is detected before or in the initial cleaning strategy is executed, determining a partition cleaning strategy corresponding to the adjacent expansion area based on a preset searching algorithm if the adjacent expansion area is detected after the initial cleaning strategy is executed, and cleaning the adjacent expansion area according to the partition cleaning strategy when the expansion area is reached. According to the scheme provided by the application, the extended area can be ensured not to be leaked and the cleaning efficiency can be improved.

Inventors

WANG XUNING
LV JIALIANG

Assignees

杭州九阳小家电有限公司
深圳甲壳虫智能有限公司

Dates

Publication Date: 20260505
Application Date: 20241028

Claims (10)

1. A cleaning robot extended cleaning method, comprising: responding to a cleaning instruction, determining a target cleaning area and a corresponding initial cleaning strategy, and cleaning the target cleaning area according to the initial cleaning strategy when the target cleaning area is reached; If an adjacent expansion area is detected before or during the initial cleaning strategy is executed, cleaning the adjacent expansion area and the target cleaning area directly according to a preset cleaning strategy; If the adjacent expansion areas are detected after the initial cleaning strategies are executed, determining partition cleaning strategies corresponding to the adjacent expansion areas based on a preset searching algorithm; and when the expansion area is reached, cleaning the adjacent expansion area according to the partition cleaning strategy.
2. The method of claim 1, wherein the determining the target cleaning area and the corresponding initial cleaning strategy in response to the cleaning instruction comprises: When the cleaning instruction is a global cleaning instruction, determining the target cleaning area, and determining that the initial cleaning strategy comprises an edge cleaning strategy, an arc cleaning strategy and a global cleaning strategy, wherein the global cleaning strategy is a strategy for cleaning all the target cleaning area and adjacent expansion areas; When the cleaning instruction is a local cleaning instruction, determining the target cleaning area, and determining that the initial cleaning strategy comprises the edge cleaning strategy, the arc cleaning strategy and a local cleaning strategy, wherein the local cleaning strategy is a strategy for cleaning only the target cleaning area and not cleaning other expansion areas.
3. The method of claim 2, wherein said performing a cleaning operation on said target cleaning area in accordance with said initial cleaning strategy comprises: Filling the target cleaning area and the adjacent expansion area into an accessible area in an edge obstacle map according to the global cleaning strategy, and filling the accessible area into a cleaning outline map; Cleaning the accessible area and the cleanable area according to the edge cleaning strategy and the arched cleaning strategy; According to the local cleaning strategy, filling the target cleaning area into an reachable area in the edge obstacle map and a cleanable area in the cleaning outline map, and filling other expansion areas into an unreachable area in the edge obstacle map and a cleanable area in the cleaning outline map; and cleaning the accessible area and the cleanable area according to the edge cleaning strategy and the arched cleaning strategy.
4. The method according to claim 1, wherein the method further comprises: Detecting an expansion area adjacent to the target cleaning area through the preset searching algorithm based on a searching map; and after the target cleaning area and the adjacent expanding area are cleaned, continuing to detect the expanding area adjacent to the next cleaning area.
5. The method of claim 2, wherein if an adjacent extended area is detected before or during execution of the initial cleaning strategy, directly cleaning the adjacent extended area and the target cleaning area according to a preset cleaning strategy, comprising: if an adjacent expansion area is detected before or during the initial cleaning strategy is executed, performing edge cleaning work on the target cleaning area and the adjacent expansion area according to the edge cleaning strategy; And carrying out arc cleaning work on the target cleaning area and the adjacent expansion area according to the arc cleaning strategy.
6. The method of claim 2, wherein determining the partition cleaning policy corresponding to the neighboring extended area based on a preset search algorithm if the neighboring extended area is detected after the initial cleaning policy is executed, comprises: after the initial cleaning strategy is executed, filling the target cleaning area into an uncleanable area in a cleaning outline map, and filling the adjacent expansion area into a cleanable area in the cleaning outline map; determining partition cleaning strategies corresponding to adjacent expansion areas based on a preset breadth-first search algorithm, wherein the preset search algorithm comprises the preset breadth-first search algorithm.
7. The method of claim 6, wherein the determining the partition cleaning policy corresponding to the neighboring expansion area based on the preset breadth-first search algorithm comprises: Searching for a target point in the adjacent outline of the expansion area based on the preset breadth-first search algorithm; planning a path to the target point based on a heuristic search algorithm, and moving to the target point according to the path; filling the adjacent expansion areas into the accessible areas in the edge obstacle map, and cleaning the adjacent expansion areas according to an edge cleaning strategy and an arc cleaning strategy.
8. The method of claim 1, wherein after the sweeping the neighboring extended area according to the partition sweeping policy when the extended area is reached, the method further comprises: Acquiring real-time position information, and calculating the shortest distance between the real-time position information and the boundary of a target cleaning area; And if the shortest distance is greater than a preset distance, discarding cleaning the adjacent expansion area and returning to the target cleaning area to continue cleaning.
9. The method according to claim 1, wherein the method further comprises: after all the areas are cleaned, searching the global expansion area based on a preset breadth-first search algorithm to obtain unclean expansion areas; determining a supplementary cleaning strategy corresponding to an unclean expansion area based on the preset breadth-first search algorithm; and when reaching an unclean expansion area, cleaning according to the supplementary cleaning strategy.
10. The method of claim 9, wherein the performing a global expanded region search based on the preset breadth-first search algorithm comprises: Judging whether the search point is in the target area or not according to a preset interval if the search point is in the minimum circumscribed rectangle of the target area based on the preset breadth-first search algorithm, and filtering the search point if the search point is not in the target area.

Description

Cleaning robot expanding cleaning method Technical Field The disclosure relates to the technical field of intelligent equipment, in particular to a cleaning robot expanding and cleaning method. Background In the process of drawing construction of the cleaning robot, the drawing construction is incomplete due to factors such as manual door closing, barrier blocking and the like, and an exploration area is missed, so that a cleaning working condition can be expanded in the cleaning process. The extended area is used as an unaware area of the cleaning robot, the occurrence time is random, the size of the area is uncertain, and the cleaning success rate and the cleaning efficiency of the cleaning robot are directly influenced. As disclosed in patent document CN112790669a, a cleaning method of a sweeper is disclosed, when a cleaning instruction is detected, whether an extended area exists is determined, if so, the extended area is firstly explored, and then the sweeper is cleaned after updating a map. The method can only solve the problem that the area is expanded when the cleaning instruction is detected, and can not solve the problem that the area is expanded in the cleaning process of the robot, so that the cleaning is omitted. Disclosure of Invention In order to solve the technical problems, the disclosure provides an extended cleaning method for a cleaning robot. In a first aspect, the present disclosure provides a cleaning robot extended cleaning method, comprising: responding to a cleaning instruction, determining a target cleaning area and a corresponding initial cleaning strategy, and cleaning the target cleaning area according to the initial cleaning strategy when the target cleaning area is reached; If an adjacent expansion area is detected before or during the initial cleaning strategy is executed, cleaning the adjacent expansion area and the target cleaning area directly according to a preset cleaning strategy; If the adjacent expansion areas are detected after the initial cleaning strategies are executed, determining partition cleaning strategies corresponding to the adjacent expansion areas based on a preset searching algorithm; and when the expansion area is reached, cleaning the adjacent expansion area according to the partition cleaning strategy. In some embodiments, the determining the target cleaning area and the corresponding initial cleaning strategy in response to the cleaning instruction comprises: When the cleaning instruction is a global cleaning instruction, determining the target cleaning area, and determining that the initial cleaning strategy comprises an edge cleaning strategy, an arc cleaning strategy and a global cleaning strategy, wherein the global cleaning strategy is a strategy for cleaning all the target cleaning area and adjacent expansion areas; When the cleaning instruction is a local cleaning instruction, determining the target cleaning area, and determining that the initial cleaning strategy comprises the edge cleaning strategy, the arc cleaning strategy and a local cleaning strategy, wherein the local cleaning strategy is a strategy for cleaning only the target cleaning area and not cleaning other expansion areas. In some embodiments, the performing a cleaning operation on the target cleaning area according to the initial cleaning strategy includes: Filling the target cleaning area and the adjacent expansion area into an accessible area in an edge obstacle map according to the global cleaning strategy, and filling the accessible area into a cleaning outline map; Cleaning the accessible area and the cleanable area according to the edge cleaning strategy and the arched cleaning strategy; According to the local cleaning strategy, filling the target cleaning area into an reachable area in the edge obstacle map and a cleanable area in the cleaning outline map, and filling other expansion areas into an unreachable area in the edge obstacle map and a cleanable area in the cleaning outline map; and cleaning the accessible area and the cleanable area according to the edge cleaning strategy and the arched cleaning strategy. In some embodiments, the method further comprises: Detecting an expansion area adjacent to the target cleaning area through the preset searching algorithm based on a searching map; and after the target cleaning area and the adjacent expanding area are cleaned, continuing to detect the expanding area adjacent to the next cleaning area. In some embodiments, if an adjacent extended area is detected before or during the initial cleaning policy is executed, cleaning the adjacent extended area and the target cleaning area directly according to a preset cleaning policy includes: if an adjacent expansion area is detected before or during the initial cleaning strategy is executed, performing edge cleaning work on the target cleaning area and the adjacent expansion area according to the edge cleaning strategy; And carrying out arc cleaning work on the target cleaning a