CN111685655B - Task scheduling method and device for sweeping robot - Google Patents
Task scheduling method and device for sweeping robotDownload PDFInfo
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- CN111685655B CN111685655BCN201910197426.3ACN201910197426ACN111685655BCN 111685655 BCN111685655 BCN 111685655BCN 201910197426 ACN201910197426 ACN 201910197426ACN 111685655 BCN111685655 BCN 111685655B
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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
- A47L11/24—Floor-sweeping machines, motor-driven
- 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
- 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
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及智能家电技术领域，具体涉及一种用于扫地机器人的任务调度方法及装置、扫地机器人、存储介质。The invention relates to the technical field of smart home appliances, in particular to a task scheduling method and device for a sweeping robot, a sweeping robot, and a storage medium.
背景技术Background technique
随着人工智能技术的不断发展，基于人工智能技术的智能家电被逐渐应用到人们的日常生活中，如，扫地机器人。With the continuous development of artificial intelligence technology, smart home appliances based on artificial intelligence technology are gradually applied to people's daily life, such as sweeping robots.
目前，扫地机器人在实际清扫过程中，会面临复杂多变的清扫状况，如，清扫过程中突然没电，或者传感器出现故障等，为了应对不同清扫状况的出现，通常会针对不同的清扫状况，开发出具备不同类型的任务模式的扫地机器人，来满足用户的需求。At present, in the actual cleaning process, the sweeping robot will face complex and changeable cleaning conditions, such as sudden power failure during the cleaning process, or sensor failure, etc., in order to cope with the emergence of different cleaning conditions, usually for different cleaning conditions, A sweeping robot with different types of task modes has been developed to meet the needs of users.
进一步的，为了能够控制扫地机器人应对复杂多变的清扫状况使用相应的任务模式，需要提供一套完整的针对每种任务模式的任务调度方法。Furthermore, in order to be able to control the sweeping robot to use corresponding task modes in response to complex and changeable cleaning conditions, it is necessary to provide a complete set of task scheduling methods for each task mode.
发明内容Contents of the invention
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的用于扫地机器人的任务调度方法及装置、扫地机器人、存储介质。In view of the above problems, the present invention is proposed to provide a task scheduling method and device for a cleaning robot, a cleaning robot, and a storage medium that overcome the above problems or at least partially solve the above problems.
根据本发明的一个方面，一种用于扫地机器人的任务调度方法，所述方法包括：According to one aspect of the present invention, a task scheduling method for a sweeping robot, the method includes:
获取用户输入的任务指令；Obtain the task instructions entered by the user;
重新定位扫地机器人当前的位置；Reposition the current position of the sweeping robot;
若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置；If the task instruction is a cleaning instruction, it is judged whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot;
若是，则将预先记录的第一清扫位置作为第二清扫位置；If so, then use the pre-recorded first cleaning position as the second cleaning position;
若否，则将扫地机器人当前的位置作为第二清扫位置；If not, use the current position of the sweeping robot as the second cleaning position;
依据所述第二清扫位置驱动所述扫地机器人完成清扫。The sweeping robot is driven to complete cleaning according to the second cleaning position.
根据本发明的另一方面，提供了一种用于扫地机器人的任务调度装置，所述装置包括：According to another aspect of the present invention, a task scheduling device for a sweeping robot is provided, the device comprising:
获取模块，用于获取用户输入的任务指令；An acquisition module, configured to acquire task instructions input by the user;
重定位模块，用于重新定位扫地机器人当前的位置；The relocation module is used to relocate the current position of the sweeping robot;
状态恢复模块，用于若所述任务指令为清扫指令，则判断是否存在状态记录模块预先记录的与扫地机器人当前的位置对应的第一清扫位置，若是，则将预先记录的第一清扫位置作为第二清扫位置，若否，则将扫地机器人当前的位置作为第二清扫位置；The state recovery module is used to judge whether there is a first cleaning position corresponding to the current position of the sweeping robot recorded in advance by the state recording module if the task instruction is a cleaning instruction, and if so, use the first cleaning position recorded in advance as The second cleaning position, if not, use the current position of the sweeping robot as the second cleaning position;
清扫模块，用于依据所述第二清扫位置驱动所述扫地机器人完成清扫。A cleaning module, configured to drive the sweeping robot to complete cleaning according to the second cleaning position.
根据本发明的另一方面，提供了一种扫地机器人，包括：处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总线完成相互间的通信；According to another aspect of the present invention, a sweeping robot is provided, including: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete mutual communication through the communication bus communication;
所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行以下操作：The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the following operations:
获取用户输入的任务指令；Obtain the task instructions entered by the user;
重新定位扫地机器人当前的位置；Reposition the current position of the sweeping robot;
若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置；If the task instruction is a cleaning instruction, it is judged whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot;
若是，则将预先记录的第一清扫位置作为第二清扫位置；If so, then use the pre-recorded first cleaning position as the second cleaning position;
若否，则将扫地机器人当前的位置作为第二清扫位置；If not, use the current position of the sweeping robot as the second cleaning position;
依据所述第二清扫位置驱动所述扫地机器人完成清扫。The sweeping robot is driven to complete cleaning according to the second cleaning position.
根据本发明的又一方面，提供了一种存储介质，所述存储介质中存储有至少一可执行指令，所述可执行指令使处理器执行以下操作：According to yet another aspect of the present invention, a storage medium is provided, wherein at least one executable instruction is stored in the storage medium, and the executable instruction causes a processor to perform the following operations:
获取用户输入的任务指令；Obtain the task instructions entered by the user;
重新定位扫地机器人当前的位置；Reposition the current position of the sweeping robot;
若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置；If the task instruction is a cleaning instruction, it is judged whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot;
若是，则将预先记录的第一清扫位置作为第二清扫位置；If so, then use the pre-recorded first cleaning position as the second cleaning position;
若否，则将扫地机器人当前的位置作为第二清扫位置；If not, use the current position of the sweeping robot as the second cleaning position;
依据所述第二清扫位置驱动所述扫地机器人完成清扫。The sweeping robot is driven to complete cleaning according to the second cleaning position.
根据本发明提供的用于扫地机器人的任务调度方法及装置，该方法包括：获取用户输入的任务指令，重新定位扫地机器人当前的位置，若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置，若是，则将预先记录的第一清扫位置作为第二清扫位置，若否，则将扫地机器人当前的位置作为第二清扫位置，依据所述第二清扫位置驱动所述扫地机器人完成清扫。利用上述方法，通过重新定位扫地机器人当前的位置，并判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置的方式，无论使用什么样的任务模式，都可以避免对已清扫过的区域进行重复清扫。According to the task scheduling method and device for sweeping robots provided by the present invention, the method includes: obtaining a task instruction input by the user, relocating the current position of the sweeping robot, and if the task instruction is a cleaning instruction, judging whether there is a pre-recorded The first cleaning position corresponding to the current position of the sweeping robot, if yes, then use the pre-recorded first cleaning position as the second cleaning position, if not, use the current position of the sweeping robot as the second cleaning position, according to the The second cleaning position drives the sweeping robot to complete cleaning. Using the above method, by relocating the current position of the sweeping robot and judging whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot, no matter what task mode is used, it is possible to avoid cleaning Repeated cleaning of the area.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.
附图说明Description of drawings
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same parts. In the attached picture:
图1示出了根据本发明一个实施例的用于扫地机器人的任务调度方法的流程图；Fig. 1 shows a flow chart of a task scheduling method for a sweeping robot according to an embodiment of the present invention;
图2示出了根据本发明一个实施例的用于扫地机器人的任务调度的装置结构图；Fig. 2 shows a device structure diagram for task scheduling of a sweeping robot according to an embodiment of the present invention;
图3示出了根据本发明另一个实施例的用于扫地机器人的任务调度装置的示意图；Fig. 3 shows a schematic diagram of a task scheduling device for a sweeping robot according to another embodiment of the present invention;
图4示出了根据本发明实施例的一种扫地机器人的结构示意图。Fig. 4 shows a schematic structural diagram of a sweeping robot according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
图1示出了根据本发明一个实施例的用于扫地机器人的任务调度方法的流程图。本方法用于调度扫地机器人所设定的清扫模式。如图1所示，该方法包括如下步骤：Fig. 1 shows a flowchart of a task scheduling method for a cleaning robot according to an embodiment of the present invention. This method is used to schedule the cleaning mode set by the sweeping robot. As shown in Figure 1, the method includes the following steps:
S101：获取用户输入的任务指令。S101: Obtain a task instruction input by a user.
在实际应用中，扫地机器人在实际清扫过程中，会面临复杂多变的清扫状况，如，清扫过程中突然没电，或者传感器出现故障等，为了应对不同清扫状况的出现，通常会针对不同的清扫状况，开发出具备不同类型的任务模式的扫地机器人，来满足用户的需求。In practical applications, the sweeping robot will face complex and changeable cleaning conditions during the actual cleaning process, such as sudden power failure during the cleaning process, or sensor failure, etc. According to the cleaning situation, a sweeping robot with different types of task modes has been developed to meet the needs of users.
因此，为了能够控制扫地机器人应对复杂多变的清扫状况使用相应的任务模式，本申请实施例给出一套完整的针对每种任务模式的任务调度方式。Therefore, in order to be able to control the sweeping robot to use corresponding task modes in response to complex and changeable cleaning conditions, the embodiment of the present application provides a complete set of task scheduling methods for each task mode.
在本申请实施例中，在针对每种任务模式进行任务调度时，首先需要获取用户输入的任务指令。In the embodiment of the present application, when performing task scheduling for each task mode, it is first necessary to acquire the task instruction input by the user.
在此需要说明的是，用户可通过扫地机器人上设置的不同任务模式的按键来进行输入，如图2所示，扫地机器人上可设置有五种任务模式，即，断点清扫，回充，定点清扫，定区清扫以及全局清扫，每个任务模式都有相应的控制按键，如，控制断点清扫的开始按键；控制回充的开始按键、暂停按键和低电量按键；控制定点清扫的开始按键、暂停按键和继续按键；控制定区清扫的开始按键、暂停按键和继续按键；控制全局清扫的开始按键、暂停按键和继续按键。What needs to be explained here is that the user can input through the keys of different task modes set on the sweeping robot. As shown in Figure 2, five task modes can be set on the sweeping robot, namely, breakpoint cleaning, recharging, Fixed-point cleaning, fixed-area cleaning and global cleaning, each task mode has corresponding control buttons, such as the start button to control breakpoint cleaning; the start button, pause button and low battery button to control recharging; the start of fixed-point cleaning button, pause button and continue button; control the start button, pause button and continue button of the fixed-area cleaning; control the start button, pause button and continue button of the global cleaning.
S102：重新定位扫地机器人当前的位置。S102: Relocate the current position of the cleaning robot.
由于在实际应用中，有可能出现用户在扫地机器人的清扫的过程中，因某些原因(如，扫地机器人电量不足需要及时充电)按下暂停键，并将扫地机器人抱离正在清扫的位置，在排除原因后又按开始或者继续键使扫地机器人继续清扫的情况，这样就会造成如果用户将扫地机器人放置在哪个地方并按开始或者继续键使扫地机器人继续清扫，扫地机器人就会按照当前所在的位置继续清扫，从而使得已清扫过的地方被重新清扫。In practical applications, it is possible for the user to press the pause button and hold the sweeping robot away from the cleaning position due to some reasons (for example, the sweeping robot is insufficiently charged and needs to be charged in time) during the cleaning process of the sweeping robot. After eliminating the cause, press the start or continue button to make the sweeping robot continue to clean. This will cause if the user places the sweeping robot somewhere and press the start or continue button to make the sweeping robot continue to clean, the sweeping robot will follow the current location. Continue to clean the position, so that the cleaned place is re-cleaned.
基于上述情况，在本申请实施例中，需要重新定位扫地机器人当前的位置。Based on the above situation, in the embodiment of the present application, it is necessary to reposition the current position of the cleaning robot.
S103：若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置。S103: If the task command is a cleaning command, determine whether there is a pre-recorded first cleaning position corresponding to the current position of the cleaning robot.
在本申请实施例中，由于在重新确定完扫地机器人当前的位置后，需要知道用户所输入的任务指令是否是新的清扫任务，也就是说，用户所输入的任务指令是想要让扫地机器人在当前的位置开始清扫，还是想让扫地机器人接着上一次的清扫任务继续清扫，因此，在本申请实施例中，可通过查看是否已经存储了第一清扫位置的方式来判断用户所输入的任务指令是否是新的清扫任务，也就是说，假设扫地机器人内存储了第一清扫位置，那么就说明用户之前只是暂停了扫地机器人的清扫任务，扫地机器人已经完成了一部分的清扫，假设扫地机器人内没有存储第一清扫位置，那么用户之前并没有暂停了扫地机器人的清扫任务，用户所输入的任务指令是一个新的清扫任务。In the embodiment of the present application, after re-determining the current position of the sweeping robot, it is necessary to know whether the task instruction input by the user is a new cleaning task, that is, the task instruction input by the user is to let the sweeping robot Start cleaning at the current location, or do you want the sweeping robot to continue cleaning after the last cleaning task? Therefore, in this embodiment of the application, the task entered by the user can be judged by checking whether the first cleaning position has been stored. Whether the instruction is a new cleaning task, that is to say, if the first cleaning position is stored in the sweeping robot, it means that the user just paused the cleaning task of the sweeping robot before, and the sweeping robot has completed part of the cleaning. If the first cleaning position is not stored, the user has not suspended the cleaning task of the sweeping robot before, and the task command input by the user is a new cleaning task.
具体的，若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置，若是，则执行步骤S104，若否，则执行步骤S105。Specifically, if the task command is a cleaning command, it is judged whether there is a pre-recorded first cleaning position corresponding to the current position of the cleaning robot, and if yes, step S104 is performed, and if not, step S105 is performed.
S104：将预先记录的第一清扫位置作为第二清扫位置。S104: Use the pre-recorded first cleaning position as the second cleaning position.
S105：将扫地机器人当前的位置作为第二清扫位置。S105: Use the current position of the cleaning robot as the second cleaning position.
在此需要说明的是，所述清扫指令包括：全局清扫指令、定区清扫指令、定点清扫指令或断点续扫指令，并且，所述清扫指令指的是用户在扫地机器人输入任一任务模式的开始按键或继续按键或低电量按键所产生的指令。It should be noted here that the cleaning instructions include: global cleaning instructions, fixed-area cleaning instructions, fixed-point cleaning instructions, or break-point continuous cleaning instructions, and the cleaning instructions refer to any task mode entered by the user on the sweeping robot. The command generated by the start button or continue button or low battery button.
在此还需要说明的是，预先记录与扫地机器人当前的位置对应的第一清扫位置，具体可以获取用户输入的暂停清扫指令，记录扫地机器人的第一清扫位置。It should also be noted here that the first cleaning position corresponding to the current position of the sweeping robot is pre-recorded. Specifically, the cleaning pause command input by the user may be acquired to record the first cleaning position of the sweeping robot.
另外，为了更好的区分预先记录的清扫位置以及扫地机器人实际应该清扫的位置，因此，在本申请实施例中，将预先记录的清扫位置定义为第一清扫位置，将扫地机器人实际应该清扫的位置定义为第二清扫位置。In addition, in order to better distinguish the pre-recorded cleaning position from the position that the sweeping robot should actually clean, therefore, in the embodiment of the present application, the pre-recorded cleaning position is defined as the first cleaning position, and the cleaning position that the sweeping robot should actually clean is defined as the first cleaning position. The location is defined as the second cleaning location.
S106：依据所述第二清扫位置驱动所述扫地机器人完成清扫。S106: Drive the cleaning robot to complete cleaning according to the second cleaning position.
进一步的，本申请实施例在确定出第二清扫位置后，扫地机器人会从当前的位置移动到第二清扫位置，并开始清扫。Further, in the embodiment of the present application, after the second cleaning position is determined, the cleaning robot will move from the current position to the second cleaning position and start cleaning.
本申请实施例给出了一种扫地机器人清扫的实施方式，具体的，移动所述扫地机器人到所述第二清扫位置，根据预设的清扫区块选取规则，选取清扫区块，移动所述扫地机器人到所述清扫区块所在的位置，清扫所述清扫区块，直到完成所有区块的清扫。The embodiment of the present application provides an implementation mode of cleaning by a sweeping robot. Specifically, move the sweeping robot to the second cleaning position, select a cleaning block according to the preset cleaning block selection rules, and move the sweeping robot to the second cleaning position. The sweeping robot goes to the location where the cleaning block is located, and cleans the cleaning block until the cleaning of all blocks is completed.
在此需要说明的是，扫地机器人清扫所述清扫区块可以，先沿着该清扫区块的边清扫一圈，沿边清扫的同时清扫区块内会生成清扫线，在沿着该清扫区块的边清扫一圈后，再根据所生成的清扫线一条一条的清扫，清扫完成该清扫区块后，再根据预设的清扫区块选取规则，选取下一个清扫区块，直到所有的清扫区块全部清扫完成。It should be noted here that the sweeping robot can clean the cleaning block by first cleaning a circle along the edge of the cleaning block, and cleaning lines will be generated in the cleaning block while cleaning along the edge. After cleaning a circle around the side, then clean one by one according to the generated cleaning line. After cleaning the cleaning block, select the next cleaning block according to the preset cleaning block selection rules until all the cleaning areas The block is all cleaned up.
另外，在清扫的过程中有可能会出现扫地机器人需要回充的情况，因此，在本申请实施例中，若所述任务指令为回充指令，则根据所述扫地机器人当前的位置确定回充路线，驱动所述扫地机器人完成回充。In addition, it is possible that the sweeping robot needs to be recharged during the cleaning process. Therefore, in the embodiment of the present application, if the task instruction is a recharge instruction, the recharge is determined according to the current position of the sweeping robot. route to drive the sweeping robot to complete recharging.
由于在实际应用中，存在定区清扫或定点清扫的任务模式，也就是说，需要清扫用户所指定的区域，因此，在本申请实施例中，用户可直接通过扫地机器人的区域接收按键输入用户想要指定清扫的区域，扫地机器人将用户所指定清扫的区域存储到清扫区域列表内，也就是说，扫地机器人可接收用户输入的清扫区域的信息，将所述清扫区域的信息记录到清扫区域列表内，后续，若所述清扫指令为定区清扫指令或定点清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置，若是，则将预先记录的第一清扫位置作为第二清扫位置，若否，则将扫地机器人当前的位置作为第二清扫位置，查询清扫区域列表，获取清扫区域的信息，依据所述第二清扫位置，驱动所述扫地机器人在相应的清扫区域内完成清扫。Since in practical applications, there is a task mode of fixed-area cleaning or fixed-point cleaning, that is to say, the area designated by the user needs to be cleaned. Therefore, in the embodiment of the present application, the user can directly receive the user input through the area of the sweeping robot. If you want to specify the cleaning area, the sweeping robot stores the cleaning area specified by the user in the cleaning area list, that is to say, the sweeping robot can receive the information of the cleaning area input by the user, and record the information of the cleaning area in the cleaning area In the list, subsequently, if the cleaning instruction is a fixed-area cleaning instruction or a fixed-point cleaning instruction, it is judged whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot, and if so, the pre-recorded first cleaning position position as the second cleaning position, if not, then use the current position of the sweeping robot as the second cleaning position, query the cleaning area list, obtain the information of the cleaning area, and drive the sweeping robot at the corresponding cleaning position according to the second cleaning position. Complete cleaning within the cleaning area.
通过上述方法，通过重新定位扫地机器人当前的位置，并判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置的方式，无论使用什么样的任务模式，都可以避免对已清扫过的区域进行重复清扫。Through the above method, by relocating the current position of the sweeping robot and judging whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot, no matter what task mode is used, it is possible to avoid the cleaning of the cleaning robot. Repeated cleaning of the area.
为了能够准确的阐述本发明的实施过程，本申请实施例结合图2所示的装置来阐述本发明的实施过程。In order to accurately describe the implementation process of the present invention, the embodiment of the present application is combined with the device shown in FIG. 2 to illustrate the implementation process of the present invention.
图2所示的装置包括：任务模式设置模块201、重定位模块202、状态记录模块203和清扫模块204；The device shown in Figure 2 includes: a task
所述任务模式设置模块201内包含了五种任务模式单元以及五种任务模式单元对应的操作按键，分别为：断点清扫单元2011的开始按键；回充单元2012的开始按键、暂停按键和低电量按键；定点清扫单元2013的开始按键、暂停按键和继续按键；定区清扫单元2014的开始按键、暂停按键和继续按键；全局清扫单元2015的开始按键、暂停按键和继续按键，另外，还包含区域接收单元2016，用于接收用户想要指定清扫的区域。The task
当所述任务模式设置模块201接收到用户输入的任务指令时，如，断点清扫开始按键或回充开始按键和低电量按键或定点清扫开始按键和继续按键或定区清扫开始按键和继续按键或全局清扫开始按键和继续按键，需要将所接收到的任务指令发送给所述重定位模块202，所述重定位模块202重新定位扫地机器人当前的位置，并将所定位扫地机器人当前的位置发送给所述清扫模块204完成清扫任务。When the task
所述清扫模块204包括：状态恢复单元2041、区域设置单元2042、重校验单元2043、区块清扫单元2044、回充单元2045和脱困单元2046。The cleaning module 204 includes: a
所述状态恢复单元2041，用于判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置，若是，则将预先记录的第一清扫位置作为第二清扫位置，若否，则将扫地机器人当前的位置作为第二清扫位置；The
所述区块清扫单元2044，用于根据预设的清扫区块选取规则，选取清扫区块，移动所述扫地机器人到所述清扫区块所在的位置，清扫所述清扫区块，直到完成所有区块的清扫。The
所述区域设置单元2042，用于接收用户输入的清扫区域的信息，将所述清扫区域的信息记录到清扫区域列表内；The
所述回充单元2045，用于根据所述扫地机器人当前的位置确定回充路线，驱动所述扫地机器人完成回充；The
所述脱困单元2046，用于激活扫地机器人执行清扫任务；The
所述重校验单元2043，用于重新校验第二清扫位置。The
当所述任务模式设置模块201接收到用户输入的任务指令时，如，断点清扫暂停按键或回充低电量按键或定点清扫暂停按键或定区清扫暂停按键或全局清扫暂停按键，需要将所接收到的任务指令发送给所述状态记录模块203，所述状态记录模块203记录扫地机器人的第一清扫位置。When the task
另外，本申请实施例提供了另一种用于扫地机器人的任务调度的装置，如图3所示，该装置包括：In addition, the embodiment of the present application provides another device for task scheduling of sweeping robots, as shown in Figure 3, the device includes:
获取模块301，用于获取用户输入的任务指令；An
重定位模块302，用于重新定位扫地机器人当前的位置；The
状态恢复模块303，用于若所述任务指令为清扫指令，则判断是否存在状态记录模块预先记录的与扫地机器人当前的位置对应的第一清扫位置，若是，则将预先记录的第一清扫位置作为第二清扫位置，若否，则将扫地机器人当前的位置作为第二清扫位置；The
清扫模块304，用于依据所述第二清扫位置驱动所述扫地机器人完成清扫。The
所述清扫指令包括：全局清扫指令、定区清扫指令、定点清扫指令或断点续扫指令。The cleaning instructions include: a global cleaning instruction, a fixed-area cleaning instruction, a fixed-point cleaning instruction, or a intermittent cleaning instruction.
还包括：Also includes:
回充模块305，用于若所述任务指令为回充指令，则根据所述扫地机器人当前的位置确定回充路线，驱动所述扫地机器人完成回充。The
还包括：Also includes:
状态记录模块306，用于获取用户输入的暂停清扫指令，记录扫地机器人的第一清扫位置。The
所述清扫模块304具体用于，移动所述扫地机器人到所述第二清扫位置，根据预设的清扫区块选取规则，选取清扫区块，移动所述扫地机器人到所述清扫区块所在的位置，清扫所述清扫区块，直到完成所有区块的清扫。The
还包括：Also includes:
区域记录模块307，在获取模块301获取用户输入的任务指令之前，接收用户输入的清扫区域的信息，将所述清扫区域的信息记录到清扫区域列表内，若所述清扫指令为定区清扫指令或定点清扫指令，所述清扫模块404具体用于，查询清扫区域列表，获取清扫区域的信息，依据所述第二清扫位置，驱动所述扫地机器人在相应的清扫区域内完成清扫。The
本申请实施例还提供了一种非易失性计算机存储介质，所述计算机存储介质存储有至少一可执行指令，该计算机可执行指令可执行上述任意方法实施例中的用于扫地机器人的任务调度方法。The embodiment of the present application also provides a non-volatile computer storage medium, the computer storage medium stores at least one executable instruction, and the computer executable instruction can perform the tasks for the sweeping robot in any of the above method embodiments Scheduling method.
图4示出了根据本发明实施例的一种扫地机器人的结构示意图，本发明具体实施例并不对扫地机器人的具体实现做限定。Fig. 4 shows a schematic structural diagram of a sweeping robot according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the sweeping robot.
如图4所示，该扫地机器人可以包括：处理器(processor)402、通信接口(Communications Interface)404、存储器(memory)406、以及通信总线408。As shown in FIG. 4 , the cleaning robot may include: a processor (processor) 402 , a communication interface (Communications Interface) 404 , a memory (memory) 406 , and a communication bus 408 .
其中：in:
处理器402、通信接口404、以及存储器406通过通信总线408完成相互间的通信。The processor 402 , the
通信接口404，用于与其它设备比如客户端或其它服务器等的网元通信。The
处理器402，用于执行程序410，具体可以执行上述用于扫地机器人的任务调度方法实施例中的相关步骤。The processor 402 is configured to execute the
具体地，程序410可以包括程序代码，该程序代码包括计算机操作指令。Specifically, the
处理器402可能是中央处理器CPU，或者是特定集成电路ASIC(ApplicationSpecific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。扫地机器人包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个ASIC。The processor 402 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the sweeping robot may be of the same type, such as one or more CPUs, or different types of processors, such as one or more CPUs and one or more ASICs.
存储器406，用于存放程序410。存储器406可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。The memory 406 is used to store the
程序410具体可以用于使得处理器402执行以下操作：The
获取用户输入的任务指令；Obtain the task instructions entered by the user;
重新定位扫地机器人当前的位置；Reposition the current position of the sweeping robot;
若所述任务指令为清扫指令，则判断是否存在预先记录的与扫地机器人当前的位置对应的第一清扫位置；If the task instruction is a cleaning instruction, it is judged whether there is a pre-recorded first cleaning position corresponding to the current position of the sweeping robot;
若是，则将预先记录的第一清扫位置作为第二清扫位置；If so, then use the pre-recorded first cleaning position as the second cleaning position;
若否，则将扫地机器人当前的位置作为第二清扫位置；If not, use the current position of the sweeping robot as the second cleaning position;
依据所述第二清扫位置驱动所述扫地机器人完成清扫。The sweeping robot is driven to complete cleaning according to the second cleaning position.
可选地，程序410还可以用于使得处理器402执行以下操作：Optionally, the
所述清扫指令包括：全局清扫指令、定区清扫指令、定点清扫指令或断点续扫指令。The cleaning instructions include: a global cleaning instruction, a fixed-area cleaning instruction, a fixed-point cleaning instruction, or a intermittent cleaning instruction.
可选地，程序410还可以用于使得处理器402执行以下操作：Optionally, the
若所述任务指令为回充指令，则根据所述扫地机器人当前的位置确定回充路线，驱动所述扫地机器人完成回充。If the task instruction is a recharging instruction, a recharging route is determined according to the current position of the sweeping robot, and the sweeping robot is driven to complete recharging.
可选地，程序410还可以用于使得处理器402执行以下操作：Optionally, the
获取用户输入的暂停清扫指令；Obtain the pause cleaning command input by the user;
记录扫地机器人的第一清扫位置。Record the first cleaning position of the sweeping robot.
可选地，程序410还可以用于使得处理器402执行以下操作：Optionally, the
移动所述扫地机器人到所述第二清扫位置；moving the sweeping robot to the second cleaning position;
根据预设的清扫区块选取规则，选取清扫区块；Select the cleaning block according to the preset cleaning block selection rules;
移动所述扫地机器人到所述清扫区块所在的位置；Move the sweeping robot to the location where the cleaning block is located;
清扫所述清扫区块，直到完成所有区块的清扫。The cleaning blocks are cleaned until all blocks are cleaned.
可选地，程序410还可以用于使得处理器402执行以下操作：Optionally, the
在获取用户输入的任务指令之前，接收用户输入的清扫区域的信息；Before obtaining the task instruction input by the user, receive the information of the cleaning area input by the user;
将所述清扫区域的信息记录到清扫区域列表内；Record the information of the cleaning area into the list of cleaning areas;
若所述清扫指令为定区清扫指令或定点清扫指令，查询清扫区域列表，获取清扫区域的信息；If the cleaning instruction is a fixed-area cleaning instruction or a fixed-point cleaning instruction, query the cleaning area list to obtain the information of the cleaning area;
依据所述第二清扫位置，驱动所述扫地机器人在相应的清扫区域内完成清扫。According to the second cleaning position, the cleaning robot is driven to complete cleaning in a corresponding cleaning area.
在此提供的算法和显示不与任何特定计算机、虚拟系统或者其它设备固有相关。各种通用系统也可以与基于在此的示教一起使用。根据上面的描述，构造这类系统所要求的结构是显而易见的。此外，本发明也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本发明的内容，并且上面对特定语言所做的描述是为了披露本发明的最佳实施方式。The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other device. Various generic systems can also be used with the teachings based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not specific to any particular programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of specific languages is for disclosing the best mode of the present invention.
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.
类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。Furthermore, those skilled in the art will understand that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的用于扫地机器人的任务调度设备中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of some or all of the components in the task scheduling device for a sweeping robot according to an embodiment of the present invention Function. The present invention can also be implemented as an apparatus or an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.
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