CN118258376A - Recharging navigation method and device for sweeping robot - Google Patents
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- 238000010408 sweeping Methods 0.000 title claims abstract description 304
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000004140 cleaning Methods 0.000 claims abstract description 109
- 238000012544 monitoring process Methods 0.000 claims abstract description 61
- 238000012546 transfer Methods 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 11
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- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 3
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 3
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 3
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
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Abstract
本申请提供一种扫地机器人的回充导航方法与装置，属于智能设备控制技术领域，所述方法包括：在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电，能够利用智能家用摄像头辅助扫地机器人进行回充导航，进而最大限度提高低端扫地机器人的回充效率。
The present application provides a recharging navigation method and device for a sweeping robot, which belongs to the field of intelligent device control technology. The method includes: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; when the current position of the sweeping robot is within the monitoring range of a smart home camera, controlling the smart home camera to collect recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging. The smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.
Description
技术领域Technical Field
本申请涉及智能设备控制技术领域，尤其涉及一种扫地机器人的回充导航方法和装置。The present application relates to the field of intelligent device control technology, and in particular to a recharging navigation method and device for a sweeping robot.
背景技术Background technique
随着智能家居行业的高速发展，扫地机器人作为智能家居的一种典型应用，通过内置的传感器、算法和导航系统，能够自动在房间内完成地板清理工作，将人从繁重的家务劳动中解放出来。With the rapid development of the smart home industry, sweeping robots, as a typical application of smart homes, can automatically complete floor cleaning tasks in the room through built-in sensors, algorithms and navigation systems, freeing people from heavy housework.
现有的扫地机器人在完成清扫工作或电量不足时能够自动回到充电座进行充电(即回充)，但由于成本的制约，市面上的低端扫地机器人通常无法配备较先进的传感器(例如视觉传感器)，仅能依靠碰撞传感器和红外传感器进行障碍物检测和避障操作，导致扫地机器人在回充过程中无法高效规划合理的回充路线，进而导致扫地机器人的回充效率过低。Existing sweeping robots can automatically return to the charging base for charging (i.e., recharging) after completing the cleaning task or when the battery is low. However, due to cost constraints, low-end sweeping robots on the market are usually not equipped with more advanced sensors (such as visual sensors) and can only rely on collision sensors and infrared sensors for obstacle detection and avoidance operations. As a result, the sweeping robots are unable to efficiently plan a reasonable recharging route during the recharging process, which in turn leads to the low recharging efficiency of the sweeping robots.
发明内容Summary of the invention
本申请提供一种扫地机器人的回充导航方法和装置，以最大限度提高低端扫地机器人的回充效率。The present application provides a recharging navigation method and device for a sweeping robot to maximize the recharging efficiency of a low-end sweeping robot.
本申请提供一种扫地机器人的回充导航方法，所述方法包括：The present application provides a recharging navigation method for a sweeping robot, the method comprising:
在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；When it is determined that recharging is required, the current position of the sweeping robot is determined based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot;
在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；When the current position of the sweeping robot is within the monitoring range of the smart home camera, the smart home camera is controlled to collect a recharging-related image of the sweeping robot, and a recharging route of the sweeping robot is determined based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging;
其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
根据本申请提供的一种扫地机器人的回充导航方法，所述方法还包括：According to a recharging navigation method of a sweeping robot provided by the present application, the method further includes:
在扫地机器人的当前位置处于智能家用摄像头的监控范围外的情况下，基于扫地机器人的当前位置及智能家用摄像头的监控范围确定预备回充路线；When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera;
基于预备回充路线控制扫地机器人进入智能家用摄像头的监控范围。Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera.
根据本申请提供的一种扫地机器人的回充导航方法，所述基于扫地机器人的当前位置及智能家用摄像头的监控范围确定预备回充路线，具体包括：According to a recharging navigation method for a sweeping robot provided in the present application, the method of determining a preparatory recharging route based on the current position of the sweeping robot and the monitoring range of a smart home camera specifically includes:
基于扫地机器人的当前位置及智能家用摄像头的监控范围确定当前位置与智能家用摄像头的监控范围的最短路线；Determine the shortest route between the current position and the monitoring range of the smart home camera based on the current position of the sweeping robot and the monitoring range of the smart home camera;
基于预设户型图确定当前位置与智能家用摄像头的监控范围的最短路线上是否存在墙体，若否，将所述最短路线作为预备回充路线；若是，基于所述墙体范围确定绕行路线，并将所述绕行路线作为预备回充路线。Based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.
根据本申请提供的一种扫地机器人的回充导航方法，所述控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线，具体包括：According to a recharging navigation method for a sweeping robot provided in the present application, the smart home camera is controlled to collect recharging-related images of the sweeping robot, and a recharging route of the sweeping robot is determined based on the recharging-related images of the sweeping robot, specifically including:
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的安装位置，确定智能家用摄像头的初始拍摄姿态并基于所述初始拍摄姿态采集扫地机器人的第一回充关联图像；所述扫地机器人位于所述第一回充关联图像的最上端的中间位置；Based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, an initial shooting posture of the smart home camera is determined, and a first recharging associated image of the sweeping robot is acquired based on the initial shooting posture; the sweeping robot is located at the middle position of the top end of the first recharging associated image;
基于所述第一回充关联图像确定扫地机器人的初始回充路线，并控制扫地机器人按照所述初始回充路线回程；Determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route;
在控制扫地机器人按照所述初始回充路线回程的过程中持续采集扫地机器人的回充关联图像序列，并基于所述回充关联图像序列修正所述初始回充路线。In the process of controlling the cleaning robot to return along the initial recharging route, a recharging-related image sequence of the cleaning robot is continuously collected, and the initial recharging route is corrected based on the recharging-related image sequence.
根据本申请提供的一种扫地机器人的回充导航方法，所述基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的安装位置，确定智能家用摄像头的初始拍摄姿态，具体包括：According to a recharging navigation method for a sweeping robot provided in the present application, the initial shooting posture of the smart home camera is determined based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, specifically including:
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的水平安装位置，确定智能家用摄像头的初始水平拍摄角度；Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera;
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的垂直安装高度，确定智能家用摄像头的初始俯仰拍摄角度。Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.
根据本申请提供的一种扫地机器人的回充导航方法，所述基于所述第一回充关联图像确定扫地机器人的初始回充路线，具体包括：According to a recharging navigation method for a sweeping robot provided by the present application, determining an initial recharging route of the sweeping robot based on the first recharging associated image specifically includes:
在所述第一回充关联图像中仅包括扫地机器人的情况下，基于扫地机器人的当前位置和当前清扫任务的起点确定所述第一回充关联图像对应区域中的回充中转点，基于所述第一回充关联图像确定扫地机器人的当前位置和所述回充中转点之间的第一初始回充路线段，并将所述回充中转点与当前清扫任务的起点构成的线段作为第二初始回充路线段；In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment;
在所述第一回充关联图像中同时含有扫地机器人和充电座的情况下，基于所述第一回充关联图像中扫地机器人与充电座的相对位置确定扫地机器人的初始回充路线。When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.
根据本申请提供的一种扫地机器人的回充导航方法，所述第一回充关联图像对应区域中的回充中转点为与当前清扫任务的起点直线距离最短的点。According to a recharging navigation method for a sweeping robot provided in the present application, the recharging transfer point in the corresponding area of the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task.
本申请还提供一种扫地机器人的回充导航装置，所述装置包括：The present application also provides a recharging navigation device for a sweeping robot, the device comprising:
回充起点确定模块，用于在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；A recharging starting point determination module is used to determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is determined that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot;
回充导航模块，用于在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；A recharging navigation module, which is used to control the smart home camera to collect recharging-related images of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determine the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return trip and starts charging;
其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述扫地机器人的回充导航方法的步骤。The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the recharging navigation method of the sweeping robot as described in any one of the above are implemented.
本申请还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述扫地机器人的回充导航方法的步骤。The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for recharging and navigating a sweeping robot.
本申请提供的扫地机器人的回充导航方法与装置，通过在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像，能够利用智能家用摄像头辅助扫地机器人进行回充导航，进而最大限度提高低端扫地机器人的回充效率。The recharging navigation method and device for a sweeping robot provided in the present application determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is judged that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, the smart home camera is controlled to collect recharging-related images of the sweeping robot, and the recharging route of the sweeping robot is determined based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein the charging base of the sweeping robot is within the monitoring range of the smart home camera, the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base, and the smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
图1是本申请提供的扫地机器人的回充导航方法的流程示意图；FIG1 is a schematic diagram of a flow chart of a recharging navigation method for a sweeping robot provided in the present application;
图2是本申请提供的预备回充路线的确定流程示意图；FIG2 is a schematic diagram of a process for determining a preparatory recharging route provided by the present application;
图3是本申请提供的回充路线的确定流程示意图；FIG3 is a schematic diagram of a flow chart of determining a recharging route provided by the present application;
图4是本申请提供的扫地机器人的回充导航装置的结构示意图；FIG4 is a schematic diagram of the structure of the recharging navigation device of the sweeping robot provided by the present application;
图5是本申请提供的电子设备的结构示意图。FIG5 is a schematic diagram of the structure of an electronic device provided by the present application.
具体实施方式Detailed ways
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
图1为本申请提供的扫地机器人的回充导航方法的流程示意图，如图1所示，该方法包括：FIG1 is a flow chart of a recharging navigation method for a sweeping robot provided in the present application. As shown in FIG1 , the method includes:
步骤101，在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置。Step 101, when it is determined that recharging is needed, the current position of the sweeping robot is determined based on the starting point of the current cleaning task, the historical route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot.
具体的，基于前述内容可知，现有的扫地机器人在完成清扫工作或电量不足时能够自动回到充电座进行充电(即回充)，但由于成本的制约，市面上的低端扫地机器人通常无法配备较先进的传感器(例如视觉传感器)，仅能依靠碰撞传感器和红外传感器进行障碍物检测和避障操作，导致扫地机器人在回充过程中无法高效规划合理的回充路线，进而导致扫地机器人的回充效率过低。针对该问题，本申请通过研究发现，对于家中配备有扫地机器人的家庭，通常对生活品质的要求较高，这些家庭中的部分家庭出于对防盗、宠物或婴儿安全监控的考虑，通常会在客厅中进一步配备智能家用摄像头，基于此，本申请提出了一种基于智能家用摄像头协同的扫地机器人的回充导航方法，能够通过调用智能家用摄像头充当扫地机器人的视觉传感器，进而高效规划扫地机器人的回充路线，提高低端扫地机器人的回充效率。Specifically, based on the above content, it can be known that the existing sweeping robots can automatically return to the charging station for charging (i.e., recharging) after completing the cleaning work or when the battery is low. However, due to cost constraints, low-end sweeping robots on the market are usually not equipped with more advanced sensors (such as visual sensors), and can only rely on collision sensors and infrared sensors for obstacle detection and obstacle avoidance operations, resulting in the sweeping robot being unable to efficiently plan a reasonable recharging route during the recharging process, thereby resulting in the sweeping robot's recharging efficiency being too low. In response to this problem, the present application has found through research that for families equipped with sweeping robots at home, they usually have higher requirements for the quality of life. Some of these families usually further equip the living room with smart home cameras for anti-theft, pet or baby safety monitoring considerations. Based on this, the present application proposes a recharging navigation method for a sweeping robot based on the collaboration of smart home cameras, which can call the smart home camera to act as a visual sensor of the sweeping robot, and then efficiently plan the recharging route of the sweeping robot, thereby improving the recharging efficiency of the low-end sweeping robot.
更具体的，在判断需要进行回充的情况下，本申请实施例首先基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置。可以理解的是，本申请实施例的扫地机器人仅需用户预先设置简单的户型图即可实现自动清扫，所述预设户型图为二维平面图，其中仅需简单标注房屋的尺寸、墙体的位置、充电座位置、各区域用途(例如客厅、餐厅、卫生间、厨房、卧室)等信息，其具体设置过程可以通过扫地机器人对应的控制APP导入户型图的方式实现，也可以通过控制APP中的预设户型模板进行调整，本申请实施例对此不作具体限定。值得注意的是，由于扫地机器人在执行完清扫任务或电量不足时均会返回充电座进行充电，因此，每次清扫任务的起点均为充电座位置，基于此，本申请实施例通过在预设户型图中标记充电座位置即可快速确定当前清扫任务的起点。同时，本申请实施例的扫地机器人会在清扫过程中记录历史行进路线(具体可以通过行进过程中的角度和速度在预设户型图中记录历史行进路线)，基于此，在判断需要进行回充的情况下，即可基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置(即回充起点位置)。More specifically, when it is determined that recharging is required, the embodiment of the present application first determines the current position of the sweeping robot based on the starting point of the current cleaning task, the historical route and the preset floor plan. It can be understood that the sweeping robot of the embodiment of the present application only needs the user to pre-set a simple floor plan to achieve automatic cleaning. The preset floor plan is a two-dimensional plan, which only needs to simply mark the size of the house, the location of the wall, the location of the charging seat, the use of each area (such as living room, dining room, bathroom, kitchen, bedroom) and other information. The specific setting process can be achieved by importing the floor plan through the control APP corresponding to the sweeping robot, or it can be adjusted through the preset floor plan template in the control APP. The embodiment of the present application does not make specific restrictions on this. It is worth noting that since the sweeping robot will return to the charging seat for charging after completing the cleaning task or when the battery is low, the starting point of each cleaning task is the charging seat position. Based on this, the embodiment of the present application can quickly determine the starting point of the current cleaning task by marking the charging seat position in the preset floor plan. At the same time, the sweeping robot of the embodiment of the present application will record the historical route during the cleaning process (specifically, the historical route can be recorded in a preset floor plan through the angle and speed during the movement). Based on this, when it is determined that recharging is needed, the current position of the sweeping robot (i.e., the recharging starting point position) can be determined based on the starting point of the current cleaning task, the historical route and the preset floor plan.
步骤102，在扫地机器人的当前位置处于智能家用摄像头的监控范围(即智能家用摄像头能够监控到的全部范围)内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；Step 102: when the current position of the sweeping robot is within the monitoring range of the smart home camera (i.e., the entire range that the smart home camera can monitor), control the smart home camera to collect a recharging-related image of the sweeping robot, and determine a recharging route of the sweeping robot based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging;
其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
确定了扫地机器人的当前位置之后，即可通过智能家用摄像头进行回充导航协同。具体的，在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，本申请实施直接通过控制智能家用摄像头采集扫地机器人的回充关联图像，即可持续确定扫地机器人周围的环境信息(包括是否存在障碍物及障碍物的尺寸)，进而基于扫地机器人周围的环境信息确定扫地机器人的回充路线并控制扫地机器人回程，直至扫地机器人完成回程并开始充电。值得注意的是，由于扫地机器人的充电座通常设置于客餐厅区域，而智能家用摄像头通常也设置于客餐厅区域，因此，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，但由于不同充电节点(即需要充电的节点)扫地机器人与充电座的相对位置不同且智能家用摄像头同一拍摄姿态对应的监控范围有限，因此有时候智能家用摄像头并不能同时捕捉扫地机器人及充电座，仅当扫地机器人及充电座距离足够近时才能同时捕捉扫地机器人及充电座。因此，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。After the current position of the sweeping robot is determined, the recharging navigation coordination can be performed through the smart home camera. Specifically, when the current position of the sweeping robot is within the monitoring range of the smart home camera, the implementation of this application directly controls the smart home camera to collect the recharging-related images of the sweeping robot, and can continuously determine the environmental information around the sweeping robot (including whether there are obstacles and the size of the obstacles), and then determine the recharging route of the sweeping robot based on the environmental information around the sweeping robot and control the return of the sweeping robot until the sweeping robot completes the return and starts charging. It is worth noting that since the charging seat of the sweeping robot is usually set in the living and dining room area, and the smart home camera is usually also set in the living and dining room area, the charging seat of the sweeping robot is within the monitoring range of the smart home camera, but because the relative positions of the sweeping robot and the charging seat are different at different charging nodes (i.e., nodes that need to be charged) and the monitoring range corresponding to the same shooting posture of the smart home camera is limited, sometimes the smart home camera cannot capture the sweeping robot and the charging seat at the same time. The sweeping robot and the charging seat can only be captured at the same time when the distance between the sweeping robot and the charging seat is close enough. Therefore, the recharging-related images of the cleaning robot include images containing only the cleaning robot and images containing both the cleaning robot and the charging stand.
值得注意的是，扫地机器人的当前位置也可能处于智能家用摄像头的监控范围外，因此，所述方法还包括：It is worth noting that the current position of the sweeping robot may also be outside the monitoring range of the smart home camera, so the method further includes:
在扫地机器人的当前位置处于智能家用摄像头的监控范围外的情况下，基于扫地机器人的当前位置及智能家用摄像头的监控范围确定预备回充路线；When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera;
基于预备回充路线控制扫地机器人进入智能家用摄像头的监控范围。Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera.
图2是本申请提供的预备回充路线的确定流程示意图，如图2所示，所述基于扫地机器人的当前位置及智能家用摄像头的监控范围确定预备回充路线，具体包括：FIG. 2 is a schematic diagram of a process for determining a preparatory recharging route provided by the present application. As shown in FIG. 2 , determining the preparatory recharging route based on the current position of the sweeping robot and the monitoring range of the smart home camera specifically includes:
步骤201，基于扫地机器人的当前位置及智能家用摄像头的监控范围确定当前位置与智能家用摄像头的监控范围的最短路线；Step 201, based on the current position of the sweeping robot and the monitoring range of the smart home camera, determine the shortest route between the current position and the monitoring range of the smart home camera;
步骤202，基于预设户型图确定当前位置与智能家用摄像头的监控范围的最短路线上是否存在墙体，若否，将所述最短路线作为预备回充路线；若是，基于所述墙体范围确定绕行路线，并将所述绕行路线作为预备回充路线。Step 202, based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.
可以理解的是，在当前位置与智能家用摄像头的监控范围的最短路线上存在墙体的情况下，说明扫地机器人位于房间或卫生间等存在墙体的区域，因此，可以基于所述墙体范围确定该区域的出口(即门)，进而确定绕行路线。值得注意的是，所述绕行路线的选择以效率最高为目标，基于此，能够保证扫地机器人的回充效率最大化。基于预备回充路线控制扫地机器人刚进入智能家用摄像头的监控范围的时刻对应的扫地机器人位置即作为前述回充起点位置。It is understandable that when there is a wall on the shortest route between the current position and the monitoring range of the smart home camera, it means that the sweeping robot is located in an area with a wall such as a room or bathroom. Therefore, the exit (i.e., door) of the area can be determined based on the wall range, and then the detour route can be determined. It is worth noting that the selection of the detour route is aimed at the highest efficiency, based on which the recharging efficiency of the sweeping robot can be maximized. The position of the sweeping robot corresponding to the moment when the sweeping robot just enters the monitoring range of the smart home camera based on the prepared recharging route is used as the aforementioned recharging starting point.
进一步的，图3是本申请提供的回充路线的确定流程示意图，如图3所示，所述控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线，具体包括：Further, FIG3 is a schematic diagram of a flow chart of determining a recharging route provided by the present application. As shown in FIG3, the control of the smart home camera to collect recharging-related images of the sweeping robot and determine the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot specifically includes:
步骤1021，基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的安装位置，确定智能家用摄像头的初始拍摄姿态并基于所述初始拍摄姿态采集扫地机器人的第一回充关联图像；所述扫地机器人位于所述第一回充关联图像的最上端的中间位置；Step 1021: based on the current position of the cleaning robot, the starting point of the current cleaning task and the installation position of the smart home camera, determine the initial shooting posture of the smart home camera and collect a first recharging associated image of the cleaning robot based on the initial shooting posture; the cleaning robot is located at the middle position of the top end of the first recharging associated image;
步骤1022，基于所述第一回充关联图像确定扫地机器人的初始回充路线，并控制扫地机器人按照所述初始回充路线回程；Step 1022, determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route;
步骤1023，在控制扫地机器人按照所述初始回充路线回程的过程中持续采集扫地机器人的回充关联图像序列，并基于所述回充关联图像序列修正所述初始回充路线。Step 1023: continuously collect a recharging-related image sequence of the cleaning robot while controlling the cleaning robot to return along the initial recharging route, and correct the initial recharging route based on the recharging-related image sequence.
其中，所述基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的安装位置，确定智能家用摄像头的初始拍摄姿态，具体包括：The determining of the initial shooting posture of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera specifically includes:
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的水平安装位置，确定智能家用摄像头的初始水平拍摄角度；Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera;
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的垂直安装高度，确定智能家用摄像头的初始俯仰拍摄角度。Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.
可以理解的是，由于智能家用摄像头的拍摄范围有限，因此，在确定了扫地机器人的当前位置和当前清扫任务的起点(即充电座位置)之后，需要基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的水平安装位置，确定智能家用摄像头的初始水平拍摄角度和初始俯仰拍摄角度(即初始拍摄姿态)，以便拍摄第一回充关联图像，进而通过第一回充关联图像捕捉机器人周围的环境信息并进行初始回充路线规划。值得注意的是，所述扫地机器人位于所述第一回充关联图像的最上端的中间位置，基于此，能够确保获取尽可能多的环境信息以用于回充路线规划。基于此，所述基于所述第一回充关联图像确定扫地机器人的初始回充路线，具体包括：It is understandable that, due to the limited shooting range of the smart home camera, after determining the current position of the sweeping robot and the starting point of the current cleaning task (i.e., the charging station position), it is necessary to determine the initial horizontal shooting angle and initial pitch shooting angle (i.e., initial shooting posture) of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera, so as to shoot the first recharge-related image, and then capture the environmental information around the robot through the first recharge-related image and perform initial recharge route planning. It is worth noting that the sweeping robot is located in the middle position of the top of the first recharge-related image, based on which, it can ensure that as much environmental information as possible is obtained for recharge route planning. Based on this, the determination of the initial recharge route of the sweeping robot based on the first recharge-related image specifically includes:
在所述第一回充关联图像中仅包括扫地机器人的情况下，基于扫地机器人的当前位置和当前清扫任务的起点确定所述第一回充关联图像对应区域中的回充中转点，基于所述第一回充关联图像确定扫地机器人的当前位置和所述回充中转点之间的第一初始回充路线段，并将所述回充中转点与当前清扫任务的起点构成的线段作为第二初始回充路线段；In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment;
在所述第一回充关联图像中同时含有扫地机器人和充电座的情况下，基于所述第一回充关联图像中扫地机器人与充电座的相对位置确定扫地机器人的初始回充路线。When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.
基于前述内容可知，由于不同充电节点(即需要充电的节点)扫地机器人与充电座的相对位置不同且智能家用摄像头同一拍摄姿态对应的监控范围有限，因此有时候智能家用摄像头并不能同时捕捉扫地机器人及充电座，仅当扫地机器人及充电座距离足够近时才能同时捕捉扫地机器人及充电座。因此，扫地机器人的回充关联图像包括仅含有扫地机器人的图像(扫地机器人与充电座距离远)和同时含有扫地机器人和充电座的图像(扫地机器人与充电座距离近)。基于此，在所述第一回充关联图像中仅包括扫地机器人的情况下，本申请实施例基于扫地机器人的当前位置和当前清扫任务的起点确定所述第一回充关联图像对应区域中的回充中转点，基于所述第一回充关联图像确定扫地机器人的当前位置和所述回充中转点之间的第一初始回充路线段，并将所述回充中转点与当前清扫任务的起点构成的线段作为第二初始回充路线段(所述第一初始回充路线段和第二初始回充路线段共同构成初始回充路线)。值得注意的是，所述第一回充关联图像对应区域中的回充中转点为与当前清扫任务的起点直线距离最短的点，基于此，能够保证初始回充路线的效率最大化。可以理解的是，在所述第一回充关联图像中同时含有扫地机器人和充电座的情况下，直接基于所述第一回充关联图像中扫地机器人与充电座的相对位置即可确定扫地机器人的初始回充路线。Based on the above content, it can be known that due to the different relative positions of the sweeping robot and the charging seat at different charging nodes (i.e., the nodes that need to be charged) and the limited monitoring range corresponding to the same shooting posture of the smart home camera, sometimes the smart home camera cannot capture the sweeping robot and the charging seat at the same time, and can only capture the sweeping robot and the charging seat at the same time when the sweeping robot and the charging seat are close enough. Therefore, the recharging associated image of the sweeping robot includes an image containing only the sweeping robot (the sweeping robot is far from the charging seat) and an image containing both the sweeping robot and the charging seat (the sweeping robot is close to the charging seat). Based on this, in the case where the first recharging associated image only includes the sweeping robot, the embodiment of the present application determines the recharging transfer point in the corresponding area of the first recharging associated image based on the current position of the sweeping robot and the starting point of the current cleaning task, determines the first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point based on the first recharging associated image, and uses the line segment formed by the recharging transfer point and the starting point of the current cleaning task as the second initial recharging route segment (the first initial recharging route segment and the second initial recharging route segment together constitute the initial recharging route). It is worth noting that the recharging transfer point in the corresponding area of the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task, based on which the efficiency of the initial recharging route can be maximized. It is understandable that when the first recharging associated image contains both the sweeping robot and the charging base, the initial recharging route of the sweeping robot can be determined directly based on the relative position of the sweeping robot and the charging base in the first recharging associated image.
尤其需要注意的是，由于家中有人的情况下，障碍物的情况是动态变化的，因此，即使在所述第一回充关联图像中同时含有扫地机器人和充电座的情况下规划的初始回充路线也可能变的不可用，基于此，本申请实施例在控制扫地机器人按照所述初始回充路线回程的过程中会持续采集扫地机器人的回充关联图像序列，并基于所述回充关联图像序列修正所述初始回充路线，基于此，能够进行回充路线的动态调节，最大限度保证扫地机器人的回充效率。It is particularly important to note that since the situation of obstacles changes dynamically when there are people at home, the initial recharging route planned may become unavailable even if the first recharging-related image contains both the sweeping robot and the charging base. Based on this, the embodiment of the present application continuously collects the recharging-related image sequence of the sweeping robot while controlling the sweeping robot to return along the initial recharging route, and corrects the initial recharging route based on the recharging-related image sequence. Based on this, the recharging route can be dynamically adjusted to maximize the recharging efficiency of the sweeping robot.
本申请实施例提供的方法，通过在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像，能够利用智能家用摄像头辅助扫地机器人进行回充导航，进而最大限度提高低端扫地机器人的回充效率。The method provided in the embodiment of the present application determines the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is judged that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, the smart home camera is controlled to collect recharging-related images of the sweeping robot, and the recharging route of the sweeping robot is determined based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein the charging base of the sweeping robot is within the monitoring range of the smart home camera, the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base, and the smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.
下面对本申请提供的扫地机器人的回充导航装置进行描述，下文描述的扫地机器人的回充导航装置与上文描述的扫地机器人的回充导航方法可相互对应参照。The recharging navigation device of the sweeping robot provided in the present application is described below. The recharging navigation device of the sweeping robot described below and the recharging navigation method of the sweeping robot described above can be referenced to each other.
基于上述任一实施例，图4是本申请提供的扫地机器人的回充导航装置的结构示意图，如图4所示，该装置包括：Based on any of the above embodiments, FIG4 is a schematic diagram of the structure of a recharging navigation device for a sweeping robot provided by the present application. As shown in FIG4 , the device includes:
回充起点确定模块301，用于在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；The recharging starting point determination module 301 is used to determine the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is determined that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot;
回充导航模块302，用于在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；The recharging navigation module 302 is used to control the smart home camera to collect the recharging-related image of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determine the recharging route of the sweeping robot based on the recharging-related image of the sweeping robot until the sweeping robot completes the return trip and starts charging;
其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。Among them, the charging base of the sweeping robot is located within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
本申请实施例提供的装置，通过回充起点确定模块301在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；回充导航模块302在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像，能够利用智能家用摄像头辅助扫地机器人进行回充导航，进而最大限度提高低端扫地机器人的回充效率。The device provided by the embodiment of the present application, through the recharging starting point determination module 301, determines the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan when it is judged that recharging is needed; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; the recharging navigation module 302 controls the smart home camera to collect the recharging-related images of the sweeping robot when the current position of the sweeping robot is within the monitoring range of the smart home camera, and determines the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base position of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base, so that the smart home camera can be used to assist the sweeping robot in recharging navigation, thereby maximizing the recharging efficiency of the low-end sweeping robot.
基于上述实施例，所述装置还包括预备回充导航模块，所述预备回充导航模块具体用于执行以下操作：Based on the above embodiment, the device further includes a preparatory recharging navigation module, and the preparatory recharging navigation module is specifically used to perform the following operations:
在扫地机器人的当前位置处于智能家用摄像头的监控范围外的情况下，基于扫地机器人的当前位置及智能家用摄像头的监控范围确定预备回充路线；When the current position of the cleaning robot is outside the monitoring range of the smart home camera, a preliminary recharging route is determined based on the current position of the cleaning robot and the monitoring range of the smart home camera;
基于预备回充路线控制扫地机器人进入智能家用摄像头的监控范围。Based on the prepared recharging route, the sweeping robot is controlled to enter the monitoring range of the smart home camera.
基于上述任一实施例，所述基于扫地机器人的当前位置及智能家用摄像头的监控范围确定预备回充路线，具体包括：Based on any of the above embodiments, determining the preparatory recharging route based on the current position of the sweeping robot and the monitoring range of the smart home camera specifically includes:
基于扫地机器人的当前位置及智能家用摄像头的监控范围确定当前位置与智能家用摄像头的监控范围的最短路线；Determine the shortest route between the current position and the monitoring range of the smart home camera based on the current position of the sweeping robot and the monitoring range of the smart home camera;
基于预设户型图确定当前位置与智能家用摄像头的监控范围的最短路线上是否存在墙体，若否，将所述最短路线作为预备回充路线；若是，基于所述墙体范围确定绕行路线，并将所述绕行路线作为预备回充路线。Based on the preset floor plan, determine whether there is a wall on the shortest route between the current location and the monitoring range of the smart home camera. If not, use the shortest route as a backup recharging route; if so, determine a detour route based on the wall range, and use the detour route as a backup recharging route.
基于上述任一实施例，所述控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线，具体包括：Based on any of the above embodiments, the controlling the smart home camera to collect the recharging-related image of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related image of the sweeping robot, specifically includes:
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的安装位置，确定智能家用摄像头的初始拍摄姿态并基于所述初始拍摄姿态采集扫地机器人的第一回充关联图像；所述扫地机器人位于所述第一回充关联图像的最上端的中间位置；Based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera, an initial shooting posture of the smart home camera is determined, and a first recharging associated image of the sweeping robot is acquired based on the initial shooting posture; the sweeping robot is located at the middle position of the top end of the first recharging associated image;
基于所述第一回充关联图像确定扫地机器人的初始回充路线，并控制扫地机器人按照所述初始回充路线回程；Determining an initial recharging route of the cleaning robot based on the first recharging associated image, and controlling the cleaning robot to return along the initial recharging route;
在控制扫地机器人按照所述初始回充路线回程的过程中持续采集扫地机器人的回充关联图像序列，并基于所述回充关联图像序列修正所述初始回充路线。In the process of controlling the cleaning robot to return along the initial recharging route, a recharging-related image sequence of the cleaning robot is continuously collected, and the initial recharging route is corrected based on the recharging-related image sequence.
基于上述任一实施例，所述基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的安装位置，确定智能家用摄像头的初始拍摄姿态，具体包括：Based on any of the above embodiments, the determining of the initial shooting posture of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task and the installation position of the smart home camera specifically includes:
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的水平安装位置，确定智能家用摄像头的初始水平拍摄角度；Determine an initial horizontal shooting angle of the smart home camera based on the current position of the sweeping robot, the starting point of the current cleaning task, and the horizontal installation position of the smart home camera;
基于扫地机器人的当前位置、当前清扫任务的起点及智能家用摄像头的垂直安装高度，确定智能家用摄像头的初始俯仰拍摄角度。Based on the current position of the sweeping robot, the starting point of the current cleaning task and the vertical installation height of the smart home camera, the initial pitch shooting angle of the smart home camera is determined.
基于上述任一实施例，所述基于所述第一回充关联图像确定扫地机器人的初始回充路线，具体包括：Based on any of the foregoing embodiments, determining an initial recharging route of the sweeping robot based on the first recharging associated image specifically includes:
在所述第一回充关联图像中仅包括扫地机器人的情况下，基于扫地机器人的当前位置和当前清扫任务的起点确定所述第一回充关联图像对应区域中的回充中转点，基于所述第一回充关联图像确定扫地机器人的当前位置和所述回充中转点之间的第一初始回充路线段，并将所述回充中转点与当前清扫任务的起点构成的线段作为第二初始回充路线段；In the case where the first recharging associated image only includes a sweeping robot, a recharging transfer point in a corresponding area of the first recharging associated image is determined based on the current position of the sweeping robot and the starting point of the current cleaning task, a first initial recharging route segment between the current position of the sweeping robot and the recharging transfer point is determined based on the first recharging associated image, and a line segment formed by the recharging transfer point and the starting point of the current cleaning task is used as a second initial recharging route segment;
在所述第一回充关联图像中同时含有扫地机器人和充电座的情况下，基于所述第一回充关联图像中扫地机器人与充电座的相对位置确定扫地机器人的初始回充路线。When the first recharging associated image contains both the cleaning robot and the charging base, an initial recharging route of the cleaning robot is determined based on the relative positions of the cleaning robot and the charging base in the first recharging associated image.
基于上述任一实施例，所述第一回充关联图像对应区域中的回充中转点为与当前清扫任务的起点直线距离最短的点。Based on any of the above embodiments, the recharging transfer point in the corresponding area of the first recharging associated image is the point with the shortest straight-line distance to the starting point of the current cleaning task.
图5示例了一种电子设备的实体结构示意图，如图5所示，该电子设备可以包括：处理器(processor)401、通信接口(Communications Interface)402、存储器(memory)403和通信总线404，其中，处理器401，通信接口402，存储器403通过通信总线404完成相互间的通信。处理器401可以调用存储器403中的逻辑指令，以执行上述各方法所提供的扫地机器人的回充导航方法，所述方法包括：在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。Figure 5 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 5, the electronic device may include: a processor (processor) 401, a communication interface (Communications Interface) 402, a memory (memory) 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404. The processor 401 can call the logic instructions in the memory 403 to execute the recharging navigation method of the sweeping robot provided by the above methods, the method including: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, controlling the smart home camera to collect recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base position of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
此外，上述的存储器303中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the logic instructions in the above-mentioned memory 303 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a disk or an optical disk.
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括计算机程序，计算机程序可存储在非暂态计算机可读存储介质上，所述计算机程序被处理器执行时，计算机能够执行上述各方法所提供的扫地机器人的回充导航方法，所述方法包括：在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。On the other hand, the present application also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the recharging navigation method of the sweeping robot provided by the above-mentioned methods, and the method includes: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, controlling the smart home camera to collect recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the charging base of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各方法提供的扫地机器人的回充导航方法，所述方法包括：在判断需要进行回充的情况下，基于当前清扫任务的起点、历史行进路线及预设户型图确定扫地机器人的当前位置；所述当前清扫任务的起点为扫地机器人的充电座位置；在扫地机器人的当前位置处于智能家用摄像头的监控范围内的情况下，控制智能家用摄像头采集扫地机器人的回充关联图像，并基于扫地机器人的回充关联图像确定扫地机器人的回充路线直至扫地机器人完成回程并开始充电；其中，扫地机器人的充电座位置处于智能家用摄像头的监控范围内，扫地机器人的回充关联图像包括仅含有扫地机器人的图像和同时含有扫地机器人和充电座的图像。On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the recharging navigation method of the sweeping robot provided by the above-mentioned methods, the method comprising: when it is determined that recharging is required, determining the current position of the sweeping robot based on the starting point of the current cleaning task, the historical travel route and the preset floor plan; the starting point of the current cleaning task is the position of the charging base of the sweeping robot; when the current position of the sweeping robot is within the monitoring range of the smart home camera, controlling the smart home camera to capture recharging-related images of the sweeping robot, and determining the recharging route of the sweeping robot based on the recharging-related images of the sweeping robot until the sweeping robot completes the return journey and starts charging; wherein, the position of the charging base of the sweeping robot is within the monitoring range of the smart home camera, and the recharging-related images of the sweeping robot include images containing only the sweeping robot and images containing both the sweeping robot and the charging base.
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a ROM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.
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