Method, mobile device and cleaning robot for specifying cleaning areas
A method for specifying a cleaning area to a cleaning robot without an in-built map provides a hand-held mobile device capturing a two-dimensional code label arranged on a top of a cleaning robot parked on a charging base, and obtaining a positional relationship between the mobile device and the cleaning robot through the captured image. The cleaning robot is controlled to enter a cleaning mode under the guidance of the mobile device. With captured images, a user can specify an area within the environment for cleaning, and through a touch display screen can control the cleaning robot to go to the specified cleaning area for cleaning. The mobile device and the cleaning robot employing the method are also disclosed.
1. A method for specifying a cleaning area, the method comprising:
capturing, by a mobile device, an image of a two-dimensional code label arranged on a top of a cleaning robot parked on a charging base;
obtaining, by the mobile device, a positional relationship between the mobile device and the cleaning robot according to the captured image, wherein the positional relationship comprises a horizontal distance and an angle;
determining, by the mobile device, an initial positional information of the mobile device on an indoor two-dimensional map of the cleaning robot according to the positional relationship;
transmitting, by the mobile device, the initial positional information to the cleaning robot and controlling the cleaning robot to enter a person following mode;
recording, by the mobile device, a movement distance and a rotation angle relative to the initial positional information and informing the cleaning robot the recorded movement distance and the recorded rotation angle;
performing, by the cleaning robot, the person following mode according to the recorded movement distance and the recorded rotation angle;
capturing, by mobile device, an indoor environment and receiving touch inputs of the cleaning area of the indoor environment through a touch display screen of the mobile device;
updating, by the mobile device, a current position of the mobile device according to the initial positional information, the recorded movement distance, and the recorded rotation angle;
obtaining, by the mobile device, a positional relationship between the mobile device and a center point of the indoor environment;
determining, by the mobile device, a coordinate value of the center point of the indoor environment according to the current position of the mobile device and the positional relationship between the mobile device and the center point of indoor environment;
obtaining, by the mobile device, a plurality of coordinate values of the cleaning area on the indoor two-dimensional map according to the coordinate value of the center point of the indoor environment and a focal length of the captured indoor environment; and
transmitting, by the mobile device, the plurality of coordinate values of the cleaning area to the cleaning robot and controlling the cleaning robot to enter a cleaning mode.
2. The method of claim 1 , wherein the initial positional information comprises X-axis coordinate values, Y-axis coordinate values and angle values of the mobile device on the indoor two-dimensional map.
3. A mobile device for specifying a cleaning area, comprising: a memory storing instructions; and a processor coupled to the memory and, when executing the instructions, configured for:
capturing an image of a two-dimensional code label arranged on a top of a cleaning robot parked on a charging base;
obtaining a positional relationship between the mobile device and the cleaning robot according to the captured image, wherein the positional relationship comprises a horizontal distance and an angle;
determining an initial positional position of the mobile device on an indoor two-dimensional map of the cleaning robot according to the positional relationship;
transmitting the initial positional information to the cleaning robot and controlling the cleaning robot to enter a person following mode;
recording a movement distance and a rotation angle relative to the initial positional information and informing the cleaning robot to perform the person following mode according to the recorded movement distance and the recorded rotation angle;
capturing an indoor environment and receiving touch inputs of the cleaning area of the indoor environment through a touch display screen of the mobile device;
updating a current position of the mobile device according to the initial positional information, the recorded movement distance, and the recorded rotation angle;
obtaining a positional relationship between the mobile device and a center point of the indoor environment;
determining a coordinate value of the center point of the indoor environment according to the current position of the mobile device and the positional relationship between the mobile device and the center point of indoor environment;
obtaining a plurality of coordinate values of the cleaning area on the indoor two-dimensional map according to the coordinate value of the center point of the indoor environment and a focal length of the captured indoor environment; and
transmitting the plurality of coordinate values of the cleaning area to the cleaning robot and controlling the cleaning robot to enter a cleaning mode.