CN112471988A - Sweeping robot control method and sweeping robot - Google Patents
Sweeping robot control method and sweeping robot Download PDFInfo
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- CN112471988A CN112471988A CN201910861478.6A CN201910861478A CN112471988A CN 112471988 A CN112471988 A CN 112471988A CN 201910861478 A CN201910861478 A CN 201910861478A CN 112471988 A CN112471988 A CN 112471988A
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- sweeping robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The application discloses robot control method and robot of sweeping floor sweeps floor, and the robot of sweeping floor includes casing, control chip, limit brush, removal wheel, dust absorption mouth, limit brush and includes left side brush and/or right brush, and the method includes: when the sweeping robot works, judging an area to be swept around the sweeping robot; and controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept, so that the side brush pushes the garbage towards the direction of the area to be swept. This application is according to waiting to clean the region, turning to or the rotational speed of dynamic adjustment limit brush correspondingly, sweep rubbish to waiting to clean the region with the initiative, thereby help avoiding waiting to clean the region and finishing and become and cleaning the region after, continuing to clean other in-process of waiting to clean the region, sweep rubbish again in cleaning the region, moreover, can also gather together rubbish in waiting to clean the region, so that the robot of sweeping the floor inhales rubbish more high-efficiently, consequently, help improving and clean the effect.
Description
Technical Field
The present application relates to the field of sweeping robots, and in particular, to a sweeping robot control method, a sweeping robot and a computer-readable storage medium.
Background
Various intelligent household appliances bring great convenience to daily life of people, and the sweeping robot is an intelligent household appliance which appears and is popular with people in recent years. The sweeping robot usually performs automatic navigation based on radar detection, so that the sweeping robot can clean the ground for people orderly.
In the prior art, the sweeping robot gathers garbage towards the bottom of the sweeping robot by rotating the side brush, so that the bottom rolling brush cooperates with a dust collection fan to suck the garbage into a dust collection box of the sweeping robot, if the side brush is arranged on the front left side of a chassis of the sweeping robot, the side brush is called as a left side brush, the left side brush is fixed to rotate clockwise, and if the side brush is arranged on the right left side of the chassis of the sweeping robot, the side brush is called as a right side brush, and the right side brush is fixed to rotate anticlockwise.
However, in practical applications, when the sweeping robot cleans the sweeping surface, the edge brush may eject small particles such as rice grains to an area (referred to as a cleaned area) that the sweeping robot has cleaned, so that the cleaning effect of the sweeping robot may be reduced.
Disclosure of Invention
The embodiment of the application provides a control method of a sweeping robot, the sweeping robot and a computer readable storage medium, which are used for solving the following technical problems in the prior art: when the sweeping robot cleans the floor, the side brush can possibly bounce small particles such as rice grains to the cleaned area, so that the cleaning effect of the sweeping robot can be reduced.
The embodiment of the application adopts the following technical scheme:
a control method of a sweeping robot comprises a shell, a control chip, an edge brush, a moving wheel and a dust suction port, wherein the edge brush comprises a left brush and/or a right brush, and the method comprises the following steps:
when the sweeping robot works, judging an area to be swept around the sweeping robot;
and controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept, so that the side brush pushes the garbage towards the direction of the area to be swept.
Optionally, the method further comprises:
judging whether an obstacle exists in front of the traveling direction of the sweeping robot or not;
if so, controlling the left brush to rotate clockwise and controlling the right brush to rotate anticlockwise.
Optionally, controlling a side brush of the sweeping robot according to a relative position of the sweeping robot and the area to be swept, including:
if the right side of the sweeping robot is an area to be cleaned, and the left side of the sweeping robot is an area or an obstacle which has been cleaned, executing:
controlling the left side brush and the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
and controlling the left side brush to rotate clockwise and controlling the right side brush to stop rotating.
Optionally, controlling a side brush of the sweeping robot according to a relative position of the sweeping robot and the area to be swept, including:
if the right side of the sweeping robot is a cleaned area or an obstacle, and the left side of the sweeping robot is an area to be cleaned, executing the following steps:
controlling the left side brush and the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
and controlling the left side brush to rotate anticlockwise, and controlling the right side brush to stop rotating.
Optionally, controlling the side brush of the sweeping robot comprises:
controlling the sweeping robot to move to one side edge of the whole working area;
controlling the sweeping robot to work in the following edgewise sweeping mode: and the garbage sweeping robot moves along one side edge, and in the moving process, the side brush of the sweeping robot is controlled to push the garbage towards the direction of the edge at the opposite side of the edge at one side.
Optionally, if the periphery of the sweeping robot does not include the swept area, controlling the side brush of the sweeping robot includes:
determining the global movement trend of the sweeping robot;
and controlling the side brush of the sweeping robot to push the garbage to move towards the global trend.
Optionally, controlling a side brush of the sweeping robot according to a relative position of the sweeping robot and the area to be swept, including:
if the right side and the left side of the sweeping robot are both cleaned areas or barriers, and the right front is an area to be cleaned, the left side brush is controlled to rotate clockwise and reduce the rotating speed, and the right side brush is controlled to rotate anticlockwise and reduce the rotating speed.
Optionally, before controlling the side brush of the sweeping robot, the method further comprises:
and judging the surrounding area to be cleaned and the area which is cleaned according to the cleaning path which is pre-planned by the sweeping robot.
Optionally, if the pre-planned cleaning path is a zigzag path, controlling the side brush of the cleaning robot according to the relative position of the cleaning robot and the area to be cleaned, including:
determining one side not including the area to be cleaned, from among the two sides of the left side and the right side of the sweeping robot;
excluding the side brush control scheme corresponding to the side from the selectable side brush control schemes;
and controlling the side brush of the sweeping robot by using the excluded side brush control scheme.
Optionally, if the pre-planned cleaning path is a zigzag path moving clockwise inward, controlling the side brush of the cleaning robot according to the relative position of the cleaning robot and the area to be cleaned, including:
controlling the left side brush and the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to rotate clockwise and controlling the right side brush to stop rotating;
if the pre-planned cleaning path is a reversed-square-shaped path which travels anticlockwise inwards, controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be cleaned, and the method comprises the following steps:
controlling the left side brush and the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
and controlling the left side brush to rotate anticlockwise, and controlling the right side brush to stop rotating.
Optionally, the method further comprises:
and controlling the rotating speed of the side brush of the sweeping robot according to the area size and/or the area change condition of the area to be swept.
A floor sweeping robot comprises a machine shell, a control chip, side brushes, a moving wheel and a dust collection port, wherein the side brushes comprise a left brush and/or a right brush;
the control chip determines that the sweeping robot is in a working state, wherein at least part of the area around the sweeping robot is an area to be swept; controlling a side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept;
and the left brush and/or the right brush push the garbage towards the direction of the area to be cleaned in response to the control of the control chip.
A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the sweeping robot control method described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: the steering or rotating speed of the side brush can be dynamically adjusted correspondingly according to the area to be cleaned, so that the garbage can be actively swept to the area to be cleaned, the garbage can be swept to the area to be cleaned in the process of continuously sweeping other areas to be cleaned after the area to be cleaned is swept to the area to be cleaned, and the garbage can be gathered in the area to be cleaned so that the sweeping robot can suck the garbage more efficiently, and the sweeping effect of the sweeping robot can be improved;
several typical distribution scenes of the area to be cleaned are provided, and various specific side brush control schemes are adapted, so that the cleaning effect under the scenes is improved;
the proposed edgewise cleaning mode can enable the cleaned area and the non-cleaned area to be distributed on different sides of the sweeping robot more clearly, thereby more efficiently gathering the garbage to the area to be cleaned and being beneficial to reducing the possibility that the garbage is swept to the cleaned area;
in addition to controlling the direction of rotation of the side brushes, the speed of rotation of the side brushes can also be controlled, helping to more accurately sweep debris into the area to be swept and reducing the likelihood of sweeping debris into the area being swept.
The proposed edge brush control scheme when encountering an obstacle helps to more effectively sweep away debris that is about to fall off the edge of the obstacle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic view of a partial structure of a sweeping robot according to some embodiments of the present disclosure;
fig. 2 is a schematic flowchart of a control method of a sweeping robot according to some embodiments of the present disclosure;
fig. 3 is a schematic view of an edge brush control effect in a first scene of distribution of an area to be cleaned according to some embodiments of the present disclosure;
fig. 4 is a schematic view of an edge brush control effect in a second scenario of distribution of an area to be cleaned according to some embodiments of the present application;
fig. 5 is a schematic view of an edge brush control effect in a third scenario of distribution of an area to be cleaned according to some embodiments of the present application;
fig. 6 is a schematic view of a distribution scene of an area to be cleaned when the sweeping robot provided in some embodiments of the present application turns right;
fig. 7 is a schematic view of a distribution scene of an area to be cleaned when the sweeping robot provided by some embodiments of the present application turns left;
fig. 8 is a detailed flowchart of the robot sweeper control method of fig. 2 in an application scenario according to some embodiments of the present disclosure;
FIG. 9 is a schematic diagram of several pre-planned cleaning paths provided by some embodiments of the present application;
fig. 10 is a detailed flowchart of the robot sweeper control method of fig. 2 in another application scenario provided in some embodiments of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic view of a partial structure of a sweeping robot according to some embodiments of the present disclosure, which is specifically a schematic view of a bottom of the sweeping robot, and a schematic view of a structure of a control chip. Some parts of the sweeping robot are shown in fig. 1, including a housing 1, an edge brush 2, a moving wheel 3, a dust suction port 4, a control chip 5, etc., where the edge brush 2 includes a right brush 21 and a left brush 22, and for some sweeping robots, the edge brush may only have the right brush or the left brush, and the control chip 5 includes a memory 51, a processor 52, a bus 53, a communication interface 54, etc., for convenience of description, some embodiments below mainly use the sweeping robot in fig. 1 as an example, and the reference numerals of the above parts are omitted and only called by names. The sweeping robot further comprises a rolling brush arranged at the dust suction port, and a control chip, a dust suction fan, a driving motor, related circuits and other parts which are arranged in the sweeping robot. The rolling brush is used for gathering the garbage at the dust suction opening, and then the garbage is sucked in through the dust suction fan, and the driving motor is used for driving the side brush, the rolling brush, the driving wheel and other parts to rotate.
Fig. 2 is a schematic flow chart of a control method of a sweeping robot according to an embodiment of the present application. The method may be performed by a control chip, the edge brush operating in response to control by the control chip.
The process in fig. 2 comprises the following steps:
s200: and when the sweeping robot works, judging the area to be swept around the sweeping robot.
In some embodiments of the application, the sweeping robot may determine a current surrounding area to be swept, for example, the current surrounding area to be swept may be determined according to a pre-planned sweeping path, or the current surrounding area to be swept may be determined by visual recognition if the sweeping robot has a visual recognition function. Based on the same principle, the sweeping robot can also judge the current surrounding cleaned area and at least part of obstacles.
When the sweeping robot starts to work, the surrounding of the sweeping robot is considered to be not a cleaned area, but all areas to be cleaned or obstacles, such as walls, furniture and the like. After the sweeping robot starts working, the area swept by the sweeping robot is called a swept area, and the following embodiments mainly relate to the situation that the area to be swept and the swept area coexist.
S202: and controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept, so that the side brush pushes the garbage towards the direction of the area to be swept.
In some embodiments of the application, if the side brush rotates clockwise, then can sweep rubbish to the right front of side brush, if the side brush rotates anticlockwise, then can sweep rubbish to the left front of side brush, the distance that rubbish was swept out then can be influenced to the rotational speed of side brush. The rotation direction and the rotation speed of the side brush are fixed in the background technology, the side brush can be adapted to the position of an area to be cleaned, and the rotation direction and the rotation speed of the side brush can be dynamically controlled, so that the side brush pushes garbage towards the direction of the area to be cleaned, and the garbage is prevented from being pushed towards the direction of the cleaned area.
The area around the sweeping robot includes: right side, left side, right front, right back. Because the side brush is generally arranged at the front side of the bottom of the sweeping robot, and the bottom is also provided with the dust suction port, garbage is not easy to sweep to the right back, the front three areas are mainly considered, further, the garbage can be swept to the right front side mainly for the right side, and the garbage can be swept to the left front side mainly for the left side.
For the right side brush. If the right brush rotates anticlockwise, the garbage can be swept to the right front side (when the rotating speed is low) or the left front side (when the rotating speed is high) by the right brush. If the right brush rotates clockwise, the garbage can be swept to the right front side by the right brush.
Similarly, for the left brush. If the left brush rotates anticlockwise, the garbage can be swept to the left front side by the left brush. If the left brush rotates clockwise, the garbage can be swept to the right front side (when the rotating speed is low) or the right front side (when the rotating speed is high) by the left brush.
Based on this, can be according to waiting to clean the left side, the right side of region and be located sweeping the floor robot, still be the dead ahead, the rotation direction and the rotational speed of side brush are controlled to rubbish is swept to waiting to clean the region as far as possible correspondingly.
In some embodiments of the application, there may be an obstacle in front of the traveling direction of the sweeping robot (which may be in front of the robot, or in front of the robot to the right or left), and in this case, the left brush may be controlled to rotate clockwise, and the right brush may be controlled to rotate counterclockwise, so as to sweep out the garbage from the edge of the obstacle and sweep toward the dust collection opening, which is helpful to sweep the garbage at the edge of the obstacle more effectively, and in order to avoid the garbage being bounced off by the obstacle, the speed of the side brush may be controlled to decrease.
Through the method shown in the figure 2, the rotation direction or the rotation speed of the side brush can be correspondingly and dynamically adjusted according to the area to be cleaned, so that the garbage is actively swept to the area to be cleaned, the garbage is swept to the area to be cleaned in the process of continuously sweeping other areas to be cleaned after the area to be cleaned is completely swept to the area to be cleaned, and not only can the garbage be gathered in the area to be cleaned, so that the sweeping robot can suck the garbage more efficiently, and the sweeping effect of the sweeping robot is improved.
Based on the method of fig. 2, some embodiments of the present application also provide some specific embodiments of the method, and further embodiments, and further description is provided below.
In some embodiments of the present application, the area to be swept may be simultaneously distributed over multiple areas around the sweeping robot, in which case the side brush may be controlled to sweep the debris to any area therein. Of course, it may be swept preferentially toward a particular area therein, as exemplified below.
In practical application, the sweeping robot often has a global movement tendency, and the global movement tendency may include a direction in which a starting point region of the sweeping robot sweeping this time points to an end point region. The local movement direction during sweeping does not always remain the same as the movement tendency.
For example, assuming that the sweeping robot sweeps from the east wall to the west wall of the room, the global movement tends to be from the east to the west, in the sweeping process, the paths that the sweeping robot can adopt are various, and most of the paths adopt the bow-shaped path, when in specific sweeping, the sweeping robot starts from the east, most of the times, the sweeping robot sweeps back and forth between the south and the north, and each back and forth moves a distance to the west until the distance is moved to the west wall, and sweeping along the west wall is finished.
Similarly, when the sweeping robot adopts a zigzag path from the outer edge to sweep, the overall moving direction of the sweeping robot is directed to the center of the zigzag path, and when the sweeping robot adopts the zigzag path from the center, the overall moving direction of the sweeping robot is directed to the outer edge from the center of the zigzag path.
In order to improve the cleaning efficiency of the cleaning robot, the garbage can be swept to the area to be cleaned in the global movement trend as much as possible under the condition that the area to be cleaned is simultaneously distributed in a plurality of surrounding areas. Particularly, when the sweeping robot starts to sweep, the periphery of the sweeping robot does not contain a swept area, so that the global movement trend can be determined according to a pre-planned sweeping path, and the side brush is controlled to sweep the garbage to the global movement trend.
Based on the above analysis, some embodiments of the present application provide a sweeping control scheme for a sweeping robot to go out edgewise. Specifically, when the sweeping robot starts to work, if the sweeping robot is not located at the edge of the whole working area (the edge is usually a wall or furniture), the sweeping robot may be controlled to travel to one side edge of the whole working area, and then the sweeping robot is controlled to work in the following edgewise sweeping mode: the sweeping robot is controlled to move along the edge of one side, the side brush of the sweeping robot is controlled to push garbage towards the direction of the edge of the opposite side of the edge of one side, further, after the edge is swept, the sweeping robot can be controlled to approach the edge of the opposite side indirectly according to a bow-shaped path, and the side brush of the sweeping robot is controlled to push the garbage towards the direction of the edge of the opposite side continuously in the moving process of the sweeping robot. In this way, the cleaned area and the uncleaned area can be distributed on different sides of the sweeping robot more perfectly, so that the garbage can be more efficiently gathered to the area to be cleaned, and the possibility that the garbage is swept to the cleaned area can be reduced.
In some embodiments of the present application, a description is given below of some typical distribution scenarios of the area to be cleaned.
In the first distribution scene, the right side of the sweeping robot is an area to be cleaned, and the left side of the sweeping robot is an area or an obstacle which has been cleaned. Under the scene, the side brush can be controlled according to the following scheme: controlling the left brush and the right brush to rotate clockwise; or controlling the left brush to stop rotating and controlling the right brush to rotate clockwise; or, the left brush is controlled to rotate clockwise, and the right brush is controlled to stop rotating. Thus, the garbage can be swept to the right or the front, and the possibility of sweeping the garbage to the right can be increased by increasing the rotation speed of the side brush.
It should be noted that, in practical application, as long as the sweeping robot keeps moving straight for a short distance, the garbage in front of the sweeping robot is easily and directly sucked by the dust suction port on the chassis when the chassis of the sweeping robot passes through, and therefore, even if a small amount of garbage is swept to the front, the influence on the sweeping effect is not great. Based on this, whether the right front of the sweeping robot is the area to be cleaned or not is not so much of an impact on implementation of the scheme as compared to the left side and the right side of the sweeping robot, and moreover, the probability that the right front of the sweeping robot is the area to be cleaned is generally higher, it is acceptable to sweep the garbage right in front.
More intuitively, referring to fig. 3, fig. 3 is a schematic view of the side brush control effect in a first scene of distribution of an area to be cleaned according to some embodiments of the present disclosure. In fig. 3, (a) the sub-diagram shows that the right side of the sweeping robot is an area to be cleaned, and the left side is an area or an obstacle which has been cleaned; (b) the sub-figures show that both the left and right brushes rotate clockwise; (c) the sub-diagram shows that the left brush stops rotating and the right brush rotates clockwise; (d) the illustration shows the left brush rotating clockwise and the right brush stopping.
In the second distribution scene, the right side of the sweeping robot is a cleaned area or an obstacle, and the left side of the sweeping robot is an area to be cleaned. Under the scene, the side brush can be controlled according to the following scheme: controlling the left side brush and the right side brush to rotate anticlockwise; or the left brush is controlled to stop rotating, and the right brush is controlled to rotate anticlockwise; or, the left brush is controlled to rotate anticlockwise, and the right brush is controlled to stop rotating. Therefore, the garbage can be swept to the right front or the left side, and the possibility of sweeping the garbage to the left side can be increased if the rotation speed of the side brush is increased.
More intuitively, referring to fig. 4, fig. 4 is a schematic view of the side brush control effect in a second scenario of distribution of an area to be cleaned according to some embodiments of the present application. In fig. 4, (a) the sub-diagram shows that the right side of the sweeping robot is a cleaned area or an obstacle, and the left side is an area to be cleaned; (b) the sub-diagram shows that both the left and right brushes rotate counterclockwise; (c) the sub-diagram shows the right side brush stopped rotating and the left side brush rotated counterclockwise; (d) the illustration shows the right side brush rotating counterclockwise and the left side brush stopping.
In the third distribution scenario, the right side and the left side of the sweeping robot are both cleaned areas or obstacles, and the area to be cleaned is right in front. Under the scene, the side brush can be controlled according to the following scheme: the left brush is controlled to rotate clockwise and reduce the rotating speed, and the right brush is controlled to rotate anticlockwise and reduce the rotating speed.
More intuitively, referring to fig. 5, fig. 5 is a schematic view of the edge brush control effect in a third scenario of distribution of the area to be cleaned according to some embodiments of the present application. In fig. 5, (a) the sub-diagram shows that the right side and the left side of the sweeping robot are both cleaned areas or obstacles, and the right front is an area to be cleaned; (b) the illustration shows the left brush rotating clockwise and the right brush rotating counterclockwise.
In a third distribution scenario, the side brush speed is reduced to avoid sweeping left garbage to the right and to avoid sweeping right garbage to the left.
For similar reasons, the rotational speed of the side brush is also controlled depending on the area size and/or the change in area of the area to be cleaned. For example, if the sweeping robot sweeps in a room with a large area, the rotation speed of the side brush can be increased, so as to sweep the garbage to the area to be swept more efficiently; when the area of the area to be cleaned is reduced to a certain extent, the possibility of the garbage being swept out of the area to be cleaned increases, and in order to reduce the possibility, the rotation speed of the side brush may be reduced.
In practical application, since the side brush force of the sweeping robot is limited, the distance that the sweeping robot can sweep the garbage is also limited, and therefore, it is more effective to control the side brush by considering the condition of the area to be swept within the distance. For example, when the sweeping robot turns, the area of the region to be cleaned may change, and the description will be given with reference to fig. 6 and 7.
Fig. 6 is a schematic view of a distribution scene of an area to be cleaned when the sweeping robot provided in some embodiments of the present application turns right. In fig. 6, (a) a sub-diagram shows that the right side of the sweeping robot is an area to be cleaned, and the left side is an area already cleaned or an obstacle, and assuming that the sweeping robot turns right at the moment, the side brush can be controlled by adopting a control scheme of a first distribution scene, further, the area of the area to be cleaned on the right side is a decreasing trend when turning right, and the rotating speed of the side brush can be reduced, so that garbage can be better gathered to the area to be cleaned; (b) the subgraph shows that the left side of the sweeping robot is an area to be swept, the right side of the sweeping robot is an area to be swept or an obstacle, and if the sweeping robot turns right at the moment, the side brush can be controlled by adopting a control scheme of a second distribution scene, further, the area of the area to be swept on the left side is in a constant or increasing trend during turning right, the rotating speed of the side brush can be increased, and therefore garbage can be swept to the area to be swept more efficiently.
Similarly, fig. 7 is a schematic view of a distribution scene of an area to be cleaned when the sweeping robot provided by some embodiments of the present application turns left. In fig. 7, (a) is a diagram illustrating that the right side of the sweeping robot is an area to be swept, and the left side is an area to be swept or an obstacle, assuming that the sweeping robot turns left at the moment, the side brush may be controlled by using a control scheme of a first distribution scenario, further, the area of the area to be swept on the right side is in a constant or increasing trend during left turning, and the rotation speed of the side brush may be increased, so as to sweep the garbage to the area to be swept more efficiently; (b) the subgraph shows that the left side of the sweeping robot is an area to be cleaned, the right side of the sweeping robot is an area to be cleaned or an obstacle, and if the sweeping robot turns left at the moment, the side brush can be controlled by adopting a control scheme of a second distribution scene, further, the area of the area to be cleaned on the left side is a decreasing trend during left turning, so that the rotating speed of the side brush can be reduced, and garbage can be better gathered to the area to be cleaned.
In practical application, the rotation speed of the side brush can be dynamically controlled according to more factors. For example, the material of the floor in the area to be cleaned can be estimated and the rotational speed of the side brush can be controlled accordingly. Taking a carpet floor as an example, the friction force on the carpet is larger, so that the rotating speed of the side brush can be increased, and the garbage can be swept to the area to be cleaned more thoroughly.
According to the foregoing description, some embodiments of the present application provide a detailed flowchart of the robot sweeper control method shown in fig. 2 in an application scenario, as shown in fig. 8.
The flow in fig. 8 includes the following steps:
the sweeping robot plans a sweeping path, executes the sweeping path and starts sweeping;
judging whether an obstacle exists in front of the sweeping robot, if so, controlling the left brush to rotate clockwise and the right brush to rotate anticlockwise, and reducing the rotation speed of the side brushes, otherwise, continuing to execute the subsequent steps;
if the area to be cleaned is reduced, controlling the side brush to reduce the rotating speed, and if the area to be cleaned is not reduced, controlling the side brush to maintain the rotating speed;
determining an area to be cleaned and an area already cleaned;
if the left side is the cleaned area and the right side is the area to be cleaned, executing the following steps: controlling the left brush and the right brush to rotate clockwise, or controlling the left brush to rotate clockwise and the right brush to stop, or controlling the left brush to stop and the right brush to rotate clockwise;
if the right side is the cleaned area and the left side is the area to be cleaned, executing the following steps: controlling the left brush and the right brush to rotate anticlockwise, or controlling the left brush to rotate anticlockwise and the right brush to stop, or controlling the left brush to stop and the right brush to rotate anticlockwise;
if the left side and the right side are both cleaned areas and the right front side is an area to be cleaned, executing the following steps: and controlling the left side brush to rotate clockwise, controlling the right side brush to rotate anticlockwise, and reducing the rotation speed of the side brush.
Further, some embodiments of the present application also provide several pre-planned cleaning path schematics, as shown in fig. 9. In fig. 9, (a) the sub-diagram shows the zigzag path from the left side, (b) the sub-diagram shows the zigzag path from the right side, (c) the sub-diagram shows the zigzag path from the outer edge and going clockwise and inward, and (d) the sub-diagram shows the zigzag path from the outer edge and going counterclockwise and inward.
The control schemes corresponding to the three distribution scenarios of the area to be cleaned are listed in fig. 8, and it should be noted that in practical applications, for some cleaning paths, all three distribution scenarios of the area to be cleaned may not be experienced during the cleaning process. For example, for the zigzag path of the sub-drawing (c) of fig. 9, the region to be cleaned is always on the right side or right in front, but not on the left side, during the cleaning process, and for the zigzag path of the sub-drawing (d) of fig. 9, the region to be cleaned is always on the left side or right in front, but not on the right side, during the cleaning process.
For the cleaning path in the above example, in order to improve the selection efficiency of the side brush control scheme, one side that does not include the area to be cleaned may be determined in both the left side and the right side of the cleaning robot according to the cleaning path, the side brush control scheme corresponding to the side may be excluded from the selectable side brush control schemes, and the side brush of the cleaning robot may be controlled by using the excluded side brush control scheme. For example, referring to fig. 10, fig. 10 is a detailed flowchart of the sweeping robot control method in fig. 2 in another application scenario provided in some embodiments of the present application, and in another application scenario, the sweeping robot adopts a zigzag path in the sub-diagram (c) in fig. 9.
The flow in fig. 10 is largely identical to the flow in fig. 8, except that the flow in fig. 10 lacks a branching scheme with the right side being the cleaned area and the left side being the area to be cleaned. Similarly, if the zigzag path of the (d) diagram of fig. 9 is adopted, a branch scheme with a cleaned area on the left side and an area to be cleaned on the right side is absent compared to the flow in fig. 8.
If the sweeping robot adopts the zigzag path of the sub-graph (c) of fig. 9, the left brush and the right brush can be controlled to rotate clockwise; or controlling the left brush to stop rotating and controlling the right brush to rotate clockwise; or, the left brush is controlled to rotate clockwise, and the right brush is controlled to stop rotating. Similarly, if the sweeping robot adopts the zigzag path of the sub-diagram (d) of fig. 9, both the left brush and the right brush can be controlled to rotate counterclockwise; or the left brush is controlled to stop rotating, and the right brush is controlled to rotate anticlockwise; or, the left brush is controlled to rotate anticlockwise, and the right brush is controlled to stop rotating.
Based on the same idea, some embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the sweeping robot control method is implemented.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The floor sweeping robot comprises a shell, a control chip, an edge brush, a moving wheel and a dust suction port, wherein the edge brush comprises a left brush and/or a right brush, and the floor sweeping robot is characterized by comprising the following steps:
when the sweeping robot works, judging an area to be swept around the sweeping robot;
and controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept, so that the side brush pushes the garbage towards the direction of the area to be swept.
2. The sweeper robot control method of claim 1, further comprising:
judging whether an obstacle exists in front of the traveling direction of the sweeping robot or not;
if so, controlling the left brush to rotate clockwise and controlling the right brush to rotate anticlockwise.
3. The method for controlling the sweeping robot according to claim 1, wherein controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept comprises:
if the right side of the sweeping robot is an area to be cleaned, and the left side of the sweeping robot is an area or an obstacle which has been cleaned, executing:
controlling the left side brush and the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
and controlling the left side brush to rotate clockwise and controlling the right side brush to stop rotating.
4. The method for controlling the sweeping robot according to claim 1, wherein controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept comprises:
if the right side of the sweeping robot is a cleaned area or an obstacle, and the left side of the sweeping robot is an area to be cleaned, executing the following steps:
controlling the left side brush and the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
and controlling the left side brush to rotate anticlockwise, and controlling the right side brush to stop rotating.
5. The sweeper robot control method of claim 1, wherein controlling the side brush of the sweeper robot comprises:
controlling the sweeping robot to move to one side edge of the whole working area;
controlling the sweeping robot to work in the following edgewise sweeping mode: and the garbage sweeping robot moves along one side edge, and in the moving process, the side brush of the sweeping robot is controlled to push the garbage towards the direction of the edge at the opposite side of the edge at one side.
6. The method for controlling the sweeping robot according to claim 1, wherein controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept comprises:
if the right side and the left side of the sweeping robot are both cleaned areas or barriers, and the right front is an area to be cleaned, the left side brush is controlled to rotate clockwise and reduce the rotating speed, and the right side brush is controlled to rotate anticlockwise and reduce the rotating speed.
7. The method of controlling a sweeping robot according to claim 1, wherein before controlling the side brush of the sweeping robot, the method further comprises:
and judging the surrounding area to be cleaned and the area which is cleaned according to the cleaning path which is pre-planned by the sweeping robot.
8. The method of claim 7, wherein if the pre-planned cleaning path is a zigzag path proceeding clockwise inward, controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be cleaned comprises:
controlling the left side brush and the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate clockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to rotate clockwise and controlling the right side brush to stop rotating;
if the pre-planned cleaning path is a reversed-square-shaped path which travels anticlockwise inwards, controlling the side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be cleaned, and the method comprises the following steps:
controlling the left side brush and the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
controlling the left side brush to stop rotating and controlling the right side brush to rotate anticlockwise; alternatively, the first and second electrodes may be,
and controlling the left side brush to rotate anticlockwise, and controlling the right side brush to stop rotating.
9. The sweeper robot control method according to any one of claims 1 to 8, characterized in that the method further comprises:
and controlling the rotating speed of the side brush of the sweeping robot according to the area size and/or the area change condition of the area to be swept.
10. A sweeping robot is characterized by comprising a machine shell, a control chip, an edge brush, a movable wheel and a dust collection port, wherein the edge brush comprises a left side brush and/or a right side brush;
the control chip determines that the sweeping robot is in a working state, wherein at least part of the area around the sweeping robot is an area to be swept; controlling a side brush of the sweeping robot according to the relative position of the sweeping robot and the area to be swept;
and the left brush and/or the right brush push the garbage towards the direction of the area to be cleaned in response to the control of the control chip.
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| CN112471988B (en) | 2022-06-03 |
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