CN113261879B - Corner cleaning method, corner cleaning device, computer equipment and storage medium - Google Patents

Corner cleaning method, corner cleaning device, computer equipment and storage medium Download PDF

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Publication number
CN113261879B
CN113261879B CN202110476941.2A CN202110476941A CN113261879B CN 113261879 B CN113261879 B CN 113261879B CN 202110476941 A CN202110476941 A CN 202110476941A CN 113261879 B CN113261879 B CN 113261879B
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cleaning
collision
corner
obstacle
collision area
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CN113261879A (en
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曹敏艳
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Shenzhen Water World Co Ltd
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Shenzhen Water World Co Ltd
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The present application relates to a corner cleaning method, apparatus, computer device and storage medium, the method comprising: acquiring an environment detection signal when the cleaning equipment moves; when a collision signal is recognized to exist in the environment detection signals, obtaining detection signals of obstacles in a collision area, and judging whether the obstacles are target obstacles or not; when the obstacle is not the target obstacle, judging that the current collision area is not a corner; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter; and generating a cleaning mode according to the environment detection signal, and controlling the cleaning equipment to clean the collision area determined as the corner according to the cleaning mode. The problem that the sweeping robot in the prior art can not clean corners of walls can be solved.

Description

Corner cleaning method, corner cleaning device, computer equipment and storage medium
Technical Field
The present application relates to the field of intelligent cleaning technologies, and in particular, to a corner cleaning method and apparatus, a computer device, and a storage medium.
Background
With the increasing living standard and the increasing demand for quality of life, various intelligent household appliances are more and more widely used in family life. The floor sweeping robot is also called an automatic sweeper, an intelligent dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room.
In the prior art, cleaning equipment such as a sweeping robot mainly depends on a distance measuring sensor and a collision sensor to detect the position of a wall, and the wall is followed, so that the edge of the wall is cleaned. However, the prior art cannot identify the wall corners, such as the included angle of the wall, which are usually dead corners for cleaning, and if the cleaning is not performed with emphasis, the garbage is accumulated at the dead corners, thereby reducing the cleaning effect of the cleaning device.
Disclosure of Invention
The present application mainly aims to provide a corner cleaning method, device, computer equipment and storage medium, and aims to solve the problem that the cleaning equipment in the prior art cannot clean the corners of the wall.
To achieve the above objects, the present application provides a corner cleaning method comprising the steps of:
acquiring an environment detection signal when the cleaning equipment moves;
when a collision signal is identified to exist in the environment detection signal, acquiring a detection signal of an obstacle in a collision area corresponding to the collision signal, and judging whether the obstacle is a target obstacle according to the detection signal of the obstacle;
when the obstacle is not a target obstacle, determining that the collision area is not a corner; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter;
and setting a cleaning mode according to the environment detection signal, and controlling the cleaning equipment to clean the collision area determined as the corner according to the cleaning mode.
As an improvement of the above, the step of acquiring a movement parameter of the cleaning device between two consecutive collision signals, and determining whether the collision area is a corner according to the movement parameter includes:
acquiring a movement parameter of the cleaning device between two continuous collision signals, wherein the movement parameter comprises collision point positions corresponding to the two continuous collision signals;
calculating a first tangent of a collision point position corresponding to one collision signal and a second tangent of a collision point position corresponding to the other collision signal in the two continuous collision signals;
acquiring the included angle degree of the first tangent and the second tangent, and if the included angle degree meets a preset angle range, judging that the collision area is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
As an improvement of the above, the step of setting a cleaning mode according to the environment detection signal, and controlling the cleaning device to clean the collision area determined as a corner in the cleaning mode includes:
acquiring the article state in the collision area judged as the corner according to the environment detection signal, selecting a corresponding cleaning mode according to the article state, and setting the cleaning wind power and/or the air outlet angle when the collision area judged as the corner is cleaned according to the cleaning mode;
and controlling the cleaning equipment to clean the collision area judged as the corner according to the cleaning wind power and/or the wind outlet angle.
As an improvement of the above, the step of setting a cleaning mode according to the environment detection signal, and controlling the cleaning device to clean the collision area determined as a corner according to the cleaning mode includes:
acquiring the surface material of the collision area judged as the corner according to the environment detection signal, selecting a corresponding cleaning mode according to the surface material, and setting a cleaning type for cleaning the collision area judged as the corner according to the cleaning mode;
controlling the cleaning apparatus to clean the collision region determined as a corner according to the cleaning type.
As an improvement of the above, the step of setting a cleaning mode according to the environment detection signal, and controlling the cleaning device to clean the collision area determined as a corner in the cleaning mode includes:
performing coordinate marking on the collision area judged as the corner according to the positioning information of the cleaning equipment carried in the environment detection signal, selecting a corresponding cleaning mode based on an environment map and the coordinate of the current mark, and setting the cleaning frequency when the collision area judged as the corner is cleaned according to the cleaning mode;
and controlling the cleaning device to clean the collision region determined as the corner according to the cleaning frequency.
As an improvement of the above solution, the step of performing coordinate marking on the collision area determined as a corner according to the positioning information of the cleaning device carried in the environment detection signal, and selecting a corresponding cleaning mode based on the environment map and the coordinates of the current mark, and setting the cleaning frequency when cleaning the collision area determined as a corner according to the cleaning mode includes:
marking the coordinates of the collision area determined as a corner in an environment map of the cleaning device according to the positioning information of the cleaning device carried in the environment detection signal;
acquiring the orientation of a room where the coordinates are located and the opening direction of a window, acquiring wind direction information of the current time, selecting a corresponding cleaning mode according to the orientation of the room, the opening direction of the window and the wind direction information, and setting cleaning frequency when the collision area determined as the corner is cleaned according to the cleaning mode.
As an improvement of the above aspect, the step of determining that the collision region is a corner further includes the following steps after the step of determining that the collision region is a corner:
when the cleaning device cleans a collision area which is determined to be a corner, and the distance between the cleaning device and a wall is smaller than a first approach early warning distance, controlling the cleaning device to be far away from the wall;
the first approach early warning distance is smaller than a second approach early warning distance between the cleaning equipment and the wall surface when the collision area which is not determined to be a corner is cleaned.
The present application also provides a corner cleaning device, including:
the environment detection module is used for acquiring an environment detection signal when the cleaning equipment moves;
the collision area detection module is used for acquiring a detection signal of an obstacle in a collision area corresponding to the collision signal when the collision signal is identified to exist in the environment detection signal, and judging whether the obstacle is a target obstacle according to the detection signal of the obstacle;
a corner identification module for determining that the collision zone is not a corner when the obstacle is not a target obstacle; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter;
and the cleaning control module is used for setting a cleaning mode according to the environment detection signal and controlling the cleaning equipment to clean the collision area which is determined as the corner according to the cleaning mode.
The present application also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the steps of the corner cleaning method.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs a corner cleaning step as described in any one of the above.
According to the corner cleaning method, the corner cleaning device, the computer equipment and the storage medium, whether the current collision barrier is the target barrier or not is judged by detecting the barrier in the collision area of the cleaning equipment, and the barrier is pre-screened, so that the calculated amount of subsequent steps is reduced; on the basis, whether the collision area is a corner or not is judged according to the movement parameters of the cleaning equipment between two continuous collision signals, and whether the collision area is a corner or not is judged according to the movement parameters of the cleaning equipment between two continuous collision signals, so that the corners in the environment can be effectively identified, the misjudgment probability is reduced, and the judged coverage rate is improved; the corner is cleaned by controlling the cleaning equipment according to the cleaning mode generated according to the environmental condition, the problem that the floor sweeping robot in the prior art cannot clean the corner of the wall can be solved, and the dead angle is avoided.
Drawings
FIG. 1 is a schematic view of a corner cleaning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating the degree of the included angle between the first tangent and the second tangent in an embodiment of the present application;
FIG. 3 is a schematic view of an impact mode of the cleaning apparatus according to an embodiment of the present application;
FIG. 4 is a schematic view of another collision mode of the cleaning apparatus according to an embodiment of the present application;
FIG. 5 is a schematic view of another collision mode of the cleaning apparatus according to an embodiment of the present application;
FIG. 6 is a block diagram of a corner cleaning device according to an embodiment of the present application;
fig. 7 is a block diagram illustrating a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, a schematic diagram of a corner cleaning method according to an embodiment of the present application includes:
s1, acquiring an environment detection signal when the cleaning equipment moves;
specifically, for step S1, after the cleaning device is powered on, normal planning cleaning and wall-following cleaning are started; in the moving process, environment detection signals are continuously acquired, wherein the environment detection signals comprise collision signals acquired by a physical collision module or an infrared collision module, depth information acquired by a TOF sensor, image information acquired by a camera and the like.
S2, when a collision signal exists in the environment detection signal, acquiring a detection signal of an obstacle in a collision area corresponding to the collision signal, and judging whether the obstacle is a target obstacle or not according to the detection signal of the obstacle;
specifically, in step S2, when it is recognized that the environmental detection signal includes a collision signal, it may be determined that the cleaning apparatus collides with the obstacle at this time, and at this time, the detection signal of the obstacle in the collision area where the cleaning apparatus is located at the time of collision is acquired. The detection signal of the obstacle may be obtained by infrared detection, or may be obtained by image acquisition through a camera, and the like, which is not specifically limited herein.
Specifically, for step S2, determining whether the obstacle is the target obstacle according to the detection signal of the obstacle may be: when the entity area of the obstacle is smaller than a preset entity area threshold value, judging that the obstacle is not a target obstacle, wherein the obstacle at the moment may be a chair leg, a floor type air conditioner and other non-wall household articles; when the solid area of the obstacle is not smaller than the preset solid area threshold value, the obstacle is determined to be a target obstacle, and the target obstacle is an obstacle with a certain solid area on the surface, namely the possibility that the target obstacle exists on a wall forming a corner.
For step S2, determining whether the obstacle is the target obstacle according to the detection signal of the obstacle may further include: when the infrared detection result or the image detection result of the obstacle is that the hollow parts are more, judging that the obstacle is not the target obstacle; when the infrared detection result or the image detection result of the obstacle is that the hollowed-out part is few, the obstacle is determined to be a target obstacle, and the target obstacle is an obstacle with a certain solid area on the surface, namely the possibility that the target obstacle is a wall forming a corner.
Specifically, through step S2, a determination is made first as to whether the surface of the obstacle is a solid surface, and a screening with a small operation is performed first, so as to distinguish an obstacle that may form a corner from an obstacle that does not form a corner, which is helpful to reduce unnecessary operations in subsequent determination steps.
In addition, the manner of determining whether the obstacle is an entity obstacle according to the detection signal of the obstacle only needs to be able to identify an entity part of the obstacle, which is not described herein in detail, nor is it limited specifically.
S3, when the obstacle is not the target obstacle, judging that the collision area is not a corner; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter;
specifically, in step S2, after the detection signal of the obstacle is obtained, whether the obstacle is a whole solid wall or a non-wall household article such as a chair leg or a floor air conditioner can be distinguished according to the solid area or the hollow-out condition of the obstacle; if the detection result around the collision point is that the hollow parts are more, the collision point belongs to a chair leg and other similar objects, and the collision point is not taken as a corner; if the detection result around the collision point is that the hollow part is less, namely the surface of the obstacle is the surface of the whole solid. After the surface of the obstacle is determined to be the surface of the whole solid, the obstacle needs to be further determined to be a part of a wall forming a corner area or a common solid surface with equidistant corners in the middle of the wall and the side wall of the furniture relatively far away. In the embodiment, a manner of obtaining a movement parameter of the cleaning device between two consecutive collision signals is adopted, where the movement parameter may include any one or a combination of a movement time, a movement distance, a collision point position corresponding to the two consecutive collision signals, and the like, and in a specific implementation, a time threshold, a distance threshold, and an angle threshold between tangent lines formed by the collision point position relative to a housing of the cleaning device when a collision occurs may be set according to actual needs, and when the movement time is smaller than the time threshold, a collision area where the cleaning device is located when the collision signal occurs is determined to be a corner, or when the movement distance is smaller than the distance threshold, a collision area where the cleaning device is located when the collision signal occurs is determined to be a corner, or when an angle between the tangent lines formed at the collision point position meets a preset angle threshold (e.g., an angle interval), a collision area where the cleaning device is located when the collision signal occurs is determined to be a corner.
A collision signal may be generated when a position of the cleaning apparatus collides with an obstacle, and as an example, when the movement parameter includes a moving time, the step of "if the movement parameter (moving time) of the cleaning apparatus between two consecutive collision signals is not greater than a preset time period" may be considered to be satisfied in both cases: (1) There are two or more locations on the cleaning device that collide at the same time (two or more collisions occurring at the same time, including the category of "continuous collision signal" in this application); (2) Two or more collisions occur on the cleaning device in the predetermined time period.
Continuing with the above example: in the case (1), as shown in fig. 3, the two-point collision AB occurs at the same time, and it can be directly considered that the collision is in the corner. In the case of (2), as shown in fig. 3 and 4, the two points AB in fig. 3 or a 'B' in fig. 4 are not generated at the same time, but the generated time gap is very small, which is likely to be a corner, and at this time, the data of the "predetermined time period" is very small.
Of course, in the cases (1) and (2), the determination may be made further by combining the tangent lines formed at the collision points for further accurate determination. In other embodiments, the determination may be performed in a similar manner by using the moving distance, or may be performed in a manner of directly using the tangent line of the collision point, which is not described in detail herein, and the following embodiments will be described in further detail.
And S4, setting a cleaning mode according to the environment detection signal, and controlling the cleaning equipment to clean the collision area determined as the corner according to the cleaning mode.
Specifically, for step S4, the cleaning mode may be a strong wind mode, a weak wind mode, a dust suction mode, a floor mopping mode, a water spraying mode, etc., and a proper cleaning mode is set according to the environmental condition detected in the environmental detection signal, and cleaning is performed according to the cleaning mode, so that the cleaning effect of the cleaning device can better meet the actual requirements of the area. For example, when the dust particle concentration in the current collision area is detected to be low according to the environment detection signal, the cleaning mode can be set to be a weak wind mode, and the electric energy waste of the cleaning equipment is avoided; on the contrary, when detecting that the dust particle concentration of the current collision area is higher according to the environment detection signal, the cleaning mode can be set to be a strong wind mode so as to achieve a better cleaning effect. In a specific implementation process, the cleaning mode can be set according to the environment detection signal, so that the cleaning efficiency and the cleaning effect of the cleaning equipment are improved.
In conclusion, the obstacles in the collision area of the cleaning equipment are detected, whether the current collision obstacle is the target obstacle or not is judged, and the obstacles are pre-screened, so that the calculation amount of the subsequent steps is reduced; on the basis, whether the collision area is a corner or not is judged according to the movement parameters of the cleaning equipment between two continuous collision signals, the corner in the environment can be effectively identified, the misjudgment probability is reduced, and the judgment coverage rate is improved; the corner is cleaned by controlling the cleaning equipment according to the cleaning mode generated according to the environmental condition, the problem that the floor sweeping robot in the prior art cannot clean the corner of the wall can be solved, and the dead angle is avoided.
Further, for step S3, acquiring a movement parameter of the cleaning device between two consecutive collision signals, and determining whether the collision area is a corner according to the movement parameter includes:
acquiring a movement parameter of the cleaning device between two continuous collision signals, wherein the movement parameter comprises collision point positions corresponding to the two continuous collision signals;
calculating a first tangent line of a collision point position and a second tangent line of a collision point position corresponding to another collision signal in two continuous collision signals;
acquiring the included angle degree formed by the first tangent and the second tangent, and if the included angle degree satisfies a preset angle range, judging that the collision area is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
Specifically, the first tangent described in this embodiment refers to: and taking one of the two continuous collision signals as a first collision signal, taking the environment position corresponding to the first collision signal as a first tangent point, and making the first tangent point as a straight line which is just in contact with the shell of the cleaning device at the first tangent point, wherein the straight line is the first tangent line.
Specifically, the second tangent line described in this embodiment refers to: and taking the other collision signal of the two continuous collision signals as a second collision signal, setting the environment position corresponding to the second collision signal as a second tangent point, and making the second tangent point as a straight line which just contacts the shell of the cleaning device at the second tangent point, wherein the straight line is the second tangent line.
Specifically, referring to fig. 2, it is a schematic diagram of an included angle between a first tangent and a second tangent in an embodiment of the present application; and calculating a first tangent l for the collision point position corresponding to the first collision signal, and calculating a second tangent l 'for the collision point position corresponding to the second collision signal, thereby obtaining the included angle degree alpha of the first tangent l and the second tangent l'. It can be understood that if the included angle degree α is significantly too large, the walls collided twice are considered to be substantially parallel, the walls collided twice belong to two oppositely arranged walls to a great extent, and if the included angle degree α is significantly too small, the walls collided twice are most likely to be the same wall, that is, after the first collision occurs, the walls are collided again through the adjustment of the rotation and advancing directions of the machine body; in a specific embodiment, the preset angle range may be set to 15 ° to 120 °, that is, if the included angle α is not less than 15 ° and not more than 120 °, it is determined that the collision region is a corner; if the included angle degree alpha is smaller than 15 degrees or larger than 120 degrees, the collision area is not determined to be a corner. By the above determination, the collision region can be distinguished, and a corner region with high confidence can be output.
In a specific embodiment, the moving parameter further includes a moving time, and before the step of determining the collision region by calculating the included angle degree α, the determination is performed once by the moving time, so that collision signals that are obviously not in line with the corner collision condition can be screened, the calculation burden of subsequent determination of the included angle degree α is reduced, and the method belongs to an optimal screening method. The specific way of making a determination by the movement time is as follows: when the obstacle is a target obstacle, if the moving time of the cleaning equipment between two continuous collision signals is longer than a preset time period, it indicates that the cleaning equipment collides the next time after a long time is passed after the last collision, that is, the time from one obstacle to the other obstacle is longer, or the cleaning equipment collides the same obstacle again after a long time, so that it can be determined that the collision areas where the two collision signals are located are not all in corners, and the result is determined based on the continuous collision signals at the moment: not in the corner (if the latter collision signal is a collision in the corner, other collisions in the corner can continue to occur according to the groping behavior of the machine in the corner, and at this time, the judgment can be performed again according to the steps); if the moving time of the cleaning device between two consecutive collision signals is not greater than the preset time period, the spatial distance between the obstacles that respectively generate the two collision signals is relatively short, or the cleaning device collides with the same obstacle in a short time, so it is preferable to further determine whether the collision area is a corner by calculating the angle α.
As explained in the foregoing step S3, when a position of the cleaning apparatus collides with an obstacle, a collision signal is generated, and in the step "if the moving parameter (moving time) of the cleaning apparatus between two consecutive collision signals is not greater than the preset time period", it can be considered that the number of collision signals recognized by the cleaning apparatus in the preset time period is not less than 2. It should be noted that the number of the collision signals recognized by the cleaning device in the preset time period is not less than 2, and at least two cases can be included: (1) Two or more positions on the cleaning equipment collide at the same time; (2) Two or more impacts occur on the cleaning device in front and back of the cleaning device within the preset time period.
For case (1): referring to fig. 3, which is a schematic diagram of a collision manner of a cleaning device in an embodiment of the present application, a circle in the diagram is a schematic diagram of a cleaning device, when two locations a and B on the cleaning device collide at the same time, it is considered that the number of collision signals recognized in a preset time period is just 2, and then the possibility that the collision area is a corner is high, further, the two collision point locations a and B may be used as a first tangent point and a second tangent point, an included angle degree α of a tangent line is further calculated, and if the included angle degree satisfies a preset angle range, it is determined that the collision area is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
For case (2): referring to fig. 4, which is a schematic diagram of another collision mode of the cleaning apparatus in an embodiment of the present application, after a' first collision, the cleaning apparatus changes a forward direction, if the cleaning apparatus collides for the second time within the preset time period, it is also considered that the collision region is a corner with a high possibility, further, the two collision point positions of a and B may be used as a first tangent point and a second tangent point, an included angle degree α of the tangent lines is further calculated, and if the included angle degree satisfies a preset angle range, it is determined that the collision region is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
It is understood that, in both cases, the number of recognized collision signals in the preset time period is not less than 2. In the case of the (2) case, it should be noted that: in the case of the same cleaning apparatus at the same speed and the same obstacle distance, when the angle is adjusted due to the occurrence of the collision a 'and the apparatus further moves forward and then the collision B' occurs, the time intervals of the collisions a 'and B' respectively occurring at the two corners (see fig. 4) are shorter than the time intervals of the collisions a 'and B' on the entire plane wall surface (the collisions a 'and B' on the entire plane wall surface are not shown), because: the corners have folded angles, and the folded wall edges can help to reduce the distance that the cleaning equipment needs to advance when the cleaning equipment hits the obstacle again, namely under the condition that the variables such as the advancing speed and the like are not changed, the time interval of two collisions generated on the corners is shorter than the time interval of two collisions generated on the plane wall surface.
It can be understood that, referring to fig. 5, it is a schematic diagram of another collision mode of the cleaning device in an embodiment of the present application, if it is recognized that the number of collision signals of the cleaning device in a preset time period is greater than 2, the collision area at this time may be considered as a narrow space formed by a plurality of corners, and the narrow space formed by the plurality of corners may also be used as a cleaning dead angle to specifically change the cleaning mode.
It is worth mentioning that, in case (2), at least two cases can be subdivided: (2.1) two or more collisions occur in front of and behind different positions of the cleaning device within a preset time period, or (2.2) two or more collisions occur in front of and behind the same position of the cleaning device within a preset time period. In either way, if the above determination requirement is satisfied, it can be regarded as a corner collision of the cleaning device, and the logic description diagram thereof can be taken as an example in fig. 4: after the cleaning device collides for the first time at the point A ', the cleaning device may adjust the advancing direction of the cleaning device through integral rotation, and then the next collision occurs at the point B' at the same position on the cleaning device.
In addition, the rest of the situations that two or more collision signals can be generated in the preset time period can be regarded that the number of the collision signals recognized by the cleaning device in the preset time period is not less than 2, and is not described in detail herein.
It is understood that the length of the "preset time period" may be set in real time by setting the "preset time period" in combination with the forward speed of the cleaning device itself and the obstacle distance, and making corresponding table, formula, graph data, etc. based on the speed, distance, and time. In a specific embodiment, the "preset time period" may be further adjusted in real time according to an actual cleaning condition of the cleaning device, so as to be suitable for households with different house sizes and different furniture layouts, for example, for a household with a narrow house or a room with a small area in one house, the length of the "preset time period" may be set to be short, and a non-corner position is prevented from being recognized as a corner according to a collision signal generated during normal cleaning and having a short time interval.
In another specific embodiment, the moving parameter further includes a moving distance, and before the step of determining the collision region by calculating the included angle degree α, the step of determining the collision region by the moving distance is performed for one time, so that collision signals obviously not meeting the corner collision condition can be screened, the calculation burden of subsequent determination of the included angle degree α is reduced, and the method belongs to a preferred screening method. The specific way of performing the first judgment through the moving distance is as follows: if the moving distance of the cleaning device between two consecutive collision signals is greater than a preset distance threshold, that is, the spatial distance between the obstacles generating the two collision signals is long, or the cleaning device collides with the same obstacle after traveling a long distance, it can be determined that the collision areas where the two collision signals are located are not both in corners, and the result of the consecutive collision signals at this time is determined as: not being a corner (if the collision signal in the future is a collision in a corner, other collisions in the corner can continue to occur according to the groping behavior of the machine in the corner, and at the moment, the judgment can be carried out again according to the steps); if the moving distance of the cleaning device between two consecutive collision signals is not greater than the preset distance threshold, the spatial distance between the obstacles that respectively generate the two collision signals may be relatively short, or the cleaning device adjusts the advancing angle after the first collision and collides with the same obstacle after a relatively short distance, so it is preferable to further determine whether the collision area is a corner by calculating the angle α as described above.
In another specific embodiment, since the cleaning device does not continuously work during actual use, a user may place the cleaning device by himself, select a cleaning mode by himself, set a timed cleaning duration of the cleaning device, and the like, the uncertainty may cause the cleaning device to complete cleaning and stop working after colliding with one side wall for the first time when the cleaning device may travel to a corner, and the position where the cleaning device stops working may be located right in the center of the corner, and the cleaning device may not collide with the other side wall until the cleaning device is started for the next time, in which case, the interval time between two collision signals may be very long, and the collision area may be determined as non-corner by the movement time. Therefore, in order to avoid missing when the filtering is performed by only depending on the moving time or by only depending on the moving distance, the filtering is performed by simultaneously using the moving distance and the moving time in the present embodiment, that is, the moving parameters include both the moving time and the moving distance.
The specific way of performing the primary judgment through the moving time and the moving distance is as follows: if the moving time of the cleaning equipment between two continuous collision signals is not more than a preset time period, directly entering a subsequent judgment condition, and calculating an included angle parameter alpha of a first tangent and a second tangent corresponding to the collision point position on the cleaning equipment; if the moving time of the cleaning device between two consecutive collision signals is longer than a preset time period, that is, the number of the collision signals recognized in the preset time period is less than 2, it is stated that: (1) no collision may occur; (2) When a collision occurs, the cleaning equipment does not pass through the corner in the preset time period, but enters the corner area after the cleaning equipment continues to move forward from the corner area (but the cleaning equipment is not at the corner, and the subsequent real corner entering can be judged again according to the steps when the collision occurs); (3) The cleaning device does not collide twice or leave the corner after entering the corner area, and the cleaning device collides twice in the corner area after continuing to move forwards; obviously, the case (3) is a case that a corner needs to be determined at this time, and it may include the example of "suspending cleaning after a collision of the cleaning device" described in the previous paragraph, so that it needs to be further determined and distinguished according to the moving distance of the cleaning device; for example, the moving distance of the cleaning device in the same moving direction between two consecutive collision signals is acquired, and because the corner has another wall side blocking the advancing route, if the cleaning device moves in the corner and the collision occurs in a short moving distance, the cleaning device is likely to collide with the folded edge of the corner, namely the corner exists in the current collision area; on the contrary, if the collision occurs only after a certain distance, the hem of the corner is probably absent at this moment, that is, the corner does not exist in the current collision area, the collision may be generated when the cleaning device slightly rotates the body after the last collision to adjust the advancing angle and then collides with the same plane wall, and the collision point obviously does not belong to the corner collision point, that is, the collision point can be eliminated by setting a moving distance threshold and/or subsequently calculating the determination condition of the included angle parameter α between the first tangent line and the second tangent line corresponding to the collision point position on the cleaning device.
As an example: the method for judging whether the collision area is a corner by moving the distance threshold may specifically be: presetting a first moving distance and a second moving distance, wherein the second moving distance is greater than the first moving distance; after the first collision is set, the second collision within the first moving distance is the collision within the corner, and the condition that the corner exists in the current collision area is met; after one collision, the secondary collision which occurs only after exceeding the first moving distance is considered that the two collisions are not both in-corner collisions, and the situation that no corner exists in the current collision area is firstly judged. It can be understood that, after the cleaning device hits a wall in the vertical direction, it may generally need 2-3 times of slight rotation and collision again to adjust the body direction, so as to recover to the state of walking along the wall, and after the last rotation, the body may not collide with the wall again in a longer moving distance or a longer moving time due to recovery to the state of walking along the wall, so as to determine whether the collision signal recognized after exceeding the second moving distance is a collision in the corner area again, that is, by the above 2 distances, namely, the first moving distance and the second moving distance, which are preferably set, it is possible to make an explicit determination on the case that the moving distance of the cleaning device in the same moving direction is smaller than the first moving distance and the case that the moving distance of the cleaning device in the same moving direction is larger than the second moving distance, that there is a corner in the current collision area, and when the moving distance of the cleaning device in the same moving direction is larger than the second moving distance, the current collision area is not all at the corner, and based on the continuous collision signal result at this time, it is determined that: not the corner (if the latter collision signal is a collision in the corner, other collisions in the corner will continue to occur according to the fumbling action of the machine in the corner, at which time the judgment can be made again according to the above steps).
However, when the actual moving distance of the body in the same moving direction is between the first moving distance and the second moving distance, there are still two cases that there is a possibility of a non-corner collision or a corner collision. Therefore, in this embodiment, for the case that the actual moving distance of the body in the same moving direction is between the first moving distance and the second moving distance, the included angle degree between the first tangent line and the second tangent line is adopted to determine: when the actual moving distance of the machine body in the same moving direction is between the first moving distance and the second moving distance, a first tangent l is calculated for the collision point position corresponding to the current collision signal, and a second tangent l 'is calculated for the collision point position corresponding to the previous collision signal, so that the included angle degree alpha of the first tangent l and the second tangent l' can be obtained. It should be noted that if the included angle degree α is significantly too large, the walls collided twice can be considered to be substantially parallel, the walls collided twice belong to two oppositely arranged walls to a great extent, and if the included angle degree α is significantly too small, the walls collided twice are most likely to be the same wall, that is, after the first collision occurs, the walls are collided again through the adjustment of the rotation and advancing directions of the machine body; in a specific embodiment, the preset angle range may be set to 15 ° to 120 °, that is, if the included angle α is not less than 15 ° and not more than 120 °, it is determined that the collision region corresponding to the current collision signal is a corner; and if the included angle degree alpha is less than 15 degrees or more than 120 degrees, judging that the collision area corresponding to the current collision signal is not a corner.
In summary, the condition that the collision area is obviously not a corner area is screened out by simultaneously carrying out the prepositive judgment through the moving time and the moving distance, and the condition that the cleaning equipment has longer moving time but two continuous collision signals have shorter moving distance is distinguished through the judgment condition of the moving distance, namely, the condition after the moving time is judged through the moving distance is subjected to omission and gap detection, so that the accuracy of the corner area identification is improved, and the corner area with higher confidence coefficient is output.
Further, the step of setting a cleaning mode according to the environment detection signal, and controlling the cleaning device to clean the collision area determined as the corner according to the cleaning mode includes:
acquiring the state of the articles in the collision area which is judged to be a corner according to the environment detection signal, selecting a corresponding cleaning mode according to the state of the articles, and setting the cleaning wind power and/or the air outlet angle when the collision area which is judged to be the corner is cleaned according to the cleaning mode;
and controlling the cleaning equipment to clean the collision area judged as the corner according to the cleaning wind power and/or the wind outlet angle.
Specifically, the article states of the surroundings at the corners can be obtained by identifying the environment images acquired by the cameras and other devices in the environment detection signals, wherein the article states include article quantity, article position/layout and the like, so that the cleaning mode is selected, and the size of the cleaning wind and the wind direction angle are determined; illustratively, when there is no article around the corner, the strong wind mode can be selected, and the cleaning is performed by using the larger wind power, when the number of the articles is larger, the wind power is too large, so that the dust flies to other articles, the secondary pollution is formed to other articles, and the secondary cleaning is inconvenient, therefore, the weak wind mode can be selected at this time, and the cleaning is performed by using the smaller wind power.
On the basis, the size of the gap between the articles can be calculated according to the positions of the articles, and if the gap between the two articles is large, the wind direction angle can be adjusted to be aligned to the gap to be cleaned in a strong wind mode by adopting relatively large wind power; if the clearance between two articles is small, the wind direction angle can be adjusted to be aligned with the clearance to be cleaned at the same time of adopting relatively small wind power in a weak wind mode.
Further, the step of setting a cleaning mode according to the environment detection signal, and controlling the cleaning apparatus to clean the collision region determined as the corner according to the cleaning mode includes:
acquiring the surface material of the collision area judged as a corner according to the environment detection signal, selecting a corresponding cleaning mode according to the surface material, and setting a cleaning type for cleaning the collision area judged as the corner according to the cleaning mode;
and controlling the cleaning device to clean the collision region determined as the corner according to the cleaning type.
In particular, cleaning devices have water jet sweeping, mopping, and the like functions that can cause items to wet. Therefore, through identifying and image analyzing the environment images acquired by devices such as a camera in the environment detection signals, the surface material of the ground in the collision area is acquired according to the roughness of the surface of the object, if the roughness is large, the corner of the place can be considered to be a carpet or other uneven surface materials, because the carpet is not suitable for wetting, and other uneven materials easily cause the problems of difficult drying of water stains, accumulation of water stains and the like, the place is not suitable for adopting the functions of water spraying cleaning, mopping and the like, a dust collection mode can be selected, and a cleaning type is set to absorb dust; if the roughness is small, the corner can be considered to be made of materials such as tiles and the like, and the corner is suitable for cleaning by adopting a water jet cleaning mode and the like, so that the corner with small roughness can be selected as a cleaning mode, and the cleaning type is set to water jet cleaning or mopping.
Specifically, the material of the surface of the article can be obtained by identifying and analyzing the environment image acquired by a camera and other devices in the environment detection signal and combining the color, the light reflection degree and the roughness of the surface of the article, and if the surface of the article is a brown non-light-reflection surface and the roughness is low, the article can be considered as a carton non-wettable article, so that only the cleaning type can be set as dust absorption.
Further, the step of setting a cleaning mode according to the environment detection signal, and controlling the cleaning device to clean the collision area determined as the corner according to the cleaning mode includes:
performing coordinate marking on the collision area judged as a corner according to positioning information of the cleaning equipment carried in the environment detection signal, selecting a corresponding cleaning mode based on an environment map and the coordinates of the current mark, and setting cleaning frequency when the collision area judged as the corner is cleaned according to the cleaning mode;
and controlling the cleaning device to clean the collision region determined as the corner according to the cleaning frequency.
After the coordinates of the corners are marked, the coordinates of the areas, such as a living room, a bedroom, a kitchen and the like, in which the coordinates are located can be judged according to the family layout information in the environment map, the cleaning frequency of the areas, such as the living room and the like, with more people coming and going can be increased for the corners of the areas, such as the bedroom and the like, with less people coming and going, the cleaning frequency can be relatively reduced, and excessive cleaning and resource waste are avoided.
The environment map can be manually set or automatically generated according to the positioning information of a plurality of intelligent homes in the anterior chamber room, and in addition, coordinate marking can be carried out on the corners through the positioning information acquired by the positioning device on the cleaning equipment in the environment detection signal.
Further, the step of marking the coordinates of the collision area determined as a corner according to the positioning information of the cleaning device carried in the environment detection signal, and selecting a corresponding cleaning mode based on the environment map and the coordinates of the current mark, and the step of setting the cleaning frequency when cleaning the collision area determined as a corner according to the cleaning mode includes:
marking coordinates of the collision area determined as a corner in an environment map of the cleaning device according to positioning information of the cleaning device carried in the environment detection signal;
the method comprises the steps of obtaining the orientation of a room where coordinates are located and the opening direction of a window, obtaining wind direction information of the current time, selecting a corresponding cleaning mode according to the orientation of the room, the opening direction of the window and the wind direction information, and setting cleaning frequency when a collision area which is determined to be a corner is cleaned according to the cleaning mode.
Specifically, if the current wind direction corresponds to the opening direction of the window and the current wind direction blows from the outside of the window to the inside of the window, the cleaning frequency of corners in the room where the window is located can be reduced, for example, if the current wind direction is from west to east and the opening direction of the window faces west, the room where the window is located can receive a large amount of wind blown from the outside to form flowing air, and therefore, the proportion of dust particles in the air in the room deposited in the room is relatively small, that is, the dust concentration on the ground of the room is low, and the cleaning frequency can be correspondingly reduced in the time period in which the wind in the direction continuously exists.
In particular, the environment map may also include window location information, which may also increase the frequency of cleaning in corners away from the window in the same room.
Specifically, if the wind direction in the season corresponds to the direction of the house, the frequency of cleaning corners of the house may be reduced in the current season, for example, if the direction of the house is from north to south, and the wind in the current season is from north to south, a large amount of wind blown from the outside may be received in the house to form flowing air, and therefore, the proportion of dust particles in the air in the room deposited in the room may be relatively small, that is, the dust concentration on the floor of the room is low, and the cleaning frequency may be reduced accordingly.
In a specific embodiment, the corner cleaning according to a preset corner cleaning mode or the real-time cleaning mode generated according to the environment detection signal can be selected according to a switching instruction of a user; specifically, when the user selects to switch to corner cleaning in the preset corner cleaning mode, the cleaning apparatus is controlled to perform corner cleaning in accordance with the cleaning wind, wind angle, cleaning type, cleaning frequency, etc. in the preset corner cleaning mode.
In another specific embodiment, the corner cleaning can be performed according to a preset corner cleaning mode or a real-time cleaning mode generated according to the environment detection signal according to the electric quantity of the cleaning equipment; specifically, when the power of the cleaning apparatus is less than a preset threshold, i.e., in a low power mode, the corner cleaning is performed according to a preset corner cleaning mode, such as slow movement cleaning mainly using low wind power, or slow movement cleaning in which only a dust suction mode is turned on; and when the electric quantity of the cleaning equipment is not less than a preset threshold value, performing corner cleaning according to a real-time cleaning mode generated according to the environment detection signal.
Further, the step of determining the collision area as a corner further comprises the following steps:
when the cleaning device cleans the collision area judged as the corner and the distance between the cleaning device and the wall is smaller than the first approach early warning distance, controlling the cleaning device to be far away from the wall;
wherein, the first early warning distance that is close is less than and is close the early warning distance apart from the second of wall to the cleaning device when judging that the collision zone for the corner is not cleaned.
Specifically, when cleaning device cleans along the wall, if cleaning device is too close to the wall, then need control cleaning device to keep away from the wall slightly in order to avoid unnecessary collision, when cleaning device cleaned the corner, the proximity sensor threshold value among the adjustable cleaning device to reduce cleaning device's the early warning distance that is close to, thereby make cleaning device can be close to the wall in corner as far as possible and clean.
Specifically, the distance between the cleaning device and the wall can be acquired through an infrared distance measuring sensor, and the distance between the cleaning device and the wall can also be acquired through depth information acquired through TOF.
According to the corner cleaning method, whether the current collision obstacle is the target obstacle or not is judged by detecting the obstacle in the collision area of the cleaning equipment, and the obstacle is pre-screened, so that the calculation amount of the subsequent steps is reduced; on the basis, whether the collision area is a corner is judged according to the movement parameter of the cleaning equipment between two continuous collision signals, and whether the collision area is a corner is judged according to the movement parameter of the cleaning equipment between two continuous collision signals, so that the corners in the environment can be effectively identified, the misjudgment probability is reduced, and the judged coverage rate is improved; the cleaning equipment is controlled to clean the corners according to the cleaning mode generated according to the environment condition, so that the problem that the sweeping robot in the prior art cannot clean the corners of the wall can be solved, and the dead angle of cleaning is avoided; the cleaning wind power is set according to the environments of different corners, the cleaning types are set according to the material of the articles at different corners, and the cleaning frequency is set according to the positions of the different corners, the house orientation and the room window orientation, so that the cleaning efficiency can be effectively improved, the corners with more dust can be intensively cleaned, and the problems of waste of cleaning resources of parts of corners and difficulty in cleaning of parts of corners caused by the same cleaning mode are solved; through reducing cleaning device's the early warning distance that is close to make cleaning device can clean as far as possible near the wall in corner, improved the clear coverage in corner, and then improved cleaning device's clean efficiency and clean area.
Referring to fig. 6, a block diagram of a corner cleaning apparatus according to an embodiment of the present invention is shown, the apparatus including:
an environment detection module 100, configured to obtain an environment detection signal when the cleaning device moves;
a collision region detection module 200, configured to, when it is recognized that a collision signal exists in the environment detection signal, acquire a detection signal of an obstacle in a collision region corresponding to the collision signal, and determine whether the obstacle is a target obstacle according to the detection signal of the obstacle;
a corner recognition module 300 configured to determine that the collision zone is not a corner when the obstacle is not a target obstacle; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter;
and a cleaning control module 400 for setting a cleaning mode according to the environment detection signal and controlling the cleaning device to clean the collision area determined as the corner according to the cleaning mode.
Further, the corner identification module 300 includes an included angle degree calculation sub-module;
the included angle degree calculation submodule is used for acquiring a moving parameter of the cleaning equipment between two continuous collision signals, wherein the moving parameter comprises collision point positions corresponding to the two continuous collision signals;
calculating a first tangent of a collision point position corresponding to one collision signal and a second tangent of a collision point position corresponding to the other collision signal in the two continuous collision signals;
acquiring the included angle degree of the first tangent and the second tangent, and if the included angle degree meets a preset angle range, judging that the collision area is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
Further, the cleaning control module 400 includes a first cleaning control sub-module;
the first cleaning control submodule is used for acquiring the state of the articles in the collision area which is judged to be a corner according to the environment detection signal, selecting a corresponding cleaning mode according to the state of the articles, and setting cleaning wind power and/or an air outlet angle when the collision area which is judged to be the corner is cleaned according to the cleaning mode;
and controlling the cleaning equipment to clean the collision area which is judged to be the corner according to the cleaning wind power and/or the wind outlet angle.
Further, the cleaning control module 400 also includes a second cleaning control sub-module;
the second cleaning control submodule is used for acquiring the surface material of the collision area judged as the corner according to the environment detection signal, selecting a corresponding cleaning mode according to the surface material, and setting a cleaning type when the collision area judged as the corner is cleaned according to the cleaning mode;
and controlling the cleaning device to clean the collision region determined as the corner according to the cleaning type.
Further, the cleaning control module 400 also includes a third cleaning control sub-module;
the third cleaning control submodule is used for carrying out coordinate marking on the collision area judged as a corner according to the positioning information of the cleaning equipment carried in the environment detection signal, selecting a corresponding cleaning mode based on the environment map and the coordinate of the current mark, and setting the cleaning frequency when the collision area judged as the corner is cleaned according to the cleaning mode;
and controlling the cleaning device to clean the collision area determined as the corner according to the cleaning frequency.
Furthermore, the third cleaning control sub-module is further configured to mark coordinates of the collision area determined as a corner in an environment map of the cleaning device according to the positioning information of the cleaning device carried in the environment detection signal;
the method comprises the steps of obtaining the orientation of a room where coordinates are located and the opening direction of a window, obtaining wind direction information of the current time, selecting a corresponding cleaning mode according to the orientation of the room, the opening direction of the window and the wind direction information, and setting cleaning frequency when a collision area determined as a corner is cleaned according to the cleaning mode.
Further, the cleaning control module 400 further includes an early warning sub-module;
an early warning submodule for performing the following steps after the step of determining that the collision region is a corner:
when the cleaning equipment cleans the collision area judged as the corner and the distance between the cleaning equipment and the wall is smaller than the first approach early warning distance, controlling the cleaning equipment to be far away from the wall;
the first approach early warning distance is smaller than a second approach early warning distance between the cleaning equipment and the wall surface when the collision area which is not determined to be a corner is cleaned.
Referring to fig. 7, an embodiment of the present application further provides a computer device, where the computer device may be a server, and an internal structure of the computer device may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing corner cleaning data and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a corner cleaning method.
It will be understood by those skilled in the art that the structure shown in fig. 7 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation to the computer device to which the present application is applied.
An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a corner cleaning method. It is to be understood that the computer-readable storage medium in the present embodiment may be a volatile-readable storage medium or a non-volatile-readable storage medium.
In summary, for the corner cleaning method, the corner cleaning device, the computer device and the storage medium provided in the embodiment of the present application, the obstacle in the collision area of the cleaning device is detected, whether the obstacle currently collided is the target obstacle is determined, and the obstacle is pre-screened, so that the calculation amount of the subsequent steps is reduced; on the basis, whether the collision area is a corner is judged according to the movement parameter of the cleaning equipment between two continuous collision signals, and whether the collision area is a corner is judged according to the movement parameter of the cleaning equipment between two continuous collision signals, so that the corners in the environment can be effectively identified, the misjudgment probability is reduced, and the judged coverage rate is improved; by controlling the cleaning equipment to clean the corners according to the cleaning mode generated according to the environmental condition, the problem that the sweeping robot in the prior art cannot clean the corners of the wall can be solved, and the dead angle of cleaning is avoided; the cleaning wind power is set according to the environments of different corners, the cleaning types are set according to the material of the articles at different corners, and the cleaning frequency is set according to the positions of the different corners, the house orientation and the room window orientation, so that the cleaning efficiency can be effectively improved, the corners with more dust can be intensively cleaned, and the problems of waste of cleaning resources of parts of corners and difficulty in cleaning of parts of corners caused by the same cleaning mode are solved; through reducing cleaning device's near early warning distance to make cleaning device can clean as far as possible near the wall in corner, improved the clear coverage in corner, and then improved cleaning device's clean efficiency and clean area.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (SSRDRAM), enhanced SDRAM (ESDRAM), synchronous Link (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method 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, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, apparatus, article, or method comprising the element.
The above description is only for the preferred embodiment of the present application and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims (9)

1. A corner cleaning method, comprising the steps of:
acquiring an environment detection signal when the cleaning equipment moves;
when a collision signal is identified to exist in the environment detection signal, acquiring a detection signal of an obstacle in a collision area corresponding to the collision signal, and judging whether the obstacle is a target obstacle according to the detection signal of the obstacle;
when the obstacle is not a target obstacle, determining that the collision area is not a corner; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter;
setting a cleaning mode according to the environment detection signal, and controlling the cleaning equipment to clean the collision area determined as the corner according to the cleaning mode;
the step of acquiring a movement parameter of the cleaning device between two consecutive collision signals, and determining whether the collision area is a corner according to the movement parameter comprises:
acquiring a movement parameter of the cleaning device between two continuous collision signals, wherein the movement parameter comprises collision point positions corresponding to the two continuous collision signals;
calculating a first tangent of a collision point position corresponding to one collision signal and a second tangent of a collision point position corresponding to the other collision signal in the two continuous collision signals;
acquiring the included angle degree of the first tangent and the second tangent, and if the included angle degree meets a preset angle range, judging that the collision area is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
2. The corner cleaning method according to claim 1, wherein the step of setting a cleaning mode according to the environment detection signal and controlling the cleaning device to clean the collision area determined as the corner according to the cleaning mode comprises:
acquiring the article state in the collision area judged as the corner according to the environment detection signal, selecting a corresponding cleaning mode according to the article state, and setting the cleaning wind power and/or the air outlet angle when the collision area judged as the corner is cleaned according to the cleaning mode;
and controlling the cleaning equipment to clean the collision area which is judged to be the corner according to the cleaning wind power and/or the wind outlet angle.
3. A corner cleaning method according to claim 1, wherein said setting a cleaning mode according to said environment detection signal, and said controlling said cleaning device to clean the collision area determined as a corner according to said cleaning mode comprises:
acquiring the surface material of the collision area judged as the corner according to the environment detection signal, selecting a corresponding cleaning mode according to the surface material, and setting a cleaning type for cleaning the collision area judged as the corner according to the cleaning mode;
controlling the cleaning device to clean the collision region determined as a corner according to the cleaning type.
4. The corner cleaning method according to claim 1, wherein the step of setting a cleaning mode according to the environment detection signal and controlling the cleaning device to clean the collision area determined as the corner according to the cleaning mode comprises:
marking the coordinates of the collision area judged as a corner according to the positioning information of the cleaning equipment carried in the environment detection signal, selecting a corresponding cleaning mode based on an environment map and the coordinates of the current mark, and setting the cleaning frequency when the collision area judged as a corner is cleaned according to the cleaning mode;
and controlling the cleaning device to clean the collision region determined as the corner according to the cleaning frequency.
5. The corner cleaning method according to claim 4, wherein the step of performing coordinate marking on the collision area determined as a corner according to the positioning information of the cleaning device carried in the environment detection signal and selecting a corresponding cleaning mode based on the environment map and the coordinates of the current mark, and the step of setting the cleaning frequency when cleaning the collision area determined as a corner according to the cleaning mode comprises:
marking the coordinates of the collision area determined as a corner in an environment map of the cleaning device according to the positioning information of the cleaning device carried in the environment detection signal;
acquiring the orientation of a room where the coordinates are located and the opening direction of a window, acquiring wind direction information of the current time, selecting a corresponding cleaning mode according to the orientation of the room, the opening direction of the window and the wind direction information, and setting cleaning frequency when the collision area determined as the corner is cleaned according to the cleaning mode.
6. The corner cleaning method according to claim 1, wherein the step of determining the collision area as a corner further comprises the following steps:
when the cleaning equipment cleans the collision area judged as a corner and the distance between the cleaning equipment and a wall is smaller than a first approach early warning distance, controlling the cleaning equipment to be far away from the wall;
wherein, the first early warning distance that is close is less than and is close the early warning distance apart from the second of wall to the cleaning equipment when judging that the collision zone not for the corner cleans.
7. A corner cleaning device, comprising:
the environment detection module is used for acquiring an environment detection signal when the cleaning equipment moves;
the collision area detection module is used for acquiring a detection signal of an obstacle in a collision area corresponding to the collision signal when the collision signal is identified to exist in the environment detection signal, and judging whether the obstacle is a target obstacle or not according to the detection signal of the obstacle;
a corner recognition module for determining that the collision area is not a corner when the obstacle is not a target obstacle; when the obstacle is a target obstacle, acquiring a movement parameter of the cleaning equipment between two continuous collision signals, and judging whether the collision area is a corner or not according to the movement parameter;
the cleaning control module is used for setting a cleaning mode according to the environment detection signal and controlling the cleaning equipment to clean the collision area which is determined as a corner according to the cleaning mode;
the included angle degree calculation submodule is used for acquiring a moving parameter of the cleaning equipment between two continuous collision signals, wherein the moving parameter comprises collision point positions corresponding to the two continuous collision signals; calculating a first tangent of a collision point position corresponding to one collision signal and a second tangent of a collision point position corresponding to the other collision signal in the two continuous collision signals; acquiring the included angle degree of the first tangent and the second tangent, and if the included angle degree meets a preset angle range, judging that the collision area is a corner; and if the included angle degree does not meet the preset angle range, judging that the collision area is not a corner.
8. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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