WO2014106468A1

WO2014106468A1 - Long-side operation movement control assembly of a self-moving robot and control method therefor

Info

Publication number: WO2014106468A1
Application number: PCT/CN2014/070071
Authority: WO
Inventors: 汤进举; 张晓骏
Original assignee: 科沃斯机器人科技(苏州)有限公司
Priority date: 2013-01-05
Filing date: 2014-01-03
Publication date: 2014-07-10
Also published as: CN103909514A

Abstract

Disclosed are a long-side operation movement control assembly of a self-moving robot and a control method therefor. The self-moving robot (100) comprises a locomotion unit and a driving unit. The control assembly comprises a sensing unit and a controlling unit, and the control assembly further comprises a long-side direction judging unit, and a direction identifying unit. The controlling unit determines the long-side direction of an area (S) to be operated in according to a signal outputted by the long-side direction judging unit, and the direction identifying unit controls the locomotion unit to advance and operate in the long-side direction. The long-side operation movement control assembly of a self-moving robot and the control method therefor can determine the long-side location. The long-side operation movement control assembly is simple in operation and is convenient in use.

Description

Self-moving robot long-side operation mobile control assembly and control method thereof

The invention relates to a long-side operation movement control assembly and a control method thereof for a self-moving robot, and belongs to the technical field of small household appliance manufacturing. Background technique

Self-mobile robots are increasingly favored by users due to their small size and flexible movement, especially small self-cleaning machines including glass-cleaning robots (also known as window treasures), sweeping robots (aka Dibao) and waxing robots. Mobile robots are widely used. However, the existing self-mobile robots have a complicated movement mode during the operation process. For example, a window treasure with only one-sided collision plate needs to rely on the collision plate to judge the movement position and direction during the actual cleaning process, and needs to constantly Carrying out various turning actions, the process of turning takes too much time, the work efficiency is low and the energy consumption is wasted. Summary of the invention

The technical problem to be solved by the present invention is to provide a long-side work movement control assembly for a self-moving robot, which has a simple structure and can be realized only on the existing equipment, and the long side can be realized. The control of the short-side or random walking operation greatly improves the working efficiency; the long-side work movement control assembly of the self-moving robot can realize manual control and automatic control, and realizes through various methods such as ranging and image. The determination of the long side position is simple and easy to use.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A self-moving robot long-side work movement control assembly, the self-mobile robot includes a walking unit and a driving unit, the long-side work movement control assembly includes a sensing unit and a control unit, and the control assembly further includes a long-side direction determining unit and a direction identifying unit, wherein the long-side direction determining unit is connected to the control unit, the control unit determines a long-side direction of the to-be-worked area according to a signal output by the long-side direction determining unit, and the direction identifying unit controls the walking unit Walking along the long side direction.

In order to facilitate the user to implement manual control of the moving direction of the mobile robot, the long-side direction determining unit includes a direction control button or a sliding touch screen disposed on the mobile robot or the remote control terminal, and the control unit controls the direction according to the user. The choice is to manually control the walking unit to travel along the long side of the work area.

The direction recognition unit is an accelerometer, a gyroscope, or a gyroscope built in the self-mobile robot, as needed Any one or combination of a code wheel and an electronic compass.

The long-side direction determining unit includes a ranging unit, and the ranging unit is connected to the control unit, and the control unit determines a long-side direction of the to-be-worked area according to a distance signal output by the ranging unit, and automatically controls the walking unit along the Long-side walking work in the work area.

The ranging unit is a laser range finder or an encoder or a counter or an ultrasonic range finder.

Specifically, the sensing unit outputs a position signal from the mobile robot in the to-be-worked area to the control unit, and the control unit controls the walking unit to walk the self-moving robot in a straight line according to the position signal, and controls the opening of the ranging unit or Close, and feedback the calculated distance signal to the control unit.

The sensing unit includes a touch sensor or a non-contact sensor as needed; the contact sensor is a travel switch, a pressure sensor or a conductive rubber; and the non-contact sensor is an infrared sensor or an ultrasonic sensor.

Further, the long-side direction determining unit includes an image sensor for capturing a picture of the to-be-worked area, and the control unit determines a long-side direction of the to-be-worked area according to the picture.

The self-moving robot is a glass cleaning robot, a sweeper or a waxing machine.

The present invention also provides a control method for a long-side work movement control assembly of a self-moving robot as described above, the method comprising the following steps:

Step 1: Place the self-moving robot in the waiting area and determine the long-side direction of the area to be operated; Step 2: Press the corresponding direction button on the self-moving robot or receive the user's direction in the remote terminal from the mobile robot The control signal is manually controlled to operate from the mobile robot in the long direction in the direction.

Specifically, the walking operation of the walking operation described in the step 2 is a "Z" shape or a "bow" shape. The direction button described in step 2 is a horizontal direction and/or a vertical direction button; the direction control signal is a horizontal direction and/or a vertical direction control signal.

Step 1: Place the self-moving robot at the starting position in the area to be operated;

Step 2: The mobile robot recognizes the long-side direction of the area to be operated;

Step 3: The self-moving robot determines the walking along the long side according to the recognition result of step 2.

Specifically, the walking operation of the walking operation described in the step 3 is a "Z" shape or a "bow" shape. When the starting position in the step 1 is the corner position of the area to be worked,

The step 2 further includes the following steps:

Step 201: The mobile robot starts from the corner position of the work area, and starts from the first edge along the first side. Moving to the second edge opposite to the first edge, the motion is simultaneously measured to obtain D1;

Step 202: The mobile robot is turned to 90° in situ, moves from the third edge in the second direction to the fourth edge opposite to the third edge, and the motion is simultaneously measured to obtain D2;

Step 203: Compare the sizes of D1 and D2, and the larger moving direction is the long side direction.

The step 203 further includes: when the D1 and the D2 are equal, the first direction and the second direction are both long-side directions, and the mobile robot randomly selects one of the directions to travel.

When the starting position in the step 1 is an arbitrary position in the area to be operated,

The step 2 further includes the following steps:

Step 210: The mobile robot starts from the first position and then turns to 180° in the first direction, and moves to the second edge opposite to the first edge, and the motion is simultaneously measured to obtain D1 '. Step 220: The mobile robot is turned to 90° in situ, moves to the third edge immediately after moving to the third edge, and then moves to the fourth edge opposite to the third edge, and the motion is simultaneously measured to obtain D2'. ;

Step 230: Compare the sizes of D1 ' and D2'. The larger direction of motion is the long-side direction.

The step 230 further includes: when D1 ' and D2' are equal, the first direction and the second direction are both long-side directions, and the mobile robot randomly selects one of the directions to travel.

The step 2 is specifically:

The self-moving robot measures the length of each direction of the working area by a laser range finder or an ultrasonic range finder to determine the long side direction of the area to be worked;

Or, the mobile robot obtains a picture of the to-be-worked area through the image sensor, and the control unit determines the long-side direction of the to-be-worked area according to the picture.

In summary, the present invention provides a long-side operation movement control assembly and a control method thereof for a self-moving robot. The control assembly has a simple structure, and only needs to be slightly improved on the existing equipment to realize the long side, The control of short-side or random walking operation greatly improves the working efficiency; both manual control and automatic control can be realized, and the position of the long side can be determined by various methods such as ranging, image, etc. The control method is simple in operation and convenient to use. .

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. DRAWINGS

1 is a schematic view showing the overall structure of a long-side work movement control assembly of a mobile robot according to the present invention;

2 is a schematic view of a walking direction according to an embodiment of the present invention;

3 is a schematic view of a walking direction according to Embodiment 2 of the present invention;

4 is a schematic view of a walking direction according to Embodiment 3 of the present invention; FIG. 5 is a schematic diagram of a walking direction according to Embodiment 4 of the present invention; FIG.

6 and FIG. 7 are respectively schematic views of the walking operation mode of the glass cleaning robot of the present invention;

FIG. 8 is a schematic diagram of a walking direction according to Embodiment 5 of the present invention. detailed description

1 is a schematic view showing the overall structure of a long-side work movement control assembly of a mobile robot according to the present invention. As shown in FIG. 1 , the present invention provides a long-side work movement control assembly for a self-moving robot, the self-mobile robot 100 includes a walking unit 110 and a driving unit, and the long-side work movement control assembly includes a sensing unit. And a control unit, the control assembly further includes a long-side direction determining unit and a direction identifying unit, wherein the long-side direction determining unit is connected to the control unit, and the control unit determines the to-be-worked area according to the signal output by the long-side direction determining unit In the longitudinal direction of S, the direction identifying unit controls the walking unit to travel in the longitudinal direction. In order to facilitate the manual control of the moving direction of the mobile robot, the long-side direction determining unit includes a direction control key 120 disposed on the body of the mobile robot 100 or on the remote control terminal, and the direction control key 120 may be a physical button. Or slide the touch screen. When the remote control terminal is used, the direction signal receiver is correspondingly provided on the body of the mobile robot 100. The control unit manually controls the long-side walking operation of the walking unit along the to-be-worked area s according to the user's selection of the direction control key 120 or the sliding touch screen, or according to the direction signal receiver receiving the user's remote control signal. The direction recognition unit is any one or a combination of an accelerometer, a gyroscope, a code wheel, and an electronic compass built in the self-mobile robot, as needed. The long-side direction determining unit includes a ranging unit, and the ranging unit is connected to the control unit, and the control unit determines a long-side direction of the to-be-worked area according to a distance signal output by the ranging unit, and automatically controls the walking unit along the Long-side walking work in the work area. The ranging unit is a laser range finder or an encoder or counter or an ultrasonic range finder. Specifically, the sensing unit outputs a position signal from the mobile robot 100 in the to-be-worked area to the control unit, and the control unit controls the walking unit to make the self-moving robot 100 travel in a straight line according to the position signal, and simultaneously controls the ranging unit. Turns on or off, and feeds back the calculated distance signal to the control unit. The sensing unit includes a touch sensor or a non-contact sensor as needed; the touch sensor is a travel switch, a pressure sensor or a conductive rubber; and the non-contact sensor is an infrared sensor or an ultrasonic sensor. Further, the long-side direction determining unit includes an image sensor for capturing a picture of the to-be-worked area, and the control unit determines a long-side direction of the to-be-worked area according to the picture. The self-moving robot is a glass-wiping robot, a sweeper or a waxing machine.

The above is a general introduction to the present invention, and the following is divided into five different embodiments, and the technical solutions of the present invention will be described in detail. Embodiment 1

2 is a schematic view of a walking direction according to an embodiment of the present invention. In the embodiment shown in FIG. 2, a sweeping machine 200 is provided. First, the sweeping machine 200 is placed in the to-be-worked area S. Secondly, the user can press the setting on the body of the sweeping machine 200 according to his own needs. The direction button 210, after receiving the control command input by the user through the direction button 210, the control unit in the sweeper 200 controls the walking unit to move in the direction indicated by the user. Of course, in order to facilitate the user's operation, in addition to setting the direction button 210 on the sweeper 200, the motion command can also be sent to the sweeper 200 by remote control. For example, the sweeping machine 200 is provided with a "long-side cleaning mode", and the sweeping machine 200 is provided with "east", that is, X direction, "North-South" or Y-direction two direction buttons. When the user needs to sweep the sweeping machine 200 along the long side of the working area, it is first necessary to visually judge whether the long side direction is the "east" direction or the "North and South" direction, assuming that the visual judgment result "North-South" direction is the long-side direction, the user Then, by sliding the corresponding button on the sweeper 200 or sliding on the touch screen, for example, pressing the "North-South" direction button, after the sweeper 200 receives the control signal of the user at the direction control button 210, according to the electronic compass built into the sweeper 200 or The direction indication of the code wheel or the accelerometer controls the movement of the walking unit, and the cleaning of the sweeping machine 200 along the long side of the area S can be adjusted accordingly. For example: the sweeping machine 200 is provided with a "long-side cleaning mode" and a direction signal receiver, and the sweeping machine 200 is provided with a remote controller, and the remote controller is provided with two buttons of "east", "north and north" or touch sliding. Button, the user can also input the control signal by pressing the button or the touch screen on the remote controller according to the long-side direction of the visual judgment, and the sweeper 200 receives the direction control signal sent by the user at the remote control terminal, and controls according to the indication of the signal. By driving the walking unit to move, the sweeping machine 200 can be adjusted to "sweep in the east-west or north-south direction". Generally, the shape of each work area S can be approximately regarded as a rectangular space having long sides and short sides, or a square space of four sides, so that the user can manually control the sweeper 200 along the need. Work in the desired direction. For irregularly shaped work areas, if it is difficult to distinguish between long and short sides, you can arbitrarily select one direction as the long side direction. In this embodiment, the cleaning direction is manually selected by setting a button on the sweeping machine 200 or by controlling the remote terminal by the user. Since the sweeping machine 200 has an electronic compass or a code wheel or an accelerometer built therein, when the sweeping machine 200 is placed at any position of the work area S, the sweeper 200 is selected by an electronic compass or a code wheel or an accelerometer. The direction of the button selection can be determined, and the control unit controls the sweeper to rotate to the corresponding direction in situ, and then starts the cleaning operation.

Habitual, most of the indoor rooms are "something" or "North-South". When the room has a rectangle with no specific orientation, the sweeper has an initial absolute direction, such as "north direction", which can be confirmed by an electronic compass such as an electronic north arrow. In order to ensure that the sweeping machine can still keep walking along the long side in the working space without specific direction, the sweeping machine is also provided with a direction knob, after the user determines the long side direction of the room, Conveniently, the direction of the long side of the room can be obtained by rotating the direction knob by a certain angle, so that the sweeper can travel along the long side. The direction knob can be set either with the "East" and "North-South" buttons, or it can be set separately. Embodiment 2

FIG. 3 is a schematic diagram of a walking direction according to Embodiment 2 of the present invention. As shown in Fig. 3, in the present embodiment, a waxing machine 300 is provided, which is also placed in the to-be-worked area S. The button or touch button of the "long-side cleaning mode" is set on the waxing machine 300, or the button of the "long-side cleaning mode" or the touch button is provided on the remote controller corresponding thereto, and the user operates the waxing machine 300. After pressing the button on the remote controller or pressing the button on the remote controller, the control unit receives the signal of entering the "long-side cleaning mode", first, the laser range finder 310 (LDS) included in the long-side direction determining unit built in the body of the waxing machine 300 Scanning and measuring the space of the work area S, the control unit establishes a coordinate system according to the received distance signal, and then the waxing machine 300 can obtain all the coordinates of the work area S, so that the waxing machine 300 can obtain itself in real time after moving. The coordinate position within the coordinate system. Based on the coordinate system, the control unit can determine the long side direction of the work area S to be operated, that is, the Y direction shown. Then, based on the direction indication of the electronic compass or the dial or the accelerometer, the control unit controls the waxing machine 300 to rotate to the corresponding direction in situ, and then moves the operation along the longitudinal direction of the work area S, i.e., the Y direction. For the irregularly shaped work area, when the waxing machine 300 is difficult to distinguish between the long and short sides, one direction can be arbitrarily selected as the long side direction. Alternatively, an image sensor may be employed to determine the long side direction of the work area S. Specifically, after the waxing machine 300 enters the work area S, the working environment is scanned and photographed by the camera itself, and the image processing unit performs data processing on the acquired photographing screen, and then the control unit outputs data according to the image processing unit. The coordinate system is established, and then the waxing machine 300 can obtain the coordinates in the work area to determine the long side direction of the work area S, that is, the Y direction illustrated; or the control unit determines the outline of the work area according to the data output by the image processing unit. The length, thereby determining the longitudinal direction of the work area S, that is, the Y direction shown. In this embodiment, in addition to receiving the signal of the user's "long-side cleaning mode" into the "long-side cleaning mode", the waxing machine 300 can also automatically enter the "long-side cleaning mode", which is automatically adopted by the range finder. The long side direction of the work area is identified, so that the work is automatically performed along the long side direction. Embodiment 3

4 is a schematic view of a walking direction according to Embodiment 3 of the present invention. As shown in FIG. 4, in this embodiment, a glass-wiping robot 400 is provided. The glass-wiping robot 400 is provided with two direction keys 410, which are respectively a "vertical" direction, that is, a Y-direction and a "horizontal" direction. That is, in the X direction, or with a remote control, the remote control has two buttons or touch buttons in the "vertical" direction and the "horizontal" direction. If the user wants to wipe the glass machine The person 400 is cleaned along the long side direction of the work area S. Then, it is first necessary to visually judge whether the long side direction of the glass is "vertical" or "horizontal", and then the user passes the corresponding button or slides on the touch screen, and the glass cleaning robot 400 receives The user controls the driving of the walking unit according to the direction signal of the two-axis accelerometer built in the glass-wiping robot 400 according to the direction signal of the button signal or the direction control signal sent by the remote control terminal, thereby adjusting the direction of the long-side of the glass-wiping robot 400 along the glass. Walking homework.

In this embodiment, by setting a button on the glass-wiping robot 400, the long-side cleaning direction is manually selected. After the user presses the button to select the "horizontal" or "vertical" direction, since the glass-wiping robot 400 has a gravity accelerometer or a dual-axis accelerometer 420 built therein, when the glass-wiping robot 400 is placed at any position of the work area S, the glass-cleaning robot The 400 automatically adjusts or rotates to the "horizontal" or "vertical" direction of the button selection under the direction of the two-axis accelerometer. Generally, a two-axis accelerometer includes an axis for measuring gravitational acceleration, and the direction indicated by the gravitational acceleration axis is a vertical direction, that is, a Y direction, and a rotation of 90 degrees from the axis direction is a horizontal direction, that is, an X direction. The control unit controls the glass-wiping robot 400 to rotate to the corresponding vertical or horizontal direction before starting the long-side cleaning operation.

Habitually, the glass on the window is usually vertical. If the glass is a "tilted" parallelogram or rectangle, the glass-cleaning robot has an initial absolute direction such as "vertical", which is determined by a gravitational accelerometer. After the user determines the long side direction of the glass, the longitudinal direction of the glass can be conveniently obtained by rotating the direction knob of the glass cleaning robot by a certain angle, and the glass cleaning robot can walk along the long side direction. Embodiment 4

FIG. 5 is a schematic diagram of a walking direction according to Embodiment 4 of the present invention. As shown in FIG. 5, in this embodiment, a glass-wiping robot 400 is provided. The whole control process is as follows: First, the glass-cleaning robot is placed at a starting position in the work area S, and the starting position is The corner position A of the work area S to be operated. Next, the glass-wiping robot 400 recognizes the long-side direction of the area to be worked. Specifically, the glass-wiping robot 400 moves from the first edge S1 in the X direction to the position B of the second edge S2 opposite to the first edge S1 with the corner position A of the work area S as a starting point, and the motion is simultaneously measured. , DX is obtained; the glass-wiping robot 400 is turned to 90° in the position B, moves from the third edge S3 in the Y direction to the fourth edge S4 opposite to the third edge S3, and moves at the same time to obtain a DY; The size of DY, if DX>DY, means that this is a wide enough glass, the glass-cleaning robot 400 will do the "Z" or "bow" shape cleaning along the X-axis during cleaning; if DX<DY, it means this is A piece of glass that is long enough, the glass-wiping robot 400 will perform a "Z" or "bow" shape cleaning along the Y-axis when cleaning. When the DX and DY are equal, the X direction and the Y direction are both long-side directions. The robot can arbitrarily choose one of the directions to walk. In other words, compared with DY and DY, the larger value of the motion direction is the long side. Direction. Finally, the glass-wiping robot 400 determines the long-side position and travels along the long side based on the above-described recognition result. Through the direction indication of the gravity accelerometer or the two-axis accelerometer, after the control unit controls the glass-wiping robot 400 to rotate to the corresponding X (horizontal) or Y (vertical) direction, it can follow the long-side direction of the working area S. Move jobs in the X or Y direction.

6 and 7 are respectively schematic views of the walking mode of the glass-cutting robot of the present invention. As shown in Fig. 6 or Fig. 7, specifically, in order to ensure that the work area S is completely cleaned, the walking mode of the glass-wiping robot 400 may be a "Z" shape or a "bow" shape. The "Z" or "bow" shape cleaning along the long side can reduce the number of turns of the glass-wiping robot 400 during the operation and improve the cleaning efficiency. Embodiment 5

FIG. 8 is a schematic diagram of a walking direction according to Embodiment 5 of the present invention. As shown in FIG. 8, the present embodiment also provides a glass-wiping robot 400, but its starting position is different from that of the fourth embodiment, and the starting position is located at any position within the to-be-worked area S. Due to the difference in starting position, the distance measuring unit measures the path differently. Specifically, the following steps are included: First, the glass-wiping robot 400 starts from the starting position A and moves in the X direction to the first position. Immediately after the B position of the edge S1 is turned 180°, the second edge S2 opposite to the first edge S1 is moved to the C position, and the motion is simultaneously measured to obtain DX′; the glass-wiping robot 400 is turned to the position 90 in the C position. °, moving in the Y direction to the D position of the third edge S3, immediately turning 180° in situ, moving to the E position relative to the fourth edge S4 opposite to the third edge S3, and simultaneously measuring the distance to obtain DY'; comparing DX The size of 'and DY' determines that the direction of motion with a larger value is the long side direction. Thereafter, the glass-wiping robot 400 determines the walking operation along the long side based on the above-described recognition result. Through the direction indication of the gravity accelerometer or the two-axis accelerometer, the control unit controls the glass-wiping robot 400 to rotate to the corresponding X or Y direction in situ, and can move along the long-side direction X or Y of the work area S. Of course, further, when DX and DY are equal, both the X direction and the Y direction are long side directions, and the glass cleaning robot 400 can randomly select one of the directions to travel.

According to the contents of the above five embodiments, when the mobile robot judges the long side, in the process of walking along the X-axis or the Y-axis, if it is a ground processing robot or a glass-cleaning robot that processes the framed glass, a collision board can be used. Or a sensor such as a switch to sense the edge of the work area; if it is a glass-cleaning robot that processes the frameless glass, a boundary detection mechanism or an ultrasonic sensor may be used to detect the edge of the frameless glass. In the control of the glass-wiping robot, the X and Y direction travel distance can be measured by an encoder or a calculator or a timer. The determination of each axis length requires the glass-cleaning robot to run twice to the edge of the glass for automatic detection. However, the user can also place the starting position on one edge or corner of the glass so that the length of the glass in the X or Y direction of the glass can be determined with only one inspection. In general, in combination with the above five embodiments, the control method for the long-side work movement control assembly of the self-moving robot provided by the present invention comprises the following steps:

The invention also provides a control method for a long-side work movement control assembly of a mobile robot, comprising the following steps:

Step Γ : Place the self-moving robot at the starting position in the area to be operated;

Step 2': The mobile robot recognizes the long-side direction of the to-be-worked area;

Step 3 ': The self-moving robot determines the walking along the long side according to the recognition result of step 2.

Specifically, the walking operation described in step 3' is performed in a "Z" shape or a "bow" shape. When the starting position in the step Γ is the corner position of the area to be worked,

The step 2' further includes the following steps:

Step 201: The mobile robot moves from the first edge along the first edge to the second edge opposite to the first edge, and the motion is simultaneously measured to obtain D1;

When the starting position in the step Γ is any position in the area to be operated,

The step 2' further includes the following steps:

Step 230: Compare the sizes of D1 ' and D2', and the larger moving direction is the long side direction. The step 230 further includes: when D1 ' and D2' are equal, the first direction and the second direction are both long-side directions, and the mobile robot randomly selects one of the directions to travel.

The step 2' is specifically:

In summary, the present invention provides a long-side work movement control assembly for a self-moving robot, which has a simple structure and can be implemented on a long side, a short side or a random walking operation only by slightly improving the existing equipment. The control greatly improves the work efficiency; the long-side work movement control assembly of the self-moving robot can realize manual control and automatic control, and realizes the determination of the long-side position by various methods such as ranging and image, and the operation is simple Easy to use.

Claims

claims

1. A self-mobile robot long-side operation movement control assembly, the self-mobile robot (100) includes a walking unit and a driving unit, the long-side operation movement control assembly includes a sensing unit and a control unit, its characteristics The control assembly further includes a long direction judgment unit and a direction identification unit. The long direction judgment unit is connected to the control unit. The control unit determines the length of the area to be worked on based on the signal output by the long direction judgment unit. In the side direction, the direction recognition unit controls the walking unit to walk along the long side direction.

2. The long-side operation movement control assembly of the self-mobile robot as claimed in claim 1, characterized in that the long-side direction judgment unit includes a direction control key (100) provided on the self-mobile robot (100) or on the remote control terminal. 120) or slide the touch screen, the control unit manually controls the walking unit to walk along the long side of the area to be worked according to the user's selection of the direction control key (120).

3. The long-side operation movement control assembly of the self-mobile robot as claimed in claim 1, wherein the direction recognition unit is an accelerometer, gyroscope, code plate and electronic compass built into the self-mobile robot. any one or combination thereof.

4. The long-side operation movement control assembly of the self-mobile robot as claimed in claim 3, wherein the long-side direction determination unit includes a distance measurement unit, the distance measurement unit is connected to the control unit, and the control unit The long side direction of the area to be worked is determined according to the distance signal output by the ranging unit, and the walking unit is automatically controlled to walk along the long side of the area to be worked.

5. The self-moving robot long-side operation movement control assembly as claimed in claim 4, characterized in that the distance measuring unit is a laser range finder or an encoder or a counter or an ultrasonic range finder.

6. The long-side operation movement control assembly of the self-mobile robot as claimed in claim 4, wherein the sensing unit outputs a position signal of the self-mobile robot in the area to be worked to the control unit, and the control unit operates according to the position signal. The walking unit is controlled to make the self-mobile robot walk in a straight direction, and at the same time it is controlled to turn on or off the ranging unit, and the distance signal after calculation and comparison is fed back to the control unit.

7. The long-side operation movement control assembly of the self-moving robot as claimed in claim 6, wherein the sensing unit includes a contact sensor or a non-contact sensor; The contact sensor is a travel switch, a pressure sensor or conductive rubber;

The non-contact sensor is an infrared sensor or an ultrasonic sensor.

8. The long-side operation movement control assembly of a self-moving robot as claimed in claim 4, wherein the long-side direction determination unit includes an image sensor, and the image sensor is used to capture images of the area to be worked on, The control unit determines the long side direction of the area to be worked on based on the picture.

9. The self-moving robot long-side operation movement control assembly according to claim 1, characterized in that the self-moving robot (100) is a glass cleaning robot (400), a sweeping machine (200) or a waxing machine (300).

10. A control method for the long-side operation movement control assembly of a self-moving robot according to any one of claims 1 to 9, characterized in that the method includes the following steps:

Step 1: Place the self-moving robot (100) in the area to be operated (S), and determine the long side direction of the area to be operated (S);

Step 2: Press the corresponding direction button (120) set on the self-mobile robot (100) or the self-mobile robot (120) receives the user's direction control signal from the remote control terminal, and manually controls the self-mobile robot (120) along the Long side walking operation.

11. The control method of the long-side operation movement control assembly of a self-mobile robot as claimed in claim 10, characterized in that the walking mode of the walking operation described in step 2 is a "Z" shape or a "bow" shape.

12. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 10, wherein the direction button (120) described in step 2 is a horizontal direction button and/or a vertical direction button; The direction control signal is a horizontal direction and/or vertical direction control signal.

13. A control method for the long-side operation movement control assembly of a self-moving robot according to any one of claims 1 to 9, characterized in that the method includes the following steps:

Step Γ: Place the self-moving robot (100) at the starting position in the area to be worked (S); Step 2': The self-moving robot (100) identifies the long side direction of the area to be worked (S);

Step 3': The self-mobile robot (100) determines the walking operation along the long side based on the recognition result of step 2.

14. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 13, characterized in that the walking mode of the walking operation described in step 3' is a "Z" shape or a "bow" shape.

15. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 13, characterized in that the starting position in step 1 is the corner position (A) of the area (S) to be operated. .

16. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 15, characterized in that step 2' further includes the following steps:

Step 201: The self-moving robot (100) takes the corner position (A) of the area to be worked on (S) as the starting point, and moves along the first direction from the first edge (S1) to the second edge opposite to the first edge (S1). Edge (S2), move and measure distance at the same time, get D1;

Step 202: The mobile robot (100) turns 90° on the spot, moves in the second direction from the third edge (S3) to the fourth edge (S4) opposite the third edge (S3), and measures the distance while moving, to obtain D2;

Step 203: Compare the sizes of D1 and D2. The direction of movement with the larger value is the long side direction.

17. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 16, wherein the step 203 further includes: when D1 and D2 are equal, both the first direction and the second direction are long. side direction, the self-mobile robot (100) randomly selects one of the directions to perform walking operations.

18. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 13, characterized in that the starting position in step Γ is any position within the area (S) to be operated.

19. The control method of the long-side operation movement control assembly of the self-moving robot as claimed in claim 18, characterized in that the step 2' further includes the following steps:

Step 210: Taking the starting position (A) as the starting point, the self-moving robot (100) moves in the first direction to the first edge (S1) and then immediately turns 180° on the spot, toward the third edge (S1) opposite to the first edge (S1). The two edges (S2) move, and the distance is measured at the same time, and D1 ' is obtained;

Step 220: The mobile robot (100) turns 90° on the spot, moves in the second direction to the third edge (S3), and then immediately turns 180° on the spot, toward the fourth edge (S4) opposite to the third edge (S3). ), move and measure distance at the same time, and get D2';

Step 230: Compare the sizes of D1' and D2'. The movement direction with the larger value is the long side direction.

20. The control method of the long-side operation movement control assembly of the self-moving robot as claimed in claim 19, wherein the step 230 further includes: when D1' and D2' are equal, the first direction and the second direction are equal. is the long side direction, and the self-mobile robot (100) randomly selects one of the directions to perform walking operations.

21. The control method of the long-side operation movement control assembly of a self-moving robot as claimed in claim 13, characterized in that the step 2' is specifically:

The self-moving robot (100) measures the length of the working area in each direction through a laser range finder or an ultrasonic range finder, thereby determining the long side direction of the area to be worked on;

Or the mobile robot (100) obtains a picture of the area to be worked on through an image sensor, and the control unit determines the long side direction of the area to be worked on based on the picture.