CN110051290A - A method of control sweeping robot - Google Patents
A method of control sweeping robot Download PDFInfo
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- CN110051290A CN110051290A CN201910268755.2A CN201910268755A CN110051290A CN 110051290 A CN110051290 A CN 110051290A CN 201910268755 A CN201910268755 A CN 201910268755A CN 110051290 A CN110051290 A CN 110051290A
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- sweeping robot
- hanging
- ground
- groove
- control
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- 238000010408 sweeping Methods 0.000 title claims abstract description 178
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000000007 visual effect Effects 0.000 claims description 43
- 238000012549 training Methods 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 5
- 238000007635 classification algorithm Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 15
- 238000003860 storage Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001965 increasing effect Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of methods for controlling sweeping robot, sweeping robot is controlled to advance along earth's surface, it is hanging by the way that whether hanging sensor judges to occur in front of sweeping robot direction of travel, sweeping robot is controlled if being judged as YES to continue to move ahead, if still being detected after continuing operating range d hanging, it is described hanging then to control sweeping robot avoidance, wherein d is preset threshold.
Description
Technical field
The present invention relates to intelligence machine field more particularly to a kind of methods for controlling sweeping robot.
Background technique
Sweeping robot is one kind of controlling intelligent household appliances.Certain artificial intelligence may be relied on, it is automatically complete in the room
At the equipment of floor cleaning work.
And since the use environment of sweeping robot (building structure) is complex, when sweeping robot in duplex or
When working within doors of person's staggered floor construction needs to prevent sweeping robot from falling from eminence during path-search, brings unnecessary
Loss.
Sweeping robot in the prior art, which is usually equipped with to put, falls function, to improve the safety used.Often
Function is fallen in putting for seeing, is to judge whether sweeping robot occurs by the way that hanging sensor is arranged at the edge of sweeping robot
Falling hazard, and prevent sweeping robot mobile to direction is fallen when there is falling hazard.
Fig. 1 is the schematic diagram that hanging sensor is arranged in the prior art, around sweeping robot.Sweeping robot is by walking
100 driving of wheel is advanced, and hanging sensor 101 is located on direction of travel, and transmitting infrared ray (is centainly to tilt on figure to the ground
Angle transmitting, be actually also possible to perpendicular to ground launch), according to the time for the infrared ray for receiving reflection, determine outstanding
Height of the empty sensor 101 apart from ground is stopped when monitoring that hanging sensor 101 is more than preset threshold apart from ground level
Only advance to the direction of the hanging sensor 101.
But due to the method by the prior art, when on sweeping robot direction of travel there are when groove, if groove compared with
When being more than preset threshold value deeply, even if the groove width is that the sweeping robot can be crossed over, machine of sweeping the floor can be also forced
People changes travelling route.
Therefore, in view of the above-mentioned problems, this application provides a kind of methods of new control sweeping robot.
Summary of the invention
This specification embodiment provides a kind of method for controlling sweeping robot, is passing through for solving existing robot of sweeping
When hanging sensor avoids falling, erroneous judgement will appear to the obstacle that may span across, force sweeping robot to change route, cause to sweep the floor
The ineffective problem of robot.
This specification embodiment adopts the following technical solutions:
A method of control sweeping robot, comprising:
It controls sweeping robot to advance along earth's surface, whether sweeping robot direction of travel front is judged by hanging sensor
Occur vacantly, sweeping robot being controlled if being judged as YES and continues to move ahead, if still being detected after continuing operating range d vacantly,
It is described hanging to control sweeping robot avoidance, wherein d is preset threshold.
Optionally, it includes the travel speed for reducing sweeping robot that the control sweeping robot, which continues to move ahead,.
Optionally, it vacantly includes that the steering of control sweeping robot or control are swept that the control sweeping robot, which is avoided described,
Floor-washing robot stop motion.
Optionally, if be not detected after continuing operating range d it is hanging, control sweeping robot cross it is described hanging,
Middle d is preset threshold.
Optionally, the control sweeping robot crosses hanging including adding after travelling and cross vacantly into hanging front reduction gear
Speed traveling.
Optionally, the preset threshold is no more than the one third of the diameter of the traveling wheel.
Optionally, it is provided on the sweeping robot for acquiring surface map in front of the sweeping robot direction of travel
The visual sensor of picture.
Optionally, the method also includes:
When the surrounding's ground image acquired according to the visual sensor, determine on the sweeping robot direction of travel
Whether there are when groove, judge the width of the groove more than e on surrounding ground, wherein e is the row according to the sweeping robot
Walk the size setting of wheel；
If so, controlling the sweeping robot avoids the groove；
Otherwise, if the sweeping robot marches to the edge of the groove, control the sweeping robot across
The groove.
Optionally, the surrounding's ground image acquired according to the visual sensor, determines the sweeping robot traveling side
There are grooves on upward surrounding ground, specifically include:
According to the disaggregated model that training is completed, surrounding's ground image of visual sensor acquisition is identified；
If recognizing groove in ground image around described, it is determined that around on the sweeping robot direction of travel
There are grooves on ground；
Wherein, the disaggregated model, by the inclusion of ground, there are the multiple images of groove and ground, and groove is not present
The training sample set of multiple images and the training of preset image classification algorithms.
Further, the visual sensor includes multi-vision visual sensor, judges whether the width of the groove is more than pre-
If threshold value before, the method also includes:
According to the multi-vision visual sensor under the same space, each image of different perspectives acquisition is reconstituted in the space
The depth of view information on middle ground；
According to the depth of view information on the ground, the threedimensional model on the ground is established；
According to the threedimensional model, the width of the groove is determined.
A kind of device controlling sweeping robot, comprising:
Traveling control module is advanced for controlling sweeping robot along earth's surface；
Hanging judgment module, for judging whether hang in front of sweeping robot direction of travel by hanging sensor
It is empty；
Avoid hanging module, sweeps the floor for the traveling control module described if the hanging judgment module is judged as YES control
Robot continues to move ahead, if still detected after continuing operating range d it is hanging, control sweeping robot avoid it is described hanging,
Middle d is preset threshold.
A kind of sweeping robot control equipment, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes so that at least one described processor can:
It controls sweeping robot to advance along earth's surface, whether sweeping robot direction of travel front is judged by hanging sensor
Occur vacantly, sweeping robot being controlled if being judged as YES and continues to move ahead, if still being detected after continuing operating range d vacantly,
It is described hanging to control sweeping robot avoidance, wherein d is preset threshold.
A kind of nonvolatile computer storage media is stored with computer executable instructions, and the computer is executable to be referred to
Enable setting are as follows:
It controls sweeping robot to advance along earth's surface, whether sweeping robot direction of travel front is judged by hanging sensor
Occur vacantly, sweeping robot being controlled if being judged as YES and continues to move ahead, if still being detected after continuing operating range d vacantly,
It is described hanging to control sweeping robot avoidance, wherein d is preset threshold.
This specification embodiment use at least one above-mentioned technical solution can reach it is following the utility model has the advantages that
By the method for the control sweeping robot that this specification provides, when sweeping robot is advanced along earth's surface, outstanding
When empty sensor is judged to occur hanging in front of direction of travel, do not stop advancing at once, but move on, works as operating range
When still monitoring hanging after d, then avoid this vacantly, can continue if not monitoring vacantly former and hanging across this.It avoids
Monitor in the prior art it is hanging after avoid at once, the problem of caused increasings track route increases, working efficiency reduction.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of hanging sensor in the prior art；
Fig. 2 is a kind of flow diagram of the method for control sweeping robot that some embodiments of the present application provide；
Fig. 3 is that hanging process is crossed in the control after the sweeping robot that some embodiments of the present application provide detects vacantly
Schematic diagram；
Fig. 4 is a kind of multi-vision visual system structure diagram for sweeping robot that some embodiments of the present application provide；
Fig. 5 is a kind of knot of the device for control sweeping robot corresponding to Fig. 2 that some embodiments of the present application provide
Structure schematic diagram；
Fig. 6 is a kind of knot of the equipment for control sweeping robot corresponding to Fig. 2 that some embodiments of the present application provide
Structure schematic diagram.
Specific embodiment
To keep the purposes, technical schemes and advantages of this specification clearer, it is embodied below in conjunction with this specification
Technical solution of the present invention is clearly and completely described in example and corresponding attached drawing.Obviously, described embodiment is only this hair
Bright a part of the embodiment, instead of all the embodiments.Based on the embodiment in specification, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The technical solution provided below in conjunction with attached drawing, each embodiment that the present invention will be described in detail.
Fig. 2 is a kind of flow diagram of the method for control sweeping robot that some embodiments of the present application provide, should
Process the following steps are included:
S201: control sweeping robot is advanced along earth's surface.
S202: it is hanging by the way that whether hanging sensor judges to occur in front of sweeping robot direction of travel, if so then execute
Step S203.
In some embodiments of the present application, when sweeping robot is advanced along earth's surface, that is, when sweeping robot is transported
When dynamic, by the hanging sensor being arranged on sweeping robot, it can judge that the sweeping robot is advanced according to the control method
Whether occur in front of direction vacantly, to execute step S203 after determining hanging.Certainly, if judgement does not occur vacantly,
Then the sweeping robot can use method same as the prior art, continue to drill earth's surface traveling.
It should be noted that the sweeping robot can be in the shape for cleaning ground when the sweeping robot is advanced
State is also possible in the state for returning charging base.Certainly, no matter the sweeping robot is for which kind of state, as long as
The sweeping robot can be controlled according to the control method of this specification offer by advancing along earth's surface.
In addition, the hanging sensor judges hanging method whether occur in front of the sweeping robot, it can be with existing skill
Method in art is consistent, and this specification does not limit this, and specific Rule of judgment can be set as needed.
S203: control sweeping robot continues to move ahead, if still detecting after continuing operating range d, vacantly, control is swept the floor
Robot avoids described hanging.
In the present specification, after sweeping robot determines the front appearance of direction of travel vacantly, control can be continued and swept
Floor-washing robot advances, and monitors the distance that the sweeping robot continues form.And after continuing operating range d, hanging sensor
Still detect in front of sweeping robot direction of travel there are it is hanging when, control the sweeping robot avoid this detect it is outstanding
It is empty.
Specifically, when controlling the sweeping robot and moving on, before the travel speed that the sweeping robot can be reduced
Into, fallen into fastly very much to avoid sweeping robot speed this it is hanging in.Also, can be determined according to travel speed and traveling time should
The distance moved on.
If hanging sensor still detects vacantly after the distance moved on is d, illustrate hanging in direction of advance
Width is excessive, which can not cross over, and it is hanging that controllable sweeping robot avoids this.Wherein, avoidance mode include but
It is not limited to control sweeping robot and turns to and control sweeping robot stop motion.
If hanging sensor does not detect vacantly again after the distance moved on is d, illustrate that the sweeping robot can
With the hanging width crossed in direction of advance, and it is described hanging to can control sweeping robot to cross.Also, controlling the sweeper
When device people crosses hanging, the walking of hanging front reduction gear traveling and sweeping robot can be entered according to the traveling wheel of sweeping robot
It is hanging to cross this for the mode that wheel gives it the gun after crossing vacantly.
In addition, distance d is preset threshold value, the numerical value of d is no more than the one third of the diameter of the traveling wheel, to avoid
Hanging width is excessive and the traveling wheel can not be hanging across this.
Fig. 3 is that hanging process schematic is crossed in the control after the sweeping robot that this specification provides detects vacantly.
Single arrow indicates the direction of travel of sweeping robot in figure, and dashed rectangle indicates hanging sensor, when detecting hanging (that is,
The state of uppermost sweeping robot in Fig. 3), after continuing distance d, do not detect again hanging (that is, centre in Fig. 3
The state of sweeping robot), control sweeping robot tried that this is hanging the state of nethermost sweeping robot (that is, in Fig. 3).
Based on control method shown in FIG. 1, it is seen that after detecting hanging, the avoidance of control sweeping robot should not at once
Vacantly, but control sweeping robot moves on, with according to the vacant state of the operating range of sweeping robot and detection,
Determine whether hanging width meets the condition (that is, whether can also detect after continuing operating range d hanging) of leap, if meeting
The condition of leap then controls sweeping robot and crosses vacantly, avoids if being unsatisfactory for hanging.Compared to the prior art, evacuation is outstanding
Empty mode is more flexible, and avoids the problem of working efficiency caused by erroneous judgement reduces.
In addition, being can be set on the sweeping robot for acquiring ground image in front of sweeping robot direction of travel
Visual sensor.The then ground image around the sweeping robot acquired according to the visual sensor, determines the sweeping robot
There are when groove, can first judge that the width of groove whether more than d, sweeps the floor if so, controlling this for surrounding ground on direction of travel
Robot avoids the groove, otherwise, when the sweeping robot marches to the edge of the groove, control the sweeping robot across
Cross the groove.Wherein, d is set according to the size of the traveling wheel of the sweeping robot, for example, the numerical value of d is no more than the row
Walk the one third of the diameter of wheel.
Specifically, the disaggregated model that the sweeping robot can be completed according to the training of the method for existing machine learning, right
Surrounding's ground image of visual sensor acquisition is identified, and is known in ground image around acquiring from visual sensor
When being clipped to groove, there are grooves on the surrounding ground for determining on sweeping robot direction of travel.Wherein, which can use
Method same as the prior art, by the inclusion of ground, there are multiple figures that groove is not present in the multiple images of groove and ground
The training sample set of picture and the training of preset image classification algorithms obtain, and the application is for specific training process and side
Method repeats no more.
Further, which may include multi-vision visual sensor, such as binocular vision sensor.It then can be with
In such a way that multi-vision visual sensor establishes space three-dimensional model, the width of the groove is determined.
Specifically, according to multi-vision visual sensor according to the multi-vision visual sensor under the same space, different perspectives
Each image of acquisition, rebuilds the depth of view information on ground within this space, that is, the depth of field of earth's surface that the sweeping robot is advanced
Information.Later further according to the depth of view information on the ground determined, the threedimensional model on the ground is established.Finally, according to the ground
Threedimensional model determines the width of the groove model in the threedimensional model.
Wherein, the image at multiple visual angles is acquired under the same space, if can be by including in multi-vision visual sensor
Dry visual sensor is determined in the image of acquisition of same time.Each visual sensor for then including in the multi-vision visual sensor
Visual angle it is not exactly the same, as shown in Figure 4.
Fig. 4 is a kind of multi-vision visual system structure diagram for sweeping robot that some embodiments of the present application provide,
It is equipped with above the sweeping robot multi-vision visual sensor (in dotted line frame), and the different views of the multi-vision visual sensor
Feel that the visual angle of sensor (that is, solid oval in Fig. 4) is not exactly the same, wherein visual angle is depicted with arrows, that is, acquisition figure
The direction of picture is not exactly the same.The image acquired by multi-vision visual sensor is allowed to determine each object in acquisition image
Depth of view information.
Later, it is only necessary to according to the image that different perspectives acquires, after the depth of view information for determining ground, can be believed according to the depth of field
Breath establishes the threedimensional model on ground, wherein the determination of depth of view information can according to the calibration in advance to the multi-vision visual sensor,
The algorithm journey provided by open source computer vision library (Open Source Computer Vision Library, OpenCV)
Sequence is calculated.Also, due to have existed in the prior art a large amount of maturations according to multi-vision visual sensor, establish environment three
The method of dimension module, therefore this specification repeats no more this process, which kind of method specifically used, can according to need progress
Setting.
Based on same thinking, some embodiments of the present application additionally provide the corresponding device of the above method, equipment and non-
Volatile computer storage medium.
Fig. 5 is a kind of knot of the device for control sweeping robot corresponding to Fig. 2 that some embodiments of the present application provide
Structure schematic diagram, dashed rectangle indicate optional module, which includes:
Traveling control module 501 is advanced for controlling sweeping robot along earth's surface；
Hanging judgment module 502, for judging whether occur in front of sweeping robot direction of travel by hanging sensor
Vacantly；
Avoid hanging module 503, for if the hanging judgment module 502 is judged as YES traveling control module 501 control
Sweeping robot processed continues to move ahead, if still detecting vacantly after continuing operating range d, controls sweeping robot and avoids described hang
Sky, wherein d is preset threshold.
Optionally, it includes: the traveling control module that the traveling control module 501, which controls sweeping robot to continue to move ahead,
501 reduce the travel speed of sweeping robot.
Optionally, it vacantly includes: described avoid vacantly that the hanging module 503 of avoidance, which controls sweeping robot to avoid described,
Module 503 controls sweeping robot and turns to or control sweeping robot stop motion.
Optionally, if hanging, the hanging control of module 503 sweeper of avoidance is not detected after continuing operating range d
Device people crosses described hanging, and wherein d is preset threshold.
Optionally, it vacantly includes: the hanging module of avoidance that the hanging module 503 of avoidance, which controls sweeping robot and crosses,
503 control sweeping robots, which enter after hanging front reduction gear is travelled and crossed vacantly, to give it the gun.
Optionally, the preset threshold is no more than the one third of the diameter of the traveling wheel of the sweeping robot.
Optionally, it is provided on the sweeping robot for acquiring surface map in front of the sweeping robot direction of travel
The visual sensor of picture.
Optionally, described device further include:
Groove adapts to module 504, surrounding's ground image for that ought be acquired according to the visual sensor, sweeps described in determination
Whether there are when groove, judge the width of the groove more than d on surrounding ground on floor-washing robot direction of travel, wherein d is root
It is set according to the size of the traveling wheel of the sweeping robot；
If so, controlling the sweeping robot avoids the groove；
Otherwise, if the sweeping robot marches to the edge of the groove, control the sweeping robot across
The groove.
Optionally, the groove adaptation module 504 is specifically used for:
According to the disaggregated model that training is completed, surrounding's ground image of visual sensor acquisition is identified；
If recognizing groove in ground image around described, it is determined that around on the sweeping robot direction of travel
There are grooves on ground；
Wherein, the disaggregated model, by the inclusion of ground, there are the multiple images of groove and ground, and groove is not present
The training sample set of multiple images and the training of preset image classification algorithms.
Optionally, the visual sensor includes multi-vision visual sensor；
The groove adapts to module 504 and is also used to:
Before whether the width for judging the groove is more than d, execute:
According to the multi-vision visual sensor under the same space, each image of different perspectives acquisition is reconstituted in the space
The depth of view information on middle ground；
According to the depth of view information on the ground, the threedimensional model on the ground is established；
According to the threedimensional model, the width of the groove is determined.
Fig. 6 is a kind of knot of the equipment for control sweeping robot corresponding to Fig. 2 that some embodiments of the present application provide
Structure schematic diagram, the equipment include:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes so that at least one described processor can:
It controls sweeping robot to advance along earth's surface, whether sweeping robot direction of travel front is judged by hanging sensor
Occur vacantly, sweeping robot being controlled if being judged as YES and continues to move ahead, if still being detected after continuing operating range d vacantly,
It is described hanging to control sweeping robot avoidance, wherein d is preset threshold.
A kind of non-volatile computer for control sweeping robot corresponding to Fig. 2 that some embodiments of the present application provide
Storage medium is stored with computer executable instructions, computer executable instructions setting are as follows:
It controls sweeping robot to advance along earth's surface, whether sweeping robot direction of travel front is judged by hanging sensor
Occur vacantly, sweeping robot being controlled if being judged as YES and continues to move ahead, if still being detected after continuing operating range d vacantly,
It is described hanging to control sweeping robot avoidance, wherein d is preset threshold.
Some embodiments of the present application additionally provide a kind of sweeping robot, are able to carry out above-mentioned control sweeping robot
Method.
Various embodiments are described in a progressive manner in the application, same and similar part between each embodiment
It may refer to each other, each embodiment focuses on the differences from other embodiments.Especially for device, set
For standby and media embodiment, since it is substantially similar to the method embodiment, so be described relatively simple, related place referring to
The part of embodiment of the method illustrates.
Device, equipment and medium provided by the embodiments of the present application and method be it is one-to-one, therefore, device, equipment and
The advantageous effects that medium also has corresponding method similar, due to above to the advantageous effects of method into
Go detailed description, therefore, the advantageous effects of which is not described herein again device, equipment and medium.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention is referring to the method, equipment (system) and computer program product according to some embodiments of the present application
Flow diagram and/or block diagram describe.It should be understood that flow diagram and/or side can be realized by computer program instructions
The combination of each flow and/or block and flow diagram in block diagram and/or the process in block diagram and/or box.It can
These computer program instructions are provided at general purpose computer, special purpose computer, Embedded Processor or other programmable datas
The processor of equipment is managed to generate a machine, so that holding by the processor of computer or other programmable data processing devices
Capable instruction generates for realizing in one box of flow diagram one process or multiple processes and/or block diagrams or multiple sides
The device for the function of being specified in frame.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
The manufacture of device is enabled, which realizes in one side of flow diagram one process or multiple processes and/or block diagrams
The function of being specified in frame or multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one process of flow diagram or multiple processes and/or box
The step of function of being specified in figure one box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (10)
1. a kind of method for controlling sweeping robot characterized by comprising control sweeping robot is advanced along earth's surface, is passed through
Hanging sensor judge whether to occur in front of sweeping robot direction of travel vacantly, controlled if being judged as YES sweeping robot after
It is continuous to move ahead, if still detecting hanging after continuing operating range d, controls sweeping robot and avoid described hanging, wherein d is default
Threshold values.
2. controlling the method for sweeping robot according to claim 1, which is characterized in that the control sweeping robot continues
Moving ahead includes the travel speed for reducing sweeping robot.
3. controlling the method for sweeping robot according to claim 1, which is characterized in that the control sweeping robot is avoided
It is described hanging including controlling sweeping robot steering or control sweeping robot stop motion.
4. controlling the method for sweeping robot according to claim 1, which is characterized in that if not examined after continuing operating range d
It measures hanging, then controls sweeping robot and cross described hanging, wherein d is preset threshold.
5. controlling the method for sweeping robot according to claim 4, which is characterized in that the control sweeping robot crosses
Hanging includes entering after hanging front reduction gear is travelled and crossed vacantly to give it the gun.
6. controlling the method for sweeping robot according to claim 1, which is characterized in that the preset threshold is no more than described
The one third of the diameter of the traveling wheel of sweeping robot.
7. the method for control sweeping robot as described in claim 1, which is characterized in that be arranged on the sweeping robot useful
In the visual sensor for acquiring ground image in front of the sweeping robot direction of travel.
8. the method for control sweeping robot as claimed in claim 7, which is characterized in that the method also includes:
When the surrounding's ground image acquired according to the visual sensor, determine around on the sweeping robot direction of travel
Whether there are when groove, judge the width of the groove more than d on ground, wherein d is the traveling wheel according to the sweeping robot
Size setting；
If so, controlling the sweeping robot avoids the groove；
Otherwise, if the sweeping robot marches to the edge of the groove, the sweeping robot is controlled across described
Groove.
9. the method for control sweeping robot as claimed in claim 8, which is characterized in that according to visual sensor acquisition
Surrounding ground image, there are grooves on the surrounding ground for determining on the sweeping robot direction of travel, specifically include:
According to the disaggregated model that training is completed, surrounding's ground image of visual sensor acquisition is identified；
If recognizing groove in ground image around described, it is determined that the surrounding ground on the sweeping robot direction of travel
There are grooves；
Wherein, the disaggregated model, by the inclusion of ground, there are the multiple images of groove and ground, and the multiple of groove are not present
The training sample set of image and the training of preset image classification algorithms.
10. the method for control sweeping robot as claimed in claim 8, which is characterized in that the visual sensor includes more mesh
Visual sensor；
Before judging the width of the groove whether more than d, the method also includes:
According to the multi-vision visual sensor under the same space, each image of different perspectives acquisition is rebuild within this space
The depth of view information in face；
According to the depth of view information on the ground, the threedimensional model on the ground is established；
According to the threedimensional model, the width of the groove is determined.
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| CN201910268755.2A CN110051290A (en) | 2019-04-04 | 2019-04-04 | A method of control sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910268755.2A CN110051290A (en) | 2019-04-04 | 2019-04-04 | A method of control sweeping robot |
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| CN110051290A true CN110051290A (en) | 2019-07-26 |
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| CN201910268755.2A Pending CN110051290A (en) | 2019-04-04 | 2019-04-04 | A method of control sweeping robot |
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| CN113200047A (en) * | 2021-05-08 | 2021-08-03 | 合肥泰禾智能科技集团股份有限公司 | Anti-falling control method, walking robot, electronic device and storage medium |
| CN115005714A (en) * | 2022-06-22 | 2022-09-06 | 宁波国琅机器人科技有限公司 | Floor sweeping robot control method and system, storage medium and intelligent terminal |
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Application publication date: 20190726 |