CN108078503B - Cleaning method and system for self-moving robot - Google Patents
Cleaning method and system for self-moving robot Download PDFInfo
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- CN108078503B CN108078503B CN201711492866.9A CN201711492866A CN108078503B CN 108078503 B CN108078503 B CN 108078503B CN 201711492866 A CN201711492866 A CN 201711492866A CN 108078503 B CN108078503 B CN 108078503B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- 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
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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
- 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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- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a cleaning method and a cleaning system of a self-moving robot, which can judge whether the ground where the robot walks is flat or not through horizontal data detected by an electronic level meter, and when the number of times that the horizontal data exceeds a preset angle when the electronic level detection module detects that the horizontal data is at a first preset distance when the robot walks is larger than or equal to a preset value, the robot meets an area needing important cleaning. At this moment, the region is cleaned in an H shape, the third preset distance between the adjacent starting points is set to be smaller than the width of the robot body, the repeated coverage rate of cleaning can be improved, therefore, the region is cleaned in a key mode, and a better cleaning effect is achieved. In addition, when the robot meets the area needing to be cleaned in a key mode, the robot can independently judge and clean in a corresponding key mode, the intelligentization and cleaning efficiency of the robot is improved, and the product use experience of a user is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a cleaning method and a cleaning system of a self-moving robot.
Background
At present, a self-moving robot for cleaning a floor is generally controlled by a user to travel to a certain position through a remote control device, or the robot is moved to a certain position by hand, and then the robot is controlled to perform an intensive cleaning operation on the area. Therefore, the user needs to see the area with more garbage in advance and then can control the robot to perform the key cleaning on the area. If the robot is not controlled by a user, the robot can hardly clean certain dirty or difficult-to-clean areas effectively according to the conventional bow-shaped track cleaning mode.
Disclosure of Invention
In order to solve the problems, the invention provides a cleaning method and a cleaning system of a self-moving robot, which can improve the intellectualization, the cleaning effect and the cleaning efficiency of the robot. The specific technical scheme of the invention is as follows:
a cleaning method of a self-moving robot comprises the following steps:
the robot walks along the bow-shaped track and detects the horizontal condition of the robot body in real time through an electronic horizontal detection module in the robot body;
when the robot walks for a first preset distance, the number of times that the horizontal data detected by the electronic horizontal detection module exceeds a preset angle is greater than or equal to a preset value, and then the current position is marked as a continuous scanning point;
the robot continues to walk along the advancing direction, and when the robot walks for a second preset distance, the horizontal data do not exceed the preset angle, and the robot stops walking;
turning to the direction the same as the cleaning direction, and marking the current position as a first starting point after walking for a third preset distance;
turning to a first direction opposite to the advancing direction of the robot at the continuous sweeping point, starting to walk along the first direction from the first starting point, and stopping walking when the horizontal data does not exceed a preset angle when the robot walks for a second preset distance;
receding in a direction opposite to the first direction to the first starting point;
continuing to retreat from the first starting point in the direction opposite to the first direction, and stopping walking when the walking is performed for a second preset distance and the horizontal data does not exceed a preset angle;
walking forward in the first direction to the first starting point;
turning to the direction the same as the cleaning direction, walking for a third preset distance, and marking the current position as a second starting point;
walking along the first direction from the second starting point, and stopping walking when the horizontal data does not exceed a preset angle when the walking is performed for a second preset distance;
receding in a direction opposite to the first direction to the second starting point;
continuing to retreat from the second starting point in the direction opposite to the first direction, and stopping walking when the walking is performed for a second preset distance and the horizontal data does not exceed a preset angle;
walking forward in the first direction to the second starting point;
turning to the direction same as the cleaning direction, and marking the current position as a third starting point after walking for a third preset distance;
by analogy, when the distance of walking in the same direction as the cleaning direction from the first starting point reaches N times of the third preset distance, stopping walking in the same direction as the cleaning direction;
returning to the continuous sweeping point and continuing to walk along the advancing direction;
and N is a natural number greater than or equal to 3, and the third preset distance is smaller than the width of the robot body.
Further, the level data detected by the electronic level detection module in the robot body in real time comprises front and back level data for detecting front and back level conditions of the robot body and left and right level data for detecting left and right level conditions of the robot body.
Further, the first preset distance is any one of 10 cm to 20 cm.
Further, the preset angle is any one value from 1 minute to 10 minutes.
Further, the preset value is 2, 3 or 4.
Further, the advancing direction is a direction in which the robot travels forward when traveling along the zigzag track.
Further, the cleaning direction is the overall extension direction of the zigzag track when the robot travels along the zigzag track.
Further, the second preset distance is any value between 8 centimeters and 13 centimeters.
Further, the third preset distance is any value between 5 cm and 10 cm.
A system of a self-moving robot, comprising a body and a driving wheel for driving the body to move, further comprising:
the electronic level detection module is arranged in the machine body and used for detecting the level condition of the machine body;
and the control module is connected with the electronic level detection module and used for receiving the level data detected by the electronic level detection module and controlling the robot to walk according to the level data.
The invention has the beneficial effects that: the horizontal data detected by the electronic level meter can judge whether the ground where the robot walks is flat or not, if the detected horizontal data exceeds a preset angle, the inclination of the body of the robot is indicated, the reason for the inclination is that the wheel possibly presses solid garbage on the ground to cause one end of the body to tilt, or the robot walks on the uneven ground at the moment. Whether the ground has garbage or is uneven, the ground belongs to an area needing to be intensively cleaned, and if the ground has solid garbage, the solid garbage is generally left due to the fact that a user drops certain substances, a garbage coverage area with a certain area can be formed, and the important cleaning is needed. If the ground is uneven, sundries such as dust and debris are easy to store, and the dust and debris cannot be effectively cleaned up by conventional cleaning, and the important cleaning is also needed. Therefore, when the electronic level detection module detects that the number of times of the horizontal data exceeding the preset angle is greater than or equal to the preset value when the robot walks for the first preset distance, it indicates that the robot meets an area needing important cleaning, at the moment, the robot is cleaned in an H shape (namely, a plurality of starting point positions are transversely established, and then cleaning is carried out back and forth in the upper and lower directions of each starting point), and a forward and backward mode is adopted during upward and downward cleaning, so that the trouble that the robot frequently turns can be avoided, the cleaning efficiency is improved, and the third preset distance between adjacent starting points is set to be smaller than the width of a robot body, so that the repeated coverage rate of cleaning can be improved, the important cleaning of the area is realized, and a better cleaning effect is achieved. In addition, when the robot meets the area needing to be cleaned in a key mode, the robot can independently judge and clean in a corresponding key mode, the intelligentization and cleaning efficiency of the robot is improved, and the product use experience of a user is improved.
Drawings
Fig. 1 is a schematic flow chart of a cleaning method of a self-moving robot according to the present invention.
Fig. 2 is a schematic view of the robot of the present invention performing a zigzag cleaning in a grid area.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
The robot is one kind of intelligent household appliance, and can walk automatically in some places by means of certain artificial intelligence. The robot has various sensors on its body to detect walking distance, angle, state, obstacles, etc. and may turn around automatically, walk different routes and constitute grid map based on the detected data. The mobile robot of the invention comprises the following structures: the robot body is provided with a driving wheel and can automatically walk, a human-computer interaction interface is arranged on the robot body, and an obstacle detection unit is arranged on the robot body. The body is internally provided with an inertial sensor and an electronic level detection module for detecting the level condition of the body, the inertial sensor comprises an accelerometer, a gyroscope and the like, the driving wheel is provided with a speedometer (generally a code wheel) for detecting the walking distance of the driving wheel, and the driving wheel is also provided with a control module which can process the parameters of the relevant sensor and can output a control signal to an execution component.
As shown in fig. 1, the cleaning method of the self-moving robot according to the present invention includes the steps of: the robot walks along the bow-shaped track and detects the horizontal condition of the robot body in real time through an electronic horizontal detection module in the robot body; when the robot walks for a first preset distance, the number of times that the horizontal data detected by the electronic horizontal detection module exceeds a preset angle is greater than or equal to a preset value, and then the current position is marked as a continuous scanning point; the robot continues to walk along the advancing direction, and when the robot walks for a second preset distance, the horizontal data do not exceed the preset angle, and the robot stops walking; turning to the direction the same as the cleaning direction, and marking the current position as a first starting point after walking for a third preset distance; turning to a first direction opposite to the advancing direction of the robot at the continuous sweeping point, starting to walk along the first direction from the first starting point, and stopping walking when the horizontal data does not exceed a preset angle when the robot walks for a second preset distance; receding in a direction opposite to the first direction to the first starting point; continuing to retreat from the first starting point in the direction opposite to the first direction, and stopping walking when the walking is performed for a second preset distance and the horizontal data does not exceed a preset angle; walking forward in the first direction to the first starting point; turning to the direction the same as the cleaning direction, walking for a third preset distance, and marking the current position as a second starting point; walking along the first direction from the second starting point, and stopping walking when the horizontal data does not exceed a preset angle when the walking is performed for a second preset distance; receding in a direction opposite to the first direction to the second starting point; continuing to retreat from the second starting point in the direction opposite to the first direction, and stopping walking when the walking is performed for a second preset distance and the horizontal data does not exceed a preset angle; walking forward in the first direction to the second starting point; turning to the direction same as the cleaning direction, and marking the current position as a third starting point after walking for a third preset distance; by analogy, when the distance of walking in the same direction as the cleaning direction from the first starting point reaches N times of the third preset distance, stopping walking in the same direction as the cleaning direction; and returning to the continuous sweeping point and continuously walking along the advancing direction. And N is a natural number greater than or equal to 3, and the third preset distance is smaller than the width of the robot body. According to the method, whether the ground where the robot walks is flat or not can be judged through the horizontal data detected by the electronic level meter, if the detected horizontal data exceeds a preset angle, the body of the robot is inclined, and the reason for the inclination is that one end of the body is tilted due to the fact that wheels press solid garbage on the ground, or the robot walks on the uneven ground at the moment. Whether the ground has garbage or is uneven, the ground belongs to an area needing to be intensively cleaned, and if the ground has solid garbage, the solid garbage is generally left due to the fact that a user drops certain substances, a garbage coverage area with a certain area can be formed, and the important cleaning is needed. If the ground is uneven, sundries such as dust and debris are easy to store, and the conventional bow-shaped track cleaning cannot be effectively cleaned, and also needs to be focused. Therefore, when the electronic level detection module detects that the number of times of the horizontal data exceeding the preset angle is greater than or equal to the preset value when the robot walks for the first preset distance, it indicates that the robot meets an area needing important cleaning, at the moment, the robot is cleaned in an H shape (namely, a plurality of starting point positions are transversely established, and then cleaning is carried out back and forth in the upper and lower directions of each starting point), and a forward and backward mode is adopted during upward and downward cleaning, so that the trouble that the robot frequently turns can be avoided, the cleaning efficiency is improved, and the third preset distance between adjacent starting points is set to be smaller than the width of a robot body, so that the repeated coverage rate of cleaning can be improved, the important cleaning of the area is realized, and a better cleaning effect is achieved. In addition, when the robot meets the area needing to be cleaned in a key mode, the robot can independently judge and clean in a corresponding key mode, the intelligentization and cleaning efficiency of the robot is improved, and the product use experience of a user is improved.
As shown in fig. 2, which is a schematic view of a robot performing zigzag cleaning in one grid region, the outermost large square frame in the figure indicates the range of one grid region, and generally, when the robot performs indoor floor cleaning, the robot starts from the origin, cleans one grid region according to a zigzag trajectory, then continues to clean the next grid region according to the zigzag trajectory, and thus cleans the grid regions one by one until the indoor floor covered by the grid region is cleaned. The robot can update a grid map, which is an indoor environment map having a grid cell as a basic unit, based on data detected by a sensor while traveling and cleaning, and update the grid map by updating the state of the grid cell based on the data detected by the sensor, for example, a grid cell corresponding to a path on which the robot normally travels is designated as a passed cell, a grid cell corresponding to a detected obstacle is designated as an obstacle cell, and a grid cell corresponding to a detected cliff is designated as a cliff cell. The grid unit is a virtual unit grid with a preset length and width, the grid area is an area with a certain length and width and formed by the same number of grid units with the same arrangement structure, and one grid map can be divided into a plurality of grid areas. In fig. 2, the robot starts to walk forward from point a along the direction of a straight line AB, turns 90 ° to the right when walking to point B close to the boundary of the grid region, walks to point C along the direction of a straight line BC, turns downward 90 °, walks to point D close to the boundary of the grid region along the direction of a straight line CD, turns 90 ° to the right again, walks to point E along a straight line DE, turns upward 90 °, and so on, and performs conventional cleaning according to the zigzag track. Because the distance between two adjacent arch-shaped long edges is just equal to the width of the robot body, for example, the distance BC between the two adjacent arch-shaped long edges AB and CD is just equal to the width of the robot body, the robot can just perform one-time covering cleaning on the passing ground during the conventional cleaning along the arch-shaped track. If some floor areas (such as floors with a lot of dust particles, melon seeds, beans, biscuit crumbs or nut shells scattered thereon, uneven floors with a lot of garbage gathered thereon, etc.) which are difficult to clean at one time are encountered, the areas which are difficult to clean at one time, i.e. areas which need to be cleaned in an important manner, are represented by the areas encircled by the dotted lines in fig. 2. If the robot only regularly once covers to clean this region, can lead to partial rubbish to remain, can't be with the whole clean up of rubbish, so, the robot need carry out the key to this region and clean up effectively. When the robot walks from the point F to the point G, the robot enters an area defined by a dotted circle, the robot can incline forwards and backwards or leftwards and rightwards due to garbage pressed on the ground or unevenness of the ground, if the robot judges that the robot walks from the point F to the point G (namely the robot walks a first preset distance, preferably 15 centimeters), the frequency that the horizontal data detected by the electronic level detection module exceeds a preset angle (preferably 5 minute angle value) is greater than or equal to a preset value (preferably 3 times), so that the robot can be determined to encounter an area needing important cleaning, and the current position point G is marked as a continuous cleaning point. Of course, if the distance of the straight line FG is greater than the first preset distance, the continuous sweeping point is not located on the boundary line of the area but at a point between the straight lines FG in the figure, which is equal to the first preset distance from the point F. The inclination condition of the road where the robot walks in a specific distance can be accurately judged, so that whether the road area needs to be intensively cleaned or not is determined, the robot can autonomously intensively clean the area when meeting the area needing to be intensively cleaned, manual operation is not needed, and the intelligent level of the robot is improved. In addition, when the robot meets an area needing important cleaning, the area is preferably cleaned, the situation that the robot walks from the area with much garbage and is not processed in time is avoided, and product use experience of a user is improved.
Then, the robot continues to walk along the GH direction from the point G, and when the robot walks to the point H, in the distance of the straight line GH (i.e. the second preset distance, preferably 10 cm), none of the horizontal data detected by the electronic level detection module exceeds the preset angle, so that it can be determined that the robot has left the area range requiring the important cleaning, the robot stops walking, and the area needs to be returned to for the important cleaning. Therefore, after reaching point H, the robot turns 90 ° to the right, walks in the direction of Hh1 for a third preset distance (preferably 10 cm), reaches point H1, and marks point H1 as the first starting point. In this embodiment, when the robot travels along the zigzag track, the overall extending direction of the zigzag track is from left to right, that is, the cleaning direction of the robot is from left to right, so that the robot first encounters the area needing to be cleaned with emphasis at point F, which indicates that most of the area in the area is on the right side of point F, and if the robot needs to clean with emphasis, the robot turns to the right, that is, turns to the same direction as the cleaning direction.
When the robot reaches the point h1, the robot turns downwards by 90 degrees, namely turns to a first direction (h 1k1 direction) opposite to the advancing direction of the robot at the point G, then walks from the point h1 to the point k1, and walks to the point p1, although the distance of h1p1 does not exceed the preset angle from the detected horizontal data, the distance of h1p1 is too short to be much smaller than a second preset distance, the robot continues to walk, and in the distance of p1t1, the robot detects the horizontal data exceeding the preset angle again, so the robot still continues to walk. When the robot walks from the point t1 to the point k1, the robot has started to move away from the area requiring intensive cleaning, i.e., the distance t1k1, the horizontal data detected by the robot does not exceed the preset angle, and the distance t1k1 is equal to the second preset distance, so the robot stops walking.
Immediately thereafter, the robot retreats in the direction opposite to the first direction (i.e., the k1h1 direction) to the point h1, and then further retreats in the direction opposite to the first direction (i.e., the h1s1 direction) from the point h1, and since the path from h1 to s1 is not within the dotted circle region (i.e., the distance h1s 1), the horizontal data detected by the robot does not exceed the preset angle, and the distance h1s1 is equal to the second preset distance, the robot stops walking again. In the path from k1 to s1, the robot always walks in a backward mode, so that the low walking efficiency caused by frequent steering of the robot can be avoided, and the cleaning efficiency of the robot is improved.
When the robot walks to the point s1, the robot is far away from the area needing important cleaning, and the robot needs to return to the point h 1. At this time, from the point s1, the vehicle travels forward in the direction s1h1 (i.e., the first direction) to the point h 1. Then turn left 90 deg., turn in the same direction as the cleaning direction, travel a third predetermined distance and reach point h2, and mark point h2 as the second starting point. Similar to the behavior at h1, when the robot starts walking from h2 in the h2k2 direction (i.e. the first direction), the walking in the distance of h2t2 will detect horizontal data beyond the preset angle because the path between h2t2 is in the range that needs to be heavily cleaned. Until the distance from the point t2 to the point k2, the robot is far away from the area needing important cleaning, at this time, the horizontal data detected by the robot do not exceed the preset angle, and the distance from the point t2 to the point k2 is equal to a second preset distance, so the robot stops walking. If the robot can still detect the horizontal data larger than the preset angle in the distance from t2 to k2, the robot continues to walk in the area where the robot needs to be intensively cleaned, and the robot stops walking until the detected horizontal data do not exceed the preset angle when the robot walks for the second preset distance. Through setting up the second and predetermine the distance and regard as buffer distance, can guarantee that the key of robot cleans the orbit and covers the region that needs the key to clean comprehensively to the quality and the effect that the robot carried out the key and cleans have been guaranteed.
After the robot reaches the point k2 and stops walking, the robot retreats to the point h2 along the direction opposite to the first direction (namely the direction k2h 2), and further retreats continuously along the direction h2s2 from the point h2, and since the path h2p2 is still in the range needing important cleaning, horizontal data exceeding a preset angle is detected during the distance h2p 2. Until the robot walks from the point p2 to the point s2, the robot is far away from the area needing important cleaning, the horizontal data detected by the robot do not exceed the preset angle, and the distance from the point p2 to the point s2 is equal to a second preset distance, so the robot stops walking after reaching the point s 2.
Then, the robot starts from the point s2 again and walks forward to the point h2 along the first direction (i.e. the s2h2 direction). Then, the cleaning machine turns to the left by 90 degrees, turns to the same direction as the cleaning direction, travels a third preset distance, reaches a point h3, and marks a point h3 as a third starting point. The action of the robot at the point h3 is similar to that at the points h1 and h2, and is not described in detail here. By analogy, after the back-and-forth cleaning of the up-and-down direction is completed at the point h3, the back-and-forth cleaning of the up-and-down direction of the point h4, the point h5 and the point h6 is completed in turn. Since the distance of the robot walking along the same direction as the cleaning direction (i.e. the h1h6 direction) from the point h1 reaches 5 times of the third preset distance, it indicates that the range of the robot transverse cleaning is large enough to cover the general area needing important cleaning, and at this time, the cleaning area does not need to be widened along the cleaning direction, so that the robot cannot accurately return to the continuous cleaning point due to too large walking error. Even if other areas which are not intensively cleaned exist, the subsequent arched conventional cleaning can be carried out, then the areas are intensively cleaned, and the problem of missed cleaning is avoided. Therefore, after the up-and-down sweeping of h6 is completed, the user does not turn left by 90 degrees any more, i.e. does not walk in the same direction as the sweeping direction any more, but directly navigates back to the sweeping point, and then continues to walk in the original forward direction (i.e. vertically upward direction) according to the original bow-shaped track, so as to perform the conventional sweeping. The key cleaning area is cleaned once again in the subsequent normal cleaning process, so that the cleaning quality and the cleaning effect of the key cleaning area can be further improved.
In the method described in this embodiment, when the robot performs back-and-forth cleaning in the up-and-down direction (i.e., H-shaped trajectory cleaning) at each starting point, if an obstacle is detected, the robot is processed in the manner when the robot encounters the obstacle during the bow-shaped conventional cleaning process, and if other abnormal conditions are encountered, the robot is also processed in the conventional manner set by the system, which is not described herein again.
The value of N according to the present invention may be set according to the design requirement of the product, and preferably, may be set to 3, 5, 8 or 10. The third preset distance can be correspondingly set according to the design requirements of products, and if the important cleaning effect is better, the repeated cleaning coverage rate is higher, and the cleaning is cleaner, the third preset distance can be set to be a smaller value, preferably one third of the width of the robot body; if a faster cleaning speed is required, it may be set to a value that is a little larger, preferably, to half the width of the robot body. The circle with dotted line shown in fig. 2 is only a schematic range of the area needing to be intensively cleaned for the convenience of description of the method of the present invention, and the area needing to be intensively cleaned is often irregularly shaped in practical situations, however, regardless of the shape, the robot can still effectively intensively clean the area comprehensively and effectively according to the method of the present invention.
Preferably, the level data detected by the electronic level detection module in the robot body in real time includes front and rear level data for detecting front and rear level conditions of the robot body and left and right level data for detecting left and right level conditions of the robot body. The electronic level detection module can adopt a three-dimensional electronic level meter to directly detect the front and back and left and right levels, and also can adopt two-dimensional electronic level meters to respectively detect the front and back and left and right levels of the body. Through the detection of the front and back and left and right horizontal conditions of the robot body, the robot can be suitable for different ground conditions, and the accuracy of a robot detection result is improved. For example, when two driving wheels of the machine body simultaneously press two objects with the same height, the left and right horizontal data are the same, and the height of the universal wheel at the front end is different from that of the driving wheels, so that a front and back horizontal height difference can be formed, and the unevenness of the ground can be determined. If one driving wheel is pressed over an object or a pit with a certain height, the left and right driving wheels have different heights, so that a left and right horizontal height difference is formed, and the unevenness of the ground can be determined.
Preferably, the first preset distance is any one of 10 cm to 20 cm, and the range includes 10 cm and 20 cm. Through setting up first preset distance, can make the robot accurate judgement meet be an area that needs key to clean, still a rubbish that exists by accident. If the left-right or front-back inclination of the machine body is detected for 2 times, 3 times or 4 times continuously in the first preset distance, the machine body can be determined to be an area needing important cleaning, and if the robot only detects that the machine body is inclined for 1 time when walking the first preset distance, the machine body can be considered to be solid garbage which exists accidentally, and regional important cleaning is not needed. Assuming that the 1-time inclined event is generated by an object belonging to the edge of the important cleaning area, there is no worry about missing important cleaning of the area, because the robot also passes through the area in the subsequent conventional arch-shaped cleaning process, when the robot passes through the area again, the detected inclined event is more than the first time, and when the preset value is met, the area needing important cleaning can be determined. In addition, the first preset distance is limited to be between 10 centimeters and 20 centimeters, the motion characteristics of the robot and the general indoor environment condition of the family are compared, and the judgment performed within the limited distance is generally accurate. Most preferably, the first preset distance may be set to 15 cm.
Preferably, the preset angle is set to any one of 1 minute to 10 minutes, and the range includes 1 minute and 10 minutes. Generally, since the garbage generated by a household is generally small objects such as biscuit crumbs and nut shells, the inclination angle of the robot when pressing the small objects is generally small. If the value of the preset angle is set too large, the existence of the small objects cannot be effectively monitored, and if the value is set too small, the false judgment is easily caused by the influence of the self shaking of the machine body. Through comprehensive research and analysis, the angle range of 1 minute to 10 minutes is suitable, and the most preferable preset angle value is 5 minutes.
Preferably, the preset value is 2, 3 or 4. Of course, the preset value can be set correspondingly according to specific product design requirements, and the higher the set value is, the higher the accuracy of the area which needs to be cleaned is determined to be. However, if the set value is too large, a small area or a heavily cleaned area with sparsely distributed garbage is likely to be missed. Through comprehensive research and analysis, the range of 2 to 4 times is more appropriate, and the optimal preset value is set to be 3 times.
Preferably, the forward direction is a forward walking direction when the robot walks along the zigzag track, i.e. a direction along which the zigzag track of ABCDEF shown in fig. 2 extends.
Preferably, the cleaning direction is an overall extending direction of the arcuate trajectory when the robot travels along the arcuate trajectory, i.e., a direction from left to right as viewed in fig. 2. The cleaning device can ensure the comprehensive cleaning of the area by gradually extending the cleaning direction to the key cleaning area, and meanwhile, after the key cleaning is finished, the area can be cleaned normally once in the follow-up bow-shaped normal cleaning process, so that the cleaning quality and the cleaning effect of the area are further improved.
Preferably, the second predetermined distance is any value between 8 cm and 13 cm, and the range includes 8 cm and 13 cm. Of course, the second preset distance can be correspondingly set according to specific product design requirements, and the larger the set value is, the smaller the possibility of missing sweeping of the counterweight sweeping area is. However, if the set value is too large, the robot is too far away from the important cleaning area, which results in unnecessary repeated cleaning and reduces the cleaning efficiency of the robot. Through comprehensive research and analysis, the second preset distance in the range of 8 cm to 13 cm is more appropriate, and the optimal second preset distance is set to be 10 cm.
Preferably, the third predetermined distance is any value between 5 cm and 10 cm, and the range includes 5 cm and 10 cm. Certainly, the third preset distance can be correspondingly set according to specific product design requirements, the set value is larger, the robot finishes the important cleaning speed faster, but the important cleaning effect can be reduced, and the set maximum value cannot exceed the body width of the robot. The smaller the set value is, the better the quality and effect of the robot in performing the intensive cleaning is, but the speed of performing the intensive cleaning may be reduced. Through comprehensive research and analysis, the third preset distance in the range of 5 cm to 10 cm is more appropriate, and the optimal third preset distance is set to be 7 cm or 10 cm.
The system of the self-moving robot comprises a machine body, a driving wheel for driving the machine body to move, a control module and an electronic level detection module for detecting the level condition of the machine body. The electronic level detection module is arranged in the machine body and connected with the control module. The control module is used for receiving the horizontal data detected by the electronic horizontal detection module and controlling the robot to walk according to the horizontal data. The robot with the system can judge whether the ground where the robot walks is flat or not through the horizontal data detected by the electronic level meter, if the detected horizontal data exceeds a preset angle, the robot body is inclined, and the reason for the inclination may be that one end of the robot body is tilted due to solid garbage with wheels pressing the ground, or the robot walks on the uneven ground at the moment. Whether the ground has garbage or is uneven, the ground belongs to an area needing to be intensively cleaned, and if the ground has solid garbage, the solid garbage is generally left due to the fact that a user drops certain substances, a garbage coverage area with a certain area can be formed, and the important cleaning is needed. If the ground is uneven, sundries such as dust and debris are easy to store, and the dust and debris cannot be effectively cleaned up by conventional cleaning, and the important cleaning is also needed. Therefore, when the electronic level detection module detects that the number of times of the horizontal data exceeding the preset angle is greater than or equal to the preset value when the robot walks for the first preset distance, it indicates that the robot meets an area needing important cleaning, at the moment, the robot is cleaned in an H shape (namely, a plurality of starting point positions are transversely established, and then cleaning is carried out back and forth in the upper and lower directions of each starting point), and a forward and backward mode is adopted during upward and downward cleaning, so that the trouble that the robot frequently turns can be avoided, the cleaning efficiency is improved, and the third preset distance between adjacent starting points is set to be smaller than the width of a robot body, so that the repeated coverage rate of cleaning can be improved, the important cleaning of the area is realized, and a better cleaning effect is achieved. In addition, when the robot with the system meets an area needing to be cleaned in a key mode, the robot can independently judge and clean in a corresponding key mode, the intelligentization and cleaning efficiency of the robot is improved, and the product use experience of a user is improved.
Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments can be modified, or some or all of the technical features can be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A cleaning method for a self-moving robot is characterized by comprising the following steps:
the robot walks along the bow-shaped track and detects the horizontal condition of the robot body in real time through an electronic horizontal detection module in the robot body;
when the robot walks for a first preset distance, the number of times that the horizontal data detected by the electronic horizontal detection module exceeds a preset angle is greater than or equal to a preset value, and then the current position is marked as a continuous scanning point;
the robot continues to walk along the advancing direction, and when the robot walks for a second preset distance, the horizontal data do not exceed the preset angle, and the robot stops walking;
turning to the direction the same as the cleaning direction, and marking the current position as a first starting point after walking for a third preset distance;
turning to a first direction opposite to the advancing direction of the robot at the continuous sweeping point, starting to walk along the first direction from the first starting point, and stopping walking when the horizontal data does not exceed a preset angle when the robot walks for a second preset distance;
receding in a direction opposite to the first direction to the first starting point;
continuing to retreat from the first starting point in the direction opposite to the first direction, and stopping walking when the walking is performed for a second preset distance and the horizontal data does not exceed a preset angle;
walking forward in the first direction to the first starting point;
turning to the direction the same as the cleaning direction, walking for a third preset distance, and marking the current position as a second starting point;
walking along the first direction from the second starting point, and stopping walking when the horizontal data does not exceed a preset angle when the walking is performed for a second preset distance;
receding in a direction opposite to the first direction to the second starting point;
continuing to retreat from the second starting point in the direction opposite to the first direction, and stopping walking when the walking is performed for a second preset distance and the horizontal data does not exceed a preset angle;
walking forward in the first direction to the second starting point;
turning to the direction same as the cleaning direction, and marking the current position as a third starting point after walking for a third preset distance;
by analogy, when the distance of walking in the same direction as the cleaning direction from the first starting point reaches N times of the third preset distance, stopping walking in the same direction as the cleaning direction;
returning to the continuous sweeping point and continuing to walk along the advancing direction;
wherein, N is a natural number greater than or equal to 3, and the third preset distance is smaller than the width of the robot body;
horizontal data detected by an electronic horizontal detection module in the robot body in real time comprise front and back horizontal data for detecting the front and back horizontal conditions of the robot body and left and right horizontal data for detecting the left and right horizontal conditions of the robot body;
the cleaning direction is the overall extension direction of the arch-shaped track when the robot walks along the arch-shaped track.
2. The method of claim 1, wherein the first predetermined distance is any one of 10 cm to 20 cm.
3. The method according to claim 1, wherein the preset angle is any one of 1 minute to 10 minutes.
4. The method of claim 1, wherein the predetermined value is 2, 3, or 4.
5. The method of claim 1, wherein the forward direction is a forward walking direction when the robot walks along the zigzag trajectory.
6. The method according to claim 1, wherein the second predetermined distance is any value between 8 cm and 13 cm.
7. The method according to claim 1, wherein the third predetermined distance is any value between 5 cm and 10 cm.
8. A system of a self-moving robot, comprising a body and a driving wheel for driving the body to move, characterized by further comprising:
the electronic level detection module is arranged in the machine body and used for detecting the level condition of the machine body;
a control module connected with the electronic level detection module for receiving the level data detected by the electronic level detection module and controlling the robot to walk according to the cleaning method of the self-moving robot as claimed in any one of claims 1 to 7 according to the level data.
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| CN108742346A (en) * | 2018-06-27 | 2018-11-06 | 杨扬 | The method for traversing the method for working environment and establishing grating map |
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| CN109828562B (en) * | 2019-01-17 | 2022-07-08 | 上海岚豹智能科技有限公司 | Robot cleaning mode adjusting method and device |
| CN110279347A (en) * | 2019-05-21 | 2019-09-27 | 深圳市银星智能科技股份有限公司 | A kind of cleaning method, clean robot and computer storage medium |
| CN110613405A (en) * | 2019-10-29 | 2019-12-27 | 珠海市一微半导体有限公司 | Cleaning robot cleaning information display method, device and system and controller |
| CN111045426B (en) * | 2019-12-17 | 2023-09-15 | 深圳深岚视觉科技有限公司 | Method and device for evaluating movement track of machine |
| CN111802962A (en) * | 2020-06-30 | 2020-10-23 | 深圳乐动机器人有限公司 | Robot cleaning method and device, robot and storage medium |
| CN112558616B (en) * | 2020-12-28 | 2023-11-21 | 南京苏美达智能技术有限公司 | Intelligent self-walking equipment and control method |
| CN113250121B (en) * | 2021-06-04 | 2022-05-10 | 九天创新(广东)智能科技有限公司 | Brush head control method and device of unmanned sweeper and unmanned sweeper |
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