CN108209744A - Clean method, device, computer equipment and storage medium - Google Patents

Clean method, device, computer equipment and storage medium Download PDF

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Publication number
CN108209744A
CN108209744A CN201711366911.6A CN201711366911A CN108209744A CN 108209744 A CN108209744 A CN 108209744A CN 201711366911 A CN201711366911 A CN 201711366911A CN 108209744 A CN108209744 A CN 108209744A
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CN
China
Prior art keywords
cleaning equipment
barrier
cleaning
distance measuring
measuring sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711366911.6A
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Chinese (zh)
Inventor
王继鑫
韦绥均
邓邱伟
王二飞
张磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen City Qihoo Intelligent Technology Co Ltd
Original Assignee
Shenzhen City Qihoo Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen City Qihoo Intelligent Technology Co Ltd filed Critical Shenzhen City Qihoo Intelligent Technology Co Ltd
Priority to CN201711366911.6A priority Critical patent/CN108209744A/en
Publication of CN108209744A publication Critical patent/CN108209744A/en
Pending legal-status Critical Current

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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
    • 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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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a kind of clean method and corresponding device, wherein method includes：Detect the collision occurred when the cleaning equipment is advanced, barrier is detected by the distance measuring sensor, the cleaning equipment is controlled to perform the cleaning strategy for the barrier, cleaning equipment allow after colliding with barrier, corresponding cleaning strategy is targetedly performed to the corner around barrier or ground, avoid the problem that rubbish residual is more around barrier, improves the cleaning efficiency of cleaning equipment.

Description

Clean method, device, computer equipment and storage medium
Technical field
The present invention relates to cleaning technology fields, and in particular to a kind of clean method, a kind of cleaning device, a kind of computer are set Standby and a kind of computer readable storage medium.
Background technology
The various automatic cleaning equipments such as sweeping robot, floor-mopping robot are increasingly entering among family life, can To complete various clean up tasks, great convenience is brought for production and living.
Cleaning equipment frequently encounters other barriers of desk, cabinet or temporarily putting when being cleaned to room, And the garbage dust on the ground or corner near barrier can be more, and barrier will be got around after typically detecting barrier It advances, lacks the cleaning mechanism for ground around corner, barrier so that rubbish residual is more, and cleaning efficiency is low.
Invention content
In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least partly State clean method, cleaning device, computer equipment and the computer readable storage medium of problem.
One side according to the present invention provides a kind of clean method, including：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
Optionally, it is described to be included by distance measuring sensor detection barrier：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance item with the barrier Part.
Optionally, the annular side of the cleaning equipment is provided with crash sensor, is sensed described by the ranging Before device detection barrier, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the barrier：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out under the target operating condition Cleaning.
Optionally, the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from the sweep brush of the barrier side Rotating speed it is constant.
Optionally, the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the barrier：
The cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
Optionally, the control cleaning equipment is advanced around the barrier, and is carried out cleaning when advancing and included：
It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to be sensed using the ranging Device detects the distance between the cleaning equipment and barrier.
Optionally, the side to set the distance measuring sensor includes as inside around barrier traveling：
When controlling the cleaning equipment to advance by the distance measuring sensor be maintained between the barrier it is default away from From interior.
Optionally, the control cleaning equipment is further included around barrier traveling：
When the cleaning equipment is advanced around the barrier, obtain original before the cleaning equipment collides Travel line；
It determines whether the cleaning equipment advances to the original line of travel road, then stops performing for the barrier Cleaning strategy.
Optionally, after the cleaning strategy for stopping execution for the barrier, the method further includes：
The cleaning equipment is controlled to be cleaned along the original travel line.
According to another aspect of the present invention, a kind of clean method is provided, including：
Detect the feature road conditions in the travel path of the cleaning equipment；
The cleaning equipment is controlled to perform the cleaning strategy for the feature road conditions.
Optionally, the feature road conditions in the travel path of the detection cleaning equipment include：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Detect that there are barriers in travel path by the distance measuring sensor.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the feature road conditions：
Cleaning strategy of the cleaning equipment execution for the barrier is controlled, the cleaning strategy is included as follows at least It is a kind of：The barrier is cleaned, traveling of slowing down, gets over the barrier.
Optionally, steep cliff sensor, the travel path of the detection cleaning equipment are provided in the cleaning equipment In feature road conditions include：
Detect that the cleaning equipment advances to pavement edge position, the pavement edge position is relative to travel path The position in front has higher geopotentia.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the feature road conditions：
The cleaning equipment is controlled to retract traveling along the travel path.
According to another aspect of the present invention, a kind of cleaning device is provided, including：
Collision detection module, for detecting the collision occurred when the cleaning equipment is advanced, the side of the cleaning equipment It is provided with distance measuring sensor；
Detection of obstacles module, for passing through the distance measuring sensor detection barrier；
Policy enforcement module, for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier.
Optionally, the detection of obstacles module includes：
Rotate control submodule, for the cleaning equipment to be controlled to rotate in place, until the distance measuring sensor with it is described Barrier meets setpoint distance condition.
Optionally, the annular side of the cleaning equipment is provided with crash sensor, and described device further includes：
Collision bearing identification module, for it is described barrier is detected by the distance measuring sensor before, using described The collision bearing that crash sensor identification collision occurs；
Direction of rotation determining module, for according to the collision bearing, determining the direction of rotation of the cleaning equipment.
Optionally, the policy enforcement module includes：
Working condition adjusts submodule, for adjusting the cleaning equipment to target operating condition, and in the target work Make to clean the barrier under state.
Optionally, the working condition adjustment submodule includes：
Sweep brush determination unit, for determining to close on the sweep brush of the barrier side；
Rotating speed improves unit, for improving the rotating speed for the sweep brush for closing on the barrier side, and is kept away from described The rotating speed of the sweep brush of barrier side is constant.
Optionally, the working condition adjustment submodule further includes：
Status determining unit for currently cleaning rank according to the cleaning equipment, determines the target of the cleaning equipment Working condition.
Optionally, the policy enforcement module includes：
Around submodule is carried out, for the cleaning equipment to be controlled to advance around the barrier, and carried out when advancing Cleaning.
Optionally, it is described to include around traveling submodule：
Around traveling unit, for the side of the distance measuring sensor to be set to advance as inside around the barrier, To detect the distance between described cleaning equipment and barrier using the distance measuring sensor.
Optionally, it is described around traveling unit, specifically for controlling the cleaning equipment row by the distance measuring sensor Into when and the barrier between be maintained in pre-determined distance.
Optionally, it is described to be further included around progress submodule：
Circuit acquiring unit, for when the cleaning equipment is advanced around the barrier, obtaining the cleaning equipment Original travel line before colliding；
Tactful stop unit for determining whether the cleaning equipment advances to the original line of travel road, then stops Perform the cleaning strategy for the barrier.
Optionally, described device further includes：
Circuit cleaning module, after performing the cleaning strategy for the barrier in the stopping, described in control Cleaning equipment is cleaned along the original travel line.
According to another aspect of the present invention, a kind of cleaning device is provided, including：
Special road conditions detection module, for detecting the feature road conditions in the travel path of the cleaning equipment；
Policy enforcement module, for the cleaning equipment to be controlled to perform the cleaning strategy for the feature road conditions.
Optionally, the special road conditions detection module includes：
Collision detection module, for detecting the collision occurred when the cleaning equipment is advanced, the side of the cleaning equipment It is provided with distance measuring sensor；
Detection of obstacles module detects that there are barriers in travel path for passing through the distance measuring sensor.
Optionally, the policy enforcement module includes：
Strategy execution submodule, it is described for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier Cleaning strategy includes following at least one：The barrier is cleaned, traveling of slowing down, gets over the barrier.
Optionally, steep cliff sensor is provided in the cleaning equipment, the special road conditions detection module includes：
Edge detection submodule, for detecting that the cleaning equipment advances to pavement edge position, the pavement edge Position has higher geopotentia relative to the position in the front of travel path.
Optionally, the policy enforcement module includes：
Traveling submodule is retracted, for the cleaning equipment to be controlled to retract traveling along the travel path.
According to another aspect of the present invention, a kind of computer equipment is provided, including：It memory, processor and is stored in On memory and the computer program that can run on a processor, which is characterized in that the processor performs real during described program Existing following steps：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
Optionally, it is described to be included by distance measuring sensor detection barrier：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance item with the barrier Part.
Optionally, the annular side of the cleaning equipment is provided with crash sensor, is sensed described by the ranging Before device detection barrier, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the barrier：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out under the target operating condition Cleaning.
Optionally, the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from the sweep brush of the barrier side Rotating speed it is constant.
Optionally, the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the barrier：
The cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
Optionally, the control cleaning equipment is advanced around the barrier, and is carried out cleaning when advancing and included：
It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to be sensed using the ranging Device detects the distance between the cleaning equipment and barrier.
Optionally, the side to set the distance measuring sensor includes as inside around barrier traveling：
When controlling the cleaning equipment to advance by the distance measuring sensor be maintained between the barrier it is default away from From interior.
Optionally, the control cleaning equipment is further included around barrier traveling：
When the cleaning equipment is advanced around the barrier, obtain original before the cleaning equipment collides Travel line；
It determines whether the cleaning equipment advances to the original line of travel road, then stops performing for the barrier Cleaning strategy.
Optionally, after the cleaning strategy for stopping execution for the barrier, the method further includes：
The cleaning equipment is controlled to be cleaned along the original travel line.
According to another aspect of the present invention, a kind of computer readable storage medium is provided, is stored thereon with computer journey Sequence, the program realize following steps when being executed by processor：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
Optionally, it is described to be included by distance measuring sensor detection barrier：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance item with the barrier Part.
Optionally, the annular side of the cleaning equipment is provided with crash sensor, is sensed described by the ranging Before device detection barrier, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the barrier：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out under the target operating condition Cleaning.
Optionally, the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from the sweep brush of the barrier side Rotating speed it is constant.
Optionally, the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
Optionally, the control cleaning equipment execution includes for the cleaning strategy of the barrier：
The cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
Optionally, the control cleaning equipment is advanced around the barrier, and is carried out cleaning when advancing and included：
It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to be sensed using the ranging Device detects the distance between the cleaning equipment and barrier.
Optionally, the side to set the distance measuring sensor includes as inside around barrier traveling：
When controlling the cleaning equipment to advance by the distance measuring sensor be maintained between the barrier it is default away from From interior.
Optionally, the control cleaning equipment is further included around barrier traveling：
When the cleaning equipment is advanced around the barrier, obtain original before the cleaning equipment collides Travel line；
It determines whether the cleaning equipment advances to the original line of travel road, then stops performing for the barrier Cleaning strategy.
Optionally, after the cleaning strategy for stopping execution for the barrier, the method further includes：
The cleaning equipment is controlled to be cleaned along the original travel line.
A kind of clean method according to the present invention and corresponding device occur when being advanced by detecting the cleaning equipment Collision detects barrier by the distance measuring sensor, the cleaning equipment is controlled to perform the cleaning plan for the barrier Slightly so that cleaning equipment targetedly can be held the corner around barrier or ground after colliding with barrier The corresponding cleaning strategy of row avoids the problem that rubbish residual is more around barrier, improves the cleaning efficiency of cleaning equipment.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can It is clearer and more comprehensible, below the special specific embodiment for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this field Technical staff will become clear.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows the step flow diagram of according to embodiments of the present invention one clean method；
Fig. 2 shows the step flow diagrams of according to embodiments of the present invention two clean method；
Fig. 3 shows the schematic diagram advanced around barrier；
Fig. 4 shows the step flow diagram of according to embodiments of the present invention three clean method；
Fig. 5 shows the schematic block diagram of according to embodiments of the present invention four cleaning device.
Fig. 6 shows the schematic block diagram of according to embodiments of the present invention five cleaning device.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure Completely it is communicated to those skilled in the art.
With reference to Fig. 1, show the step flow diagram of according to embodiments of the present invention one clean method, can specifically wrap Include following steps：
Step 101, the collision occurred when the cleaning equipment is advanced is detected.
In embodiments of the present invention, cleaning equipment can be sweeping robot, floor-mopping robot, dust-collecting robot etc. or Any other applicable equipment of person, the embodiment of the present invention are without limitation.Cleaning equipment includes but not limited to equipment body, sense Answer device, driving device, cleaning device, control device etc..
Wherein, the sensing device of cleaning equipment includes but not limited to infrared sensor, laser range sensor, ultrasonic sensing At least one of device, gyroscope, crash sensor, odometer, camera etc. provide equipment to the control device of cleaning equipment Various positions information and movement state information.The driving device of cleaning equipment includes but not limited to main wheel, the main wheel for driving main wheel Motor etc..Cleaning device includes but not limited to dust absorption fan, the round brush for cleaning rubbish, the rolling for driving the round brush rotation for cleaning rubbish Brush motor, drives the side of side sweep brush to sweep at least one of motor etc. at the side sweep brush for cleaning rubbish.The embodiment of the present invention
In embodiments of the present invention, the side of cleaning equipment is provided with distance measuring sensor, can be infrared sensor or Laser range sensor etc. or any other applicable sensor, the embodiment of the present invention are without limitation.Cleaning equipment side The detection direction of the distance measuring sensor of face setting can be in certain acute angle between direction of travel, in the range of set angle all Can, so that cleaning equipment can detect the distance with diagonally forward barrier when advancing, distance measuring sensor can detect barrier, It can be used for cleaning equipment is controlled to advance along wall.
In embodiments of the present invention, cleaning equipment advance when can collide with barrier, for example, wall, furniture, relatively work as High ground in preceding ground etc..The collision that cleaning equipment can be occurred by detecting the sensor of collision when detecting traveling, for example, One vibrating sensor of setting inside cleaning equipment, when traveling, which collides, can generate vibrations, by acquiring vibrating sensor The collision or the side setting buffer unit of cleaning equipment that signal detection occurs, buffering fills when being collided with barrier during traveling It puts and electric signal is generated by mechanical switch structure, cleaning equipment to be notified to be collided or any other applicable method Come the collision occurred when detecting traveling, the embodiment of the present invention is without limitation.
Step 102, barrier is detected by the distance measuring sensor.
In embodiments of the present invention, it detects after colliding, by the distance measuring sensor for being arranged on cleaning equipment side Barrier is detected, since the detection direction of the distance measuring sensor of side setting not necessarily faces barrier, it is sometimes desirable to control Cleaning equipment processed is rotated, until barrier is detected by distance measuring sensor or distance measuring sensor detects and barrier Distance meet setting required distance.
For example, have one group of wardrobe in the direction of advance of sweeping robot, and after cleaning equipment collides with wardrobe, control Sweeping robot processed rotates in place, and the distance measuring sensor for acquiring side detects distance signal, until distance measuring sensor detection Distance is less than the distance threshold of setting, and cleaning equipment is provided with the side of distance measuring sensor and close to wardrobe at this time, machine of sweeping the floor The direction of advance of people is adjusted to the direction basically identical with wardrobe edge.
Step 103, the cleaning equipment is controlled to perform the cleaning strategy for the barrier.
In embodiments of the present invention, cleaning strategy is used to indicate cleaning equipment and carries out the behave taken during cleaning, Rotating speed of motor etc. or any other applicable is swept including travel path, the rotating speed of round brush motor, the rotating speed of dust absorption fan, side Behave, the embodiment of the present invention is without limitation.
In embodiments of the present invention, barrier is provided with corresponding cleaning strategy, for example, around the edge of barrier It is improved when the rotating speed of dust absorption fan is improved when being cleaned, barrier edge being cleaned, barrier edge being cleaned While sweeping rotating speed of motor etc. or any other applicable cleaning strategy, the embodiment of the present invention are without limitation.
Above-mentioned clean method according to the present invention, the collision occurred when being advanced by detecting the cleaning equipment, passes through institute Distance measuring sensor detection barrier is stated, the cleaning equipment is controlled to perform the cleaning strategy for the barrier so that cleaning Equipment targetedly can perform corresponding cleaning after colliding with barrier to the corner around barrier or ground Strategy avoids the problem that rubbish residual is more around barrier, improves the cleaning efficiency of cleaning equipment.
In embodiments of the present invention, it is preferable that the cleaning equipment is controlled to perform the cleaning strategy for the barrier A kind of realization method can include：The cleaning equipment is adjusted to target operating condition, and under the target operating condition The barrier is cleaned.
The round brush motor, dust absorption fan, side that working condition includes cleaning equipment sweep at least one of motor, main wheel motor etc. Working condition or any other applicable component working condition, the embodiment of the present invention is without limitation.Barrier will be directed to Hinder the working condition of the cleaning strategy instruction of object, be denoted as target operating condition.
Cleaning equipment is adjusted to target operating condition, barrier is cleaned under target operating condition later.Example Such as, when being cleaned to the ground around barrier, improve side and sweep the rotating speed of motor, with improve to around barrier corner it is clear Clean efficiency.
In embodiments of the present invention, it is preferable that adjust the cleaning equipment to a kind of realization method of target operating condition It can include：It determines to close on the sweep brush of the barrier side, improves the rotating speed for the sweep brush for closing on the barrier side, And the rotating speed for being kept away from the sweep brush of the barrier side is constant.
The sweep brush of cleaning equipment can have it is multiple, for example, cleaning equipment direction of advance positive both sides difference One sweep brush is set, and barrier is in the side of cleaning equipment direction of advance, it is thus necessary to determine that the sweep brush of which side closes on obstacle Object.Since cleaning equipment around barrier when advancing, the side that side is provided with distance measuring sensor is needed to close on barrier, because This can be determined as closing on the side of barrier according to the distance measuring sensor side for detecting barrier, and raising closes on barrier The rotating speed of the sweep brush of side, and the rotating speed for being kept away from the sweep brush of barrier side is constant so that around barrier The cleaning efficiency in ground and corner improves.
In embodiments of the present invention, it is preferable that the realization method for adjusting the cleaning equipment to target operating condition also wraps It includes：Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
Cleaning equipment can carry out cleaning under different cleaning ranks, be corresponding with the different work of each motor The working condition of state or any other applicable component, the embodiment of the present invention are without limitation.It needs according to current clear Clean rank determines the target operating condition of the corresponding cleaning equipment of cleaning strategy, if for example, sweeping robot is in the first cleaning grade Carry out cleaning is not descended, is collided when with barrier, can be cleaned the working condition under rank by second and is determined as target Working condition if sweeping robot carries out cleaning under the second cleaning rank, collides when with barrier, can be by the Working condition under three cleaning ranks is determined as target operating condition, wherein the second cleaning rank cleaning more other than the first cleaning grade Efficient, third cleaning rank cleaning efficiency more other than the second cleaning grade is high.
With reference to Fig. 2, show the step flow diagram of according to embodiments of the present invention two clean method, can specifically wrap Include following steps：
Step 201, the collision occurred when the cleaning equipment is advanced is detected.
Step 202, the collision bearing of collision generation is identified using the crash sensor.
In embodiments of the present invention, the annular side of cleaning equipment is provided with crash sensor, and crash sensor can wrap It includes the types such as electric mechanical switch formula, electronic switch type or any other applicable sensor for detection collision, the present invention is real It is without limitation to apply example.Crash sensor is arranged along the annular side of cleaning equipment, to detect the collision from all directions.
For example, the annular side of sweeping robot can set buffer unit, buffering fills when traveling collides with barrier It puts and electric signal is generated by mechanical switch structure, cleaning equipment to be notified to be collided, according to the annular side of sweeping robot The position of electric signal is generated on face, it may be determined that collide the collision bearing of generation.
Step 203, according to the collision bearing, the direction of rotation of the cleaning equipment is determined.
In embodiments of the present invention, the one or more distance measuring sensors of side setting of cleaning equipment, cleaning equipment original place Rotation, counterclockwise and rotating clockwise can make distance measuring sensor detect barrier, but the time-consuming difference rotated, if There are during multiple distance measuring sensors, direction of rotation difference can result in a finding that the sensor of barrier is different.In order to allow cleaning equipment It spends less time and detects barrier with distance measuring sensor or the distance measuring sensor nearest apart from barrier is allowed to detect Barrier reduces the knots modification of cleaning equipment direction of advance, according to collision bearing, can determine the direction of rotation of cleaning equipment.
Step 204, the cleaning equipment is controlled to rotate in place, until the distance measuring sensor is set with barrier satisfaction Set a distance condition.
In embodiments of the present invention, when colliding, distance measuring sensor may can detect barrier, it is also possible to can not Detect barrier, control cleaning equipment rotates in place, and acquires the distance signal of distance measuring sensor when rotated.Ranging senses After device detects barrier, with the rotation of cleaning equipment, distance measuring sensor detects that distance can also change with rotation, in order to Cleaning equipment is allowed to be adjusted to the edge traveling along barrier, until meeting setpoint distance item between distance measuring sensor and barrier Part then controls cleaning equipment to stop rotating, so that distance measuring sensor can detect side front and obstacle when cleaning equipment is advanced The distance of object.Wherein, setpoint distance condition can include distance minimum or set according to actual needs, the embodiment of the present invention It is without limitation.
Step 205, the cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
In embodiments of the present invention, cleaning equipment can include a variety of around the mode that barrier is advanced, for example, working as and barrier When hindering the object to collide, slightly change the direction of advance of certain angle, move on, after colliding again, along same turn Dynamic direction slightly changes the direction of advance of certain angle, moves on, and so repeats, and realizes and advances along barrier edge；Or The distance with barrier is detected using distance measuring sensor, when the distance of distance measuring sensor detection is more than the setpoint distance upper limit, then The direction of advance of control cleaning equipment slightly changes certain angle, and the direction for being diverted away from barrier is advanced, and works as distance measuring sensor When the distance of detection is less than setpoint distance lower limit, then the direction of advance of cleaning equipment is controlled slightly to change certain angle, steering connects The direction of nearly barrier is advanced, and is so repeated, and is realized and is advanced with zig-zag path around barrier.Can specifically it include arbitrary suitable The mode advanced around barrier, the embodiment of the present invention are without limitation.
In embodiments of the present invention, it while advancing around barrier, is cleaned, cleaning equipment can also be adjusted extremely Target operating condition, and being cleaned under target operating condition to barrier, with to the ground around barrier or corner into Row cleaning.
In embodiments of the present invention, it is preferable that the cleaning equipment is controlled to surround a kind of realization that the barrier is advanced Mode can include：It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to utilize the survey The distance between described cleaning equipment and barrier are detected away from sensor.
In embodiments of the present invention, it is preferable that the cleaning equipment is controlled to surround a kind of realization that the barrier is advanced Mode can include：Being maintained at pre- between the barrier when being advanced by the distance measuring sensor control cleaning equipment If apart from interior.
When cleaning equipment is around barrier traveling, the distance between barrier can change, when distance measuring sensor is examined Measure distance be more than pre-determined distance when, control cleaning equipment close to barrier advance so that cleaning equipment advance when always with It is maintained in pre-determined distance between barrier.
Step 206, it when the cleaning equipment is advanced around the barrier, obtains the cleaning equipment and collides it Preceding original travel line.
In embodiments of the present invention, original travel line is travel line of the cleaning equipment before colliding, can be with Including cleaning equipment be complete the travel line that automatically generates of clean up task or artificial settings travel line or other Any suitable travel line, the embodiment of the present invention are without limitation.
Step 207, it determines whether the cleaning equipment advances to the original line of travel road, then stops performing for institute State the cleaning strategy of barrier.
In embodiments of the present invention, while cleaning equipment is around barrier traveling, judge whether cleaning equipment advances to Original line of travel road stops performing the cleaning strategy for barrier if original line of travel road is again traveled to.
Step 208, the cleaning equipment is controlled to be cleaned along the original travel line.
In embodiments of the present invention, after cleaning equipment returns to original travel line, stop the cleaning strategy for barrier, It is cleaned along original travel line.
For example, the schematic diagram advanced around barrier as shown in Figure 3, the original travelling route X of sweeping robot B is straight Line has barrier A in the course of travel, and after sweeping robot B and barrier A collides, sweeping robot B surrounds obstacle Object A advances, until on original travelling route X, then stops advancing around barrier, returns to original line of travel road and is cleaned.
Above-mentioned clean method according to the present invention, the collision occurred when being advanced by detecting the cleaning equipment, utilizes institute The collision bearing that crash sensor identification collision occurs is stated, according to the collision bearing, determines the rotation side of the cleaning equipment To, the cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance condition with the barrier, control It makes the cleaning equipment to advance around the barrier, and is cleaned when advancing.So that cleaning equipment can with obstacle After object collides, corresponding cleaning strategy is targetedly performed to the corner around barrier or ground, avoids barrier The problem of surrounding rubbish residual is more improve the cleaning efficiency of cleaning equipment.
Further, by when the cleaning equipment is advanced around the barrier, obtaining the cleaning equipment and touching Original travel line before hitting, determines whether the cleaning equipment advances to the original line of travel road, then stops performing For the cleaning strategy of the barrier, the cleaning equipment is controlled to be cleaned along the original travel line so that cleaning Equipment, which can be returned to cut-through object in original travel line, to be continued to clean.
With reference to Fig. 4, show the step flow diagram of according to embodiments of the present invention three clean method, can specifically wrap Include following steps：
Step 301, the feature road conditions in the travel path of the cleaning equipment are detected.
In embodiments of the present invention, road conditions, pavement edge position of feature road conditions including barrier obstruction etc. or other Any suitable road conditions, the embodiment of the present invention are without limitation.
In embodiments of the present invention, cleaning equipment can detect road conditions by various sensors, for example, passing through collision sensing Device and distance measuring sensor detect barrier either by steep cliff sensor detect pavement edge position or other be applicable in Sensor detection road conditions, the embodiment of the present invention is without limitation.
Step 302, the cleaning equipment is controlled to perform the cleaning strategy for the feature road conditions.
In embodiments of the present invention, there can be corresponding cleaning strategy for feature road conditions, with targetedly behave pair Feature road conditions are cleaned, and improve cleaning efficiency or cleaning equipment is protected not bring damage because colliding, falling etc..
Above-mentioned clean method according to the present invention, the feature road conditions in travel path by detecting the cleaning equipment, The cleaning equipment is controlled to perform the cleaning strategy for the feature road conditions so that after cleaning equipment detects feature road conditions, Corresponding cleaning strategy is targetedly performed, avoids cleaning equipment itself or other articles caused by colliding or falling etc. Damage.
In embodiments of the present invention, it is preferable that detect one kind of the feature road conditions in the travel path of the cleaning equipment Implementation method includes：The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with ranging biography Sensor detects that there are barriers in travel path by the distance measuring sensor.
In embodiments of the present invention, it is preferable that the cleaning equipment is controlled to perform the cleaning plan for the feature road conditions A kind of implementation method slightly includes：The cleaning equipment is controlled to perform the cleaning strategy for the barrier, the cleaning plan Slightly include following at least one：The barrier is cleaned, traveling of slowing down, gets over the barrier.
A kind of cleaning strategy can be included after detecting barrier, and barrier can be cleaned.Another kind cleaning plan It can slightly include detecting that deceleration is advanced when being less than the distance threshold of setting with obstacle distance, until touching with barrier After hitting, then change direction of travel.After another kind cleaning strategy can include detection barrier, got over above barrier, it can be with Horsepower realization by improving main wheel motor or the height by improving cleaning equipment chassis, get over barrier.
In embodiments of the present invention, it is preferable that steep cliff sensor is provided in cleaning equipment, the detection cleaning is set A kind of implementation method of feature road conditions in standby travel path includes：Detect that the cleaning equipment advances to pavement edge position It puts, the pavement edge position has higher geopotentia relative to the position in the front of travel path.
Steep cliff sensor can detect cleaning equipment and the distance on road surface, when the geopotentia ratio for detecting road surface ahead is worked as When the geopotentia on preceding residing road surface is lower, detect that cleaning equipment advances to pavement edge position, it specifically can be in front The geopotentia on road surface of the geopotentia on road surface than being presently in then judges that cleaning equipment advances to less than setting height threshold value Pavement edge position.
In embodiments of the present invention, it is preferable that when detecting pavement edge position, the cleaning equipment is controlled to perform needle A kind of realization method of the cleaning strategy of the feature road conditions can be included：The cleaning equipment is controlled along the traveling road Diameter retracts traveling, prevents cleaning equipment from falling.
With reference to Fig. 5, show the schematic block diagram of according to embodiments of the present invention four cleaning device, can specifically wrap Include following module：
Collision detection module 401, for detecting the collision occurred when the cleaning equipment is advanced, the side of the cleaning equipment Face is provided with distance measuring sensor；
Detection of obstacles module 402, for passing through the distance measuring sensor detection barrier；
Policy enforcement module 403, for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier.
In embodiments of the present invention, it is preferable that the detection of obstacles module includes：
Rotate control submodule, for the cleaning equipment to be controlled to rotate in place, until the distance measuring sensor with it is described Barrier meets setpoint distance condition.
In embodiments of the present invention, it is preferable that the annular side of the cleaning equipment is provided with crash sensor, the dress It puts and further includes：
Collision bearing identification module, for it is described barrier is detected by the distance measuring sensor before, using described The collision bearing that crash sensor identification collision occurs；
Direction of rotation determining module, for according to the collision bearing, determining the direction of rotation of the cleaning equipment.
In embodiments of the present invention, it is preferable that the policy enforcement module includes：
Working condition adjusts submodule, for adjusting the cleaning equipment to target operating condition, and in the target work Make to clean the barrier under state.
In embodiments of the present invention, it is preferable that the working condition adjustment submodule includes：
Sweep brush determination unit, for determining to close on the sweep brush of the barrier side；
Rotating speed improves unit, for improving the rotating speed for the sweep brush for closing on the barrier side, and is kept away from described The rotating speed of the sweep brush of barrier side is constant.
In embodiments of the present invention, it is preferable that the working condition adjustment submodule further includes：
Status determining unit for currently cleaning rank according to the cleaning equipment, determines the target of the cleaning equipment Working condition.
In embodiments of the present invention, it is preferable that the policy enforcement module includes：
Around submodule is carried out, for the cleaning equipment to be controlled to advance around the barrier, and carried out when advancing Cleaning.
In embodiments of the present invention, it is preferable that described to include around traveling submodule：
Around traveling unit, for the side of the distance measuring sensor to be set to advance as inside around the barrier, To detect the distance between described cleaning equipment and barrier using the distance measuring sensor.
In embodiments of the present invention, it is preferable that it is described around traveling unit, specifically for passing through the distance measuring sensor control It makes and is maintained in pre-determined distance between the barrier when cleaning equipment is advanced.
In embodiments of the present invention, it is preferable that described to be further included around progress submodule：
Circuit acquiring unit, for when the cleaning equipment is advanced around the barrier, obtaining the cleaning equipment Original travel line before colliding；
Tactful stop unit for determining whether the cleaning equipment advances to the original line of travel road, then stops Perform the cleaning strategy for the barrier.
In embodiments of the present invention, it is preferable that described device further includes：
Circuit cleaning module, after performing the cleaning strategy for the barrier in the stopping, described in control Cleaning equipment is cleaned along the original travel line.
Above-mentioned cleaning device according to the present invention, the collision occurred when being advanced by detecting the cleaning equipment, passes through institute Distance measuring sensor detection barrier is stated, the cleaning equipment is controlled to perform the cleaning strategy for the barrier so that cleaning Equipment targetedly can perform corresponding cleaning after colliding with barrier to the corner around barrier or ground Strategy avoids the problem that rubbish residual is more around barrier, improves the cleaning efficiency of cleaning equipment.
With reference to Fig. 6, show the schematic block diagram of according to embodiments of the present invention five cleaning device, can specifically wrap Include following module：
Special road conditions detection module 501, for detecting the feature road conditions in the travel path of the cleaning equipment；
Policy enforcement module 502, for the cleaning equipment to be controlled to perform the cleaning strategy for the feature road conditions.
In embodiments of the present invention, it is preferable that the special road conditions detection module includes：
Collision detection module, for detecting the collision occurred when the cleaning equipment is advanced, the side of the cleaning equipment It is provided with distance measuring sensor；
Detection of obstacles module detects that there are barriers in travel path for passing through the distance measuring sensor.
In embodiments of the present invention, it is preferable that the policy enforcement module includes：
Strategy execution submodule, it is described for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier Cleaning strategy includes following at least one：The barrier is cleaned, traveling of slowing down, gets over the barrier.
In embodiments of the present invention, it is preferable that steep cliff sensor, the special road conditions inspection are provided in the cleaning equipment Module is surveyed to include：
Edge detection submodule, for detecting that the cleaning equipment advances to pavement edge position, the pavement edge Position has higher geopotentia relative to the position in the front of travel path.
In embodiments of the present invention, it is preferable that the policy enforcement module includes：
Traveling submodule is retracted, for the cleaning equipment to be controlled to retract traveling along the travel path.
Above-mentioned cleaning device according to the present invention, the feature road conditions in travel path by detecting the cleaning equipment, The cleaning equipment is controlled to perform the cleaning strategy for the feature road conditions so that after cleaning equipment detects feature road conditions, Corresponding cleaning strategy is targetedly performed, avoids cleaning equipment itself or other articles caused by colliding or falling etc. Damage.
The embodiment of the present invention separately provides a kind of computer equipment, including：Memory, processor and storage are on a memory simultaneously The computer program that can be run on a processor, which is characterized in that the processor realizes following steps when performing described program：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
In embodiments of the present invention, it is preferable that described to be included by distance measuring sensor detection barrier：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance item with the barrier Part.
In embodiments of the present invention, it is preferable that the annular side of the cleaning equipment is provided with crash sensor, described Before detecting barrier by the distance measuring sensor, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
In embodiments of the present invention, it is preferable that the control cleaning equipment performs the cleaning for the barrier Strategy includes：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out under the target operating condition Cleaning.
In embodiments of the present invention, it is preferable that the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from the sweep brush of the barrier side Rotating speed it is constant.
In embodiments of the present invention, it is preferable that the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
In embodiments of the present invention, it is preferable that the control cleaning equipment performs the cleaning for the barrier Strategy includes：
The cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
In embodiments of the present invention, it is preferable that the control cleaning equipment is advanced, and be expert at around the barrier Into when carry out cleaning include：
It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to be sensed using the ranging Device detects the distance between the cleaning equipment and barrier.
In embodiments of the present invention, it is preferable that the side to set the distance measuring sensor is inside around described Barrier traveling includes：
When controlling the cleaning equipment to advance by the distance measuring sensor be maintained between the barrier it is default away from From interior.
In embodiments of the present invention, it is preferable that the control cleaning equipment is further included around barrier traveling：
When the cleaning equipment is advanced around the barrier, obtain original before the cleaning equipment collides Travel line；
It determines whether the cleaning equipment advances to the original line of travel road, then stops performing for the barrier Cleaning strategy.
In embodiments of the present invention, it is preferable that after the cleaning strategy for stopping execution for the barrier, institute The method of stating further includes：
The cleaning equipment is controlled to be cleaned along the original travel line.
Above computer equipment according to the present invention, the collision occurred when being advanced by detecting the cleaning equipment, passes through The distance measuring sensor detects barrier, and the cleaning equipment is controlled to perform the cleaning strategy for the barrier so that clear Clean equipment targetedly can perform the corner around barrier or ground corresponding clear after colliding with barrier Clean strategy avoids the problem that rubbish residual is more around barrier, improves the cleaning efficiency of cleaning equipment.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, the program Following steps are realized when being executed by processor：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
In embodiments of the present invention, it is preferable that described to be included by distance measuring sensor detection barrier：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance item with the barrier Part.
In embodiments of the present invention, it is preferable that the annular side of the cleaning equipment is provided with crash sensor, described Before detecting barrier by the distance measuring sensor, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
In embodiments of the present invention, it is preferable that the control cleaning equipment performs the cleaning for the barrier Strategy includes：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out under the target operating condition Cleaning.
In embodiments of the present invention, it is preferable that the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from the sweep brush of the barrier side Rotating speed it is constant.
In embodiments of the present invention, it is preferable that the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
In embodiments of the present invention, it is preferable that the control cleaning equipment performs the cleaning for the barrier Strategy includes：
The cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
In embodiments of the present invention, it is preferable that the control cleaning equipment is advanced, and be expert at around the barrier Into when carry out cleaning include：
It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to be sensed using the ranging Device detects the distance between the cleaning equipment and barrier.
In embodiments of the present invention, it is preferable that the side to set the distance measuring sensor is inside around described Barrier traveling includes：
When controlling the cleaning equipment to advance by the distance measuring sensor be maintained between the barrier it is default away from From interior.
In embodiments of the present invention, it is preferable that the control cleaning equipment is further included around barrier traveling：
When the cleaning equipment is advanced around the barrier, obtain original before the cleaning equipment collides Travel line；
It determines whether the cleaning equipment advances to the original line of travel road, then stops performing for the barrier Cleaning strategy.
In embodiments of the present invention, it is preferable that after the cleaning strategy for stopping execution for the barrier, institute The method of stating further includes：
The cleaning equipment is controlled to be cleaned along the original travel line.
Above computer readable storage medium storing program for executing according to the present invention, what is occurred when being advanced by detecting the cleaning equipment touches It hits, barrier is detected by the distance measuring sensor, the cleaning equipment is controlled to perform the cleaning strategy for the barrier, Cleaning equipment allow after colliding with barrier, phase targetedly is performed to the corner around barrier or ground The cleaning strategy answered avoids the problem that rubbish residual is more around barrier, improves the cleaning efficiency of cleaning equipment.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein. Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair Bright preferred forms.
In the specification provided in this place, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect, Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor Shield the present invention claims the more features of feature than being expressly recited in each claim.More precisely, as following Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore, Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim is in itself Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment Change and they are arranged in one or more equipment different from the embodiment.It can be the module or list in embodiment Member or component be combined into a module or unit or component and can be divided into addition multiple submodule or subelement or Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification is (including adjoint power Profit requirement, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization or to be run on one or more processor Software module realize or realized with combination thereof.It will be understood by those of skill in the art that it can use in practice Microprocessor or digital signal processor (DSP) come realize clean method according to embodiments of the present invention and device some or The some or all functions of person's whole component.The present invention is also implemented as perform method as described herein one Divide either whole equipment or program of device (for example, computer program and computer program product).Such this hair of realization Bright program can may be stored on the computer-readable medium or can have the form of one or more signal.It is such Signal can be downloaded from internet website to be obtained either providing on carrier signal or providing in the form of any other.
It should be noted that the present invention will be described rather than limits the invention, and ability for above-described embodiment Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real It is existing.If in the unit claim for listing equipment for drying, several in these devices can be by same hardware branch To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and run after fame Claim.
The invention discloses A1, a kind of clean method, including：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
A2, the method according to A1, wherein, it is described to be included by distance measuring sensor detection barrier：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance item with the barrier Part.
A3, the method according to A1, wherein, the annular side of the cleaning equipment is provided with crash sensor, in institute It states before detecting barrier by the distance measuring sensor, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
A4, the method according to A1, wherein, the control cleaning equipment performs the cleaning for the barrier Strategy includes：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out under the target operating condition Cleaning.
A5, the method according to A4, wherein, the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from the sweep brush of the barrier side Rotating speed it is constant.
A6, the method according to A4, wherein, the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
A7, the method according to A1, wherein, the control cleaning equipment performs the cleaning for the barrier Strategy includes：
The cleaning equipment is controlled to advance around the barrier, and is cleaned when advancing.
A8, the method according to A7, wherein, the control cleaning equipment is advanced around the barrier, and Cleaning is carried out during traveling to include：
It is advanced using the side for setting the distance measuring sensor as inside around the barrier, to be sensed using the ranging Device detects the distance between the cleaning equipment and barrier.
A9, the method according to A8, wherein, the side to set the distance measuring sensor is inside around described Barrier traveling includes：
When controlling the cleaning equipment to advance by the distance measuring sensor be maintained between the barrier it is default away from From interior.
A10, the method according to A7, wherein, the control cleaning equipment is also wrapped around barrier traveling It includes：
When the cleaning equipment is advanced around the barrier, obtain original before the cleaning equipment collides Travel line；
It determines whether the cleaning equipment advances to the original line of travel road, then stops performing for the barrier Cleaning strategy.
A11, the method according to A10, wherein, it is described stop perform for the barrier cleaning strategy it Afterwards, the method further includes：
The cleaning equipment is controlled to be cleaned along the original travel line.
The invention also discloses B 12, a kind of clean method, including：
Detect the feature road conditions in the travel path of the cleaning equipment；
The cleaning equipment is controlled to perform the cleaning strategy for the feature road conditions.
B13, the method according to B12, wherein, the feature road conditions in the travel path of the detection cleaning equipment Including：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Detect that there are barriers in travel path by the distance measuring sensor.
B14, the method according to B12, wherein, the control cleaning equipment is performed for the feature road conditions Cleaning strategy includes：
Cleaning strategy of the cleaning equipment execution for the barrier is controlled, the cleaning strategy is included as follows at least It is a kind of：The barrier is cleaned, traveling of slowing down, gets over the barrier.
B15, the method according to B12, wherein, steep cliff sensor, the detection institute are provided in the cleaning equipment The feature road conditions stated in the travel path of cleaning equipment include：
Detect that the cleaning equipment advances to pavement edge position, the pavement edge position is relative to travel path The position in front has higher geopotentia.
B16, the method according to B15, wherein, the control cleaning equipment is performed for the feature road conditions Cleaning strategy includes：
The cleaning equipment is controlled to retract traveling along the travel path.
The invention also discloses C17, a kind of cleaning device, including：
Collision detection module, for detecting the collision occurred when the cleaning equipment is advanced, the side of the cleaning equipment It is provided with distance measuring sensor；
Detection of obstacles module, for passing through the distance measuring sensor detection barrier；
Policy enforcement module, for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier.
C18, the device according to C17, wherein, the detection of obstacles module includes：
Rotate control submodule, for the cleaning equipment to be controlled to rotate in place, until the distance measuring sensor with it is described Barrier meets setpoint distance condition.
C19, the device according to C17, wherein, the annular side of the cleaning equipment is provided with crash sensor, institute Device is stated to further include：
Collision bearing identification module, for it is described barrier is detected by the distance measuring sensor before, using described The collision bearing that crash sensor identification collision occurs；
Direction of rotation determining module, for according to the collision bearing, determining the direction of rotation of the cleaning equipment.
C20, the device according to C17, wherein, the policy enforcement module includes：
Working condition adjusts submodule, for adjusting the cleaning equipment to target operating condition, and in the target work Make to clean the barrier under state.
C21, the device according to C20, wherein, the working condition adjustment submodule includes：
Sweep brush determination unit, for determining to close on the sweep brush of the barrier side；
Rotating speed improves unit, for improving the rotating speed for the sweep brush for closing on the barrier side, and is kept away from described The rotating speed of the sweep brush of barrier side is constant.
C22, the device according to C20, wherein, the working condition adjustment submodule further includes：
Status determining unit for currently cleaning rank according to the cleaning equipment, determines the target of the cleaning equipment Working condition.
C23, the device according to C17, wherein, the policy enforcement module includes：
Around submodule is carried out, for the cleaning equipment to be controlled to advance around the barrier, and carried out when advancing Cleaning.
C24, the device according to C23, wherein, it is described to include around traveling submodule：
Around traveling unit, for the side of the distance measuring sensor to be set to advance as inside around the barrier, To detect the distance between described cleaning equipment and barrier using the distance measuring sensor.
C25, the device according to C24, wherein, it is described around traveling unit, specifically for being sensed by the ranging Device is controlled and is maintained in pre-determined distance between the barrier during cleaning equipment traveling.
C26, the device according to C23, wherein, it is described to be further included around progress submodule：
Circuit acquiring unit, for when the cleaning equipment is advanced around the barrier, obtaining the cleaning equipment Original travel line before colliding；
Tactful stop unit for determining whether the cleaning equipment advances to the original line of travel road, then stops Perform the cleaning strategy for the barrier.
C27, the device according to C26, wherein, described device further includes：
Circuit cleaning module, after performing the cleaning strategy for the barrier in the stopping, described in control Cleaning equipment is cleaned along the original travel line.
The invention also discloses D28, a kind of cleaning device, including：
Special road conditions detection module, for detecting the feature road conditions in the travel path of the cleaning equipment；
Policy enforcement module, for the cleaning equipment to be controlled to perform the cleaning strategy for the feature road conditions.
D29, the device according to D28, wherein, the special road conditions detection module includes：
Collision detection module, for detecting the collision occurred when the cleaning equipment is advanced, the side of the cleaning equipment It is provided with distance measuring sensor；
Detection of obstacles module detects that there are barriers in travel path for passing through the distance measuring sensor.
D30, the device according to D28, wherein, the policy enforcement module includes：
Strategy execution submodule, it is described for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier Cleaning strategy includes following at least one：The barrier is cleaned, traveling of slowing down, gets over the barrier.
D31, the device according to D28, wherein, steep cliff sensor, the special road are provided in the cleaning equipment Condition detection module includes：
Edge detection submodule, for detecting that the cleaning equipment advances to pavement edge position, the pavement edge Position has higher geopotentia relative to the position in the front of travel path.
D32, the device according to D31, wherein, the policy enforcement module includes：
Traveling submodule is retracted, for the cleaning equipment to be controlled to retract traveling along the travel path.
The invention also discloses E33, a kind of computer equipment, including：Memory, processor and storage are on a memory simultaneously The computer program that can be run on a processor, which is characterized in that the processor realizes following steps when performing described program：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
The invention also discloses F 34, a kind of computer readable storage mediums, are stored thereon with computer program, the program Following steps are realized when being executed by processor：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.

Claims (10)

1. a kind of clean method, including：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
It is described barrier is detected by the distance measuring sensor to include 2. according to the method described in claim 1, wherein：
The cleaning equipment is controlled to rotate in place, until the distance measuring sensor meets setpoint distance condition with the barrier.
3. according to the method described in claim 1, wherein, the annular side of the cleaning equipment is provided with crash sensor, Before the detection barrier by the distance measuring sensor, the method further includes：
The collision bearing of collision generation is identified using the crash sensor；
According to the collision bearing, the direction of rotation of the cleaning equipment is determined.
4. according to the method described in claim 1, wherein, the control cleaning equipment is performed for the clear of the barrier Clean strategy includes：
The cleaning equipment is adjusted to target operating condition, and the barrier is carried out clearly under the target operating condition It is clean.
5. according to the method described in claim 4, wherein, the adjustment cleaning equipment to target operating condition includes：
Determine to close on the sweep brush of the barrier side；
The rotating speed for the sweep brush for closing on the barrier side is improved, and is kept away from turn of the sweep brush of the barrier side Speed is constant.
6. according to the method described in claim 4, wherein, the adjustment cleaning equipment to target operating condition further includes：
Rank is currently cleaned according to the cleaning equipment, determines the target operating condition of the cleaning equipment.
7. a kind of clean method, including：
Detect the feature road conditions in the travel path of the cleaning equipment；
The cleaning equipment is controlled to perform the cleaning strategy for the feature road conditions.
8. a kind of cleaning device, including：
Collision detection module, for detecting the collision occurred when the cleaning equipment is advanced, the side setting of the cleaning equipment There is distance measuring sensor；
Detection of obstacles module, for passing through the distance measuring sensor detection barrier；
Policy enforcement module, for the cleaning equipment to be controlled to perform the cleaning strategy for the barrier.
9. a kind of computer equipment, including：Memory, processor and storage are on a memory and the meter that can run on a processor Calculation machine program, which is characterized in that the processor realizes following steps when performing described program：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
Realized 10. a kind of computer readable storage medium, is stored thereon with computer program, when which is executed by processor with Lower step：
The collision occurred when the cleaning equipment is advanced is detected, the side of the cleaning equipment is provided with distance measuring sensor；
Barrier is detected by the distance measuring sensor；
The cleaning equipment is controlled to perform the cleaning strategy for the barrier.
CN201711366911.6A 2017-12-18 2017-12-18 Clean method, device, computer equipment and storage medium Pending CN108209744A (en)

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Application Number Priority Date Filing Date Title
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Publication Number Publication Date
CN108209744A true CN108209744A (en) 2018-06-29

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CN113598653A (en) * 2021-08-05 2021-11-05 北京石头世纪科技股份有限公司 Cleaning method and device, equipment and computer readable storage medium
CN113961009A (en) * 2021-10-26 2022-01-21 追觅创新科技(苏州)有限公司 Obstacle avoidance method and device for sweeper, storage medium and electronic device
CN114601399A (en) * 2021-12-08 2022-06-10 北京石头创新科技有限公司 Control method and device of cleaning equipment, cleaning equipment and storage medium
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WO2023098384A1 (en) * 2021-12-02 2023-06-08 追觅创新科技(苏州)有限公司 Sweeping control method and apparatus, robot, storage medium, and electronic apparatus

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TWI691297B (en) * 2017-08-07 2020-04-21 南韓商Ｌｇ電子股份有限公司 Robot cleaner
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CN109674404A (en) * 2019-01-26 2019-04-26 深圳市云鼠科技开发有限公司 A kind of sweeping robot avoidance processing mode based on free move technology
CN109674404B (en) * 2019-01-26 2021-08-10 深圳市云鼠科技开发有限公司 Obstacle avoidance processing mode of sweeping robot based on free move technology
CN111603096A (en) * 2019-02-25 2020-09-01 江苏美的清洁电器股份有限公司 Charging station and information processing method
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CN113598653A (en) * 2021-08-05 2021-11-05 北京石头世纪科技股份有限公司 Cleaning method and device, equipment and computer readable storage medium
CN113961009A (en) * 2021-10-26 2022-01-21 追觅创新科技(苏州)有限公司 Obstacle avoidance method and device for sweeper, storage medium and electronic device
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Application publication date: 20180629