CN109528101A

CN109528101A - Turning method, mobile robot and the storage medium of mobile robot

Info

Publication number: CN109528101A
Application number: CN201910008530.3A
Authority: CN
Inventors: 李畅; 罗浩杨
Original assignee: Cloud Whale Intelligent Technology (dongguan) Co Ltd
Current assignee: Cloud Whale Intelligent Technology (dongguan) Co Ltd
Priority date: 2019-01-04
Filing date: 2019-01-04
Publication date: 2019-03-29

Abstract

The embodiment of the present invention provides turning method, mobile robot and the storage medium of mobile robot, to realize that mobile robot on the corner turns to.The above method includes: that mobile robot is moved along the first wall surface；When meeting turning condition, the angle for the second wall surface that the mobile robot is detected according to detection sensor is on the corner turned, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, wherein, the corner is the non-zero included angle that first wall surface and second wall surface are formed, and the detection sensor is arranged in the mobile robot；The mobile robot is moved along second wall surface.

Description

Turning method, mobile robot and the storage medium of mobile robot

Technical field

The present invention relates to mobile control technology field, in particular to the turning method of mobile robot, mobile robot and Storage medium.

Background technique

With the development of technology, more and more occasions will use mobile robot.For example, home interior, large-scale field The occasions such as institute will use sweeping robot or floor-mopping robot is cleaned.

Mobile robot along a wall surface during moving, it is possible to can encounter turn for being intersected by two wall surfaces and being formed Angle, and how to realize that mobile robot on the corner turns to, it is the project studied at present.

Summary of the invention

In view of this, the embodiment of the present invention provides turning method, mobile robot and the storage medium of mobile robot, with Realize that mobile robot on the corner turns to.

To achieve the above object, the embodiment of the present invention provides the following technical solutions:

A kind of turning method of mobile robot, comprising:

Mobile robot is moved along the first wall surface；

When meeting turning condition, the angle for the second wall surface that the mobile robot is detected according to detection sensor On the corner turn, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, In, the corner is the non-zero included angle that first wall surface and second wall surface are formed, and the detection sensor is arranged in institute It states in mobile robot；

The mobile robot is moved along second wall surface.

Optionally, the angle for the second wall surface that the mobile robot is detected according to detection sensor on the corner turns It is curved, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, comprising: the movement Robot is rotated to the direction of angle between the direction of travel and second wall surface for reducing the mobile robot, and is being rotated Cheng Zhong uses the angle of the second wall surface described in the detection sensor real-time detection；The mobile robot is according to real-time detection The angle of obtained second wall surface calculates the real-time angle between the direction of travel and second wall surface；The movement When revolute to the real-time angle between the direction of travel and second wall surface is default angle, stop operating.

Optionally, the angle for the second wall surface that the mobile robot is detected according to detection sensor on the corner turns It is curved, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, comprising: the movement Robot detects the angle of second wall surface using the detection sensor before steering；The mobile robot according to Working as between the direction of travel and second wall surface of mobile robot described in the angle calculation for second wall surface that detection obtains Leading angle；The mobile robot determines described when the differential seat angle of leading angle and default angle is rotational angle；The moving machine Device people rotates the rotational angle to the direction for reducing angle between the direction of travel and second wall surface.

Optionally, the corner is greater than 180 degree；The turning condition includes: the mobile robot along described first When wall surface is mobile, pre-determined distance threshold value is greater than by the distance that range sensor detects, the range sensor is arranged in institute It states on the side of close first wall surface of mobile robot.

Optionally, the range sensor is arranged on the target side of the mobile robot, the target side bread Non-cylinder side is included, the target side is on the direction of travel of the mobile robot, and the mobile robot is most One side between front position and rearmost position；When meeting turning condition, the method also includes: the mobile robot edge Current direction of travel Forward；The angle for the second wall surface that the mobile robot is detected according to detection sensor is on the corner Turning, comprising: when the mobile robot along current direction of travel moved forward it is default Forward apart from when, the mobile robot root The angle of the second wall surface detected according to detection sensor is on the corner turned.

Optionally, the range sensor includes first distance sensor and second distance sensor；The first distance Sensor and the second distance sensor are arranged on the target side of the mobile robot, also, move along described On the direction of travel of robot, the first distance sensor is located at before the second distance sensor；The target side Including non-cylinder side, the target side be on the direction of travel of the mobile robot, the mobile robot One side between front position and rearmost position；The method also includes: the first distance sensor detect away from When from being greater than pre-determined distance threshold value, the mobile robot moves forward along current direction of travel；The turning condition specifically includes: institute It states the distance that first distance sensor and second distance sensor detect and is all larger than the pre-determined distance threshold value.

Optionally, along the vertical direction, the detection height of the range sensor is less than the detection height of the detection sensor Degree；The angle for the second wall surface that the mobile robot is detected according to detection sensor is on the corner turned, until described Angle between the direction of travel of mobile robot and second wall surface is default angle, comprising: the mobile robot according to The angle for the second wall surface that detection sensor detects, to the direction of travel and second wall for reducing the mobile robot The direction rotation of angle between face；During rotation, the mobile robot judges that the range sensor is detected to obstacle Whether the distance of object reaches default alarm threshold；If so, stopping operating；Otherwise, it continues to rotate, until the mobile robot Angle between direction of travel and second wall surface is default angle.

Optionally, the bottom of the mobile robot is equipped with cleaning device, and the cleaning device is for cleaning ground；In the shifting The angle for the second wall surface that mobile robot is detected according to detection sensor is on the corner turned, until the mobile robot Direction of travel and second wall surface between angle be default angle after, the method also includes the mobile robots It is retreated along current direction of travel, clean region is leaked because turning to cleaning；After the mobile robot is along current direction of travel When falling back on the first pre-determined distance, the mobile robot is moved forward along the current direction of travel.

Optionally, the corner is less than 180 degree；The turning condition includes: the crash sensor of the mobile robot Collide second wall surface；The angle for the second wall surface that the mobile robot is detected according to detection sensor is in corner Place's turning, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, comprising: described Mobile robot retreats the second pre-determined distance, so that the mobile robot has turning space；The mobile robot according to The angle for second wall surface that the detection sensor detects, between the reduction direction of travel and second wall surface The direction of angle rotates, until the angle between the direction of travel and second wall surface is the default angle.

Optionally, the default angle is zero degree；And/or the direction of travel of the mobile robot and second wall When angle between face is default angle, there are gaps between the mobile robot and second wall surface.

Optionally, the mobile robot is clean robot, and the bottom of the mobile robot is equipped with cleaning device, described Cleaning device is laser radar for cleaning ground, the detection sensor；The method also includes: the mobile robot passes through The cleaning device cleans ground.

A kind of mobile robot, comprising:

Mobile unit, at least for being moved along the first wall surface；

It turns unit, for when meeting turning condition, according to the angle for the second wall surface that detection sensor detects On the corner turn, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, In, the corner is the non-zero included angle that first wall surface and second wall surface are formed, and the detection sensor is arranged in institute It states in mobile robot；

The mobile unit is also used to: being moved along second wall surface.

Optionally, it on the corner turns in the angle of the second wall surface detected according to detection sensor, until described Angle between the direction of travel of mobile robot and second wall surface is the aspect of default angle, and the turning unit is specifically used In: it is rotated to the direction of angle between the direction of travel and second wall surface for reducing the mobile robot, and in rotation process In, use the angle of the second wall surface described in the detection sensor real-time detection；Second wall obtained according to real-time detection The angle in face calculates the real-time angle between the direction of travel and second wall surface；Turning to the direction of travel and institute Stating the real-time angle between the second wall surface is when presetting angle, to stop operating.

Optionally, it on the corner turns in the angle of second wall surface detected according to detection sensor, until Angle between the direction of travel of the mobile robot and second wall surface is the aspect of default angle, the turning unit tool Body is used for: before steering, the angle of second wall surface is detected using the detection sensor；According to detecting and obtain Work as leading angle between the direction of travel of mobile robot described in the angle calculation of second wall surface and second wall surface；Described in determination When the differential seat angle of leading angle and default angle is rotational angle；To angle between the reduction direction of travel and second wall surface Direction rotates the rotational angle.

A kind of storage medium, which is characterized in that the storage medium is stored with a plurality of instruction, and described instruction is suitable for processor It is loaded, to execute the step in above-mentioned turning method.

A kind of computer program product comprising instruction, when run on a computer, so that computer execution is above-mentioned Turning method in step.

As it can be seen that in embodiments of the present invention, the non-zero included angle that the first wall surface and the second wall surface are crossed to form is corner.It is mobile Robot along the first wall surface during moving, if meeting turning condition, can be existed according to the angle of the second wall surface detected Corner turning, until the angle between the direction of travel and the second wall surface of mobile robot is default angle, to realize moving machine Device people on the corner turns to.

Angle between direction of travel and the second wall surface is after presetting angle, and mobile robot will be moved along the second wall surface, Therefore, above-mentioned cornering operation realizes mobile robot from being moved to the transition moved along the second wall surface along the first wall surface.

Detailed description of the invention

Fig. 1 is the schematic perspective view of clean robot provided in an embodiment of the present invention；

Fig. 2 is that clean robot shown in Fig. 1 removes the structural schematic diagram after partial shell；

Fig. 3 is floor-mopping robot present invention looks up structural representation provided in an embodiment of the present invention；

Fig. 4 is sweeping robot present invention looks up structural representation provided in an embodiment of the present invention；

Fig. 5 is another structural schematic diagram of clean robot provided in an embodiment of the present invention；

Fig. 6 is the schematic diagram that corner provided in an embodiment of the present invention is greater than 180 degree；

Fig. 7 is the schematic diagram that corner provided in an embodiment of the present invention is less than 180 degree；

Fig. 8 is turning method exemplary process diagram provided in an embodiment of the present invention；

Fig. 9, Figure 10 are the schematic diagram that default angle provided in an embodiment of the present invention is zero degree；

Figure 11 is turning method another exemplary flow chart provided in an embodiment of the present invention；

Figure 12 is the another exemplary process diagram of turning method provided in an embodiment of the present invention；

Figure 13 a is the another exemplary process diagram of turning method provided in an embodiment of the present invention；

Figure 13 b is the another exemplary process diagram of turning method provided in an embodiment of the present invention；

Figure 14 a is the schematic diagram that clean robot provided in an embodiment of the present invention is moved along the first wall surface；

Figure 14 b is the schematic diagram at first distance sensor row provided in an embodiment of the present invention to the first right in the face interruption；

Figure 14 c is the schematic diagram that clean robot provided in an embodiment of the present invention moves forward default Forward distance；

Figure 14 d is the signal that the distance that first distance sensor provided in an embodiment of the present invention detects mutates Figure；

Figure 14 e is the pass of the width of pre-determined distance threshold value provided in an embodiment of the present invention and clean robot, rotation center It is schematic diagram；

Figure 14 f is the schematic diagram of steering procedure provided in an embodiment of the present invention；

Figure 14 g is that area schematic is cleaned in leakage provided in an embodiment of the present invention；

Figure 14 h is that clean robot provided in an embodiment of the present invention moves back schematic diagram；

Figure 14 i is clean robot provided in an embodiment of the present invention Forward schematic diagram；

Figure 14 j moves schematic diagram along the second wall surface for clean robot provided in an embodiment of the present invention；

Figure 14 k is that first distance sensor provided in an embodiment of the present invention is located at the signal before second distance sensor Figure；

Figure 14 L is the schematic diagram at second distance sensor row provided in an embodiment of the present invention to the first right in the face interruption；

Figure 15 is the another exemplary process diagram of turning method provided in an embodiment of the present invention；

Figure 16 a is that clean robot provided in an embodiment of the present invention retreats schematic diagram；

Figure 16 b is cleaning machine provided in an embodiment of the present invention turning schematic diagram；

Figure 16 c moves schematic diagram along the second wall surface for clean robot provided in an embodiment of the present invention；

Figure 17 is another topology example figure of mobile robot provided in an embodiment of the present invention.

Specific embodiment

The embodiment of the present invention provides the turning method of mobile robot and executes the mobile robot of above-mentioned turning method, with Realize that mobile robot on the corner turns to.

Above-mentioned mobile robot concretely clean robot.The embodiment of the invention provides a kind of clean robot 100, The clean robot 100 can be used for carrying out automated cleaning to ground, and the application scenarios of clean robot 100 can be home interior Cleaning, large-scale place cleaning etc..

Fig. 1 is the stereoscopic schematic diagram of clean robot 100 provided in an embodiment of the present invention, and Fig. 2 is that machine is cleaned shown in Fig. 1 People 100 removes the structural schematic diagram after partial shell, and Fig. 3 is that floor-mopping robot provided in an embodiment of the present invention looks up structural representation Figure, Fig. 4 are sweeping robot present invention looks up structural representation provided in an embodiment of the present invention, and Fig. 5 is provided in an embodiment of the present invention clear Another structural schematic diagram of clean robot 100.

As shown in Figures 1 to 5, clean robot 100 includes robot body 101, driving motor 102, sensor unit 103, controller 104, battery 105, walking unit 106, memory 107, communication unit 108, robot interactive unit 109, clear Clean part and charging unit 111 etc..

Robot body 101 can be circular configuration, square structure etc..In embodiments of the present invention, with robot body 101 is are illustrated for D character form structure.As shown in Figure 1,101 front of robot body is the rectangular configuration of rounded corner, rear portion For semicircular structure.In embodiments of the present invention, robot body 101 is bilateral symmetry.

For cleaning device for cleaning to ground, the quantity of cleaning device can be one or more.Cleaning device is arranged in machine The bottom of device human agent 101, the forward position in the bottom of specially robot body 101.It is equipped with inside robot body 101 Driving motor 102 stretches out two shafts in the bottom of robot body 101, and cleaning device is socketed in shaft.Driving motor 102 Shaft can be driven to rotate, so that shaft drives cleaning device rotation.

The type of clean robot 100 includes sweeping robot 1001 and floor-mopping robot 1002 etc..

As shown in figure 3, for floor-mopping robot 1002, cleaning device is specially mopping part 1101, mopping part 1101 For example mop.Mopping part 1101 is for carrying out the cleaning that mops floor to ground.

As shown in figure 4, for sweeping robot 1001, cleaning device is specially side brush 1102, side brush 1102 for pair Ground carries out cleaning of sweeping the floor.Sweeping robot 1001 is additionally provided with dust exhaust apparatus, and dust exhaust apparatus includes being arranged in robot body 101 Bottom suction inlet 1121 and the dirt box 1122 and blower 1123 that are arranged in inside robot body 101.1102 setting of side brush In the shaft of 1001 bottom of sweeping robot, shaft drives 1102 rotation of side brush, and the side of rotation brushes 1102 for rubbish such as dusts It sweeps near the suction inlet 1121 of 1001 bottom of sweeping robot, because of the swabbing action of blower 1123, these rubbish are inhaled into suction Dirt mouth 1121 is entered in dirt box 1122 by suction inlet 1121 and is kept in.In the specific example for the sweeping robot 1001 having In, the cleaning device of sweeping robot 1001 is dust exhaust apparatus, and the dust exhaust apparatus is for drawing rubbish and the dust on ground etc., the suction Suction inlet of the dirt device for example including the bottom that sweeping robot 1001 is arranged in.

In embodiments of the present invention, the cleaning device of clean robot 100 can be set to dismountable connection type, need Mop floor when cleaning, mopping part 1101 is installed to the bottom of robot body 101；Sweep the floor clean when, Using 1102 replacement mopping part 1101 of side brush, side brush 1102 is installed to the bottom of robot body 101.

Walking unit 106 is component relevant to the movement of clean robot 100, and walking unit 106 includes driving wheel 1061 and universal wheel 1062.The steering and movement of clean robot 100 are realized in universal wheel 1062 and the cooperation of driving wheel 1061.In machine The position at rear portion is leaned in the bottom surface of device human agent 101, and a driving wheel 1061 is respectively arranged in the right and left.Universal wheel 1062 is arranged in machine On the center line of the bottom surface of device human agent 101, and it is located between two cleaning devices.

Wherein, each driving wheel 1061 is equipped with driving wheel motor, under the drive of driving wheel motor, 1061 turns of driving wheel It is dynamic.After driving wheel 1061 rotates, drive clean robot 100 mobile.By controlling the rotational speed difference of left and right sidesing driving wheel 1061, controllably The steering angle of clean robot 100 processed.

Clean robot 100 shown in Figure 5:

Controller 104 is arranged inside robot body 101, and controller 104 executes tool for controlling clean robot 100 The operation of body.The controller 104 for example can be central processing unit (Central Processing Unit, CPU) or micro- place Manage device (Microprocessor) etc..As shown in figure 5, controller 104 and battery 105, memory 107, driving motor 102, row The equal components electrical connection of unit 106, sensor unit 103 and robot interactive unit 109 is walked, to control to these components System.

Battery 105 is arranged inside robot body 101, and battery 105 is used to provide electric power for clean robot 100.

Charging unit 111 (as shown in Figure 1) is additionally provided on robot body 101, which is used for from cleaner The external equipment of device people 100 obtains electric power, to charge to battery 105.

Memory 107 is arranged on robot body 101, is stored with program on memory 107, the program is by controller 104 realize corresponding operation when executing.Memory 107 is also used to store the parameter used for clean robot 100.Wherein, it deposits Reservoir 107 include but is not limited to magnetic disk storage, CD-ROM (Compact Disc Read-Only Memory, CD-ROM), Optical memory etc..

Communication unit 108 is arranged on robot body 101, and communication unit 108 is for allowing clean robot 100 and outside Equipment is communicated, and communication unit 108 includes but is not limited to Wireless Fidelity (WIreless-Fidelity, WI-FI) communication module 1081 and short-range communication module 1082 etc..Clean robot 100 can connect the road WI-FI by WI-FI communication module 1081 By device, to be communicated with terminal.Clean robot 100 is communicated by short-range communication module 1082 with base station.Its In, base station is the equipment for cooperating clean robot 100 to use.

The sensor unit 103 being arranged on robot body 101 includes various types of sensors, such as laser radar 1031, crash sensor 1032, range sensor 1033, fall sensor 1034, counter 1035 and gyroscope 1036 etc..

The top of robot body 101 is arranged in laser radar 1031, and at work, laser radar 1031 rotates, and leads to The transmitter transmitting laser signal on laser radar 1031 is crossed, laser signal is reflected by barrier, thus laser radar 1031 Receiver receives the laser signal that barrier is reflected back.The circuit unit of laser radar 1031 by received laser signal into Row analysis, can be obtained the environmental information of surrounding, such as the distance and angle etc. of barrier relative laser radar 1031.In addition, Camera can be used to substitute laser radar, be analyzed by the barrier in the image that is shot to camera, obstacle also can be obtained Distance, angle etc. of the object with respect to camera.

Crash sensor 1032 includes collision shell 10321 and trigger sensor 10322 (referring to Fig. 4).Collide shell The head of 10321 wrapping robot bodies 101, specifically, the head of robot body 101 is arranged in collision shell 10321 With the left and right sides of robot body 101 by front position.The setting of trigger sensor 10322 in the inside of robot body 101 and After collision shell 10321.Resilient snubber is equipped between collision shell 10321 and robot body 101.Work as cleaning When robot 100 is collided by collision shell 10321 and barrier, collision shell 10321 is to moving inside clean robot 100 It is dynamic, and elasticity of compression bolster.In collision shell 10321 to after moving a certain distance inside clean robot 100, shell is collided 10321 contact with trigger sensor 10322, and trigger sensor 10322, which is triggered, generates signal, which can be transmitted robot Controller 104 in main body 101, to be handled.After having touched barrier, clean robot 100 is far from barrier, in elasticity Under the action of bolster, collision shell 10321 is moved back to original position.As it can be seen that crash sensor 1032 can detect barrier, with And after colliding barrier, buffer function is played.

Range sensor 1033 is specifically as follows infrared detection sensor, ultrasonic distance-measuring sensor, laser ranging sensing Device or depth transducer can be used for detecting the distance of barrier to range sensor 1033.The setting of range sensor 1033 exists The side of robot body 101, so that the barrier near 100 side of clean robot can be measured by range sensor 1033 Hinder object to the distance value of range sensor 1033.

The number of range sensor 1033 can be 1 or more.For 2, Fig. 2, two range sensors are referred to 1033 along the same target side that robot body 101 is arranged in the direction of travel of mobile robot, which includes Non-cylinder side, the non-cylinder side are, for example, planar side, Wave-shaped structural side etc..As for robot body 101 On the another side claimed in contrast, range sensor can be not provided with.Wherein, target side is in the traveling side of mobile robot Upwards, the one side between the front position and rearmost position of mobile robot, for example, in the direction of travel of mobile robot On, left side or right side between the front position and rearmost position of mobile robot.

In one example, relatively another range sensor of one of range sensor 1033 (second distance sensor) (first distance sensor) is located at the front of the rotation axis of driving wheel 1061 closer to driving wheel 1061.First distance passes Sensor is arranged near cleaning device.

More specifically, first distance sensor can be located within collision shell 10321, the letter of first distance sensor emission Number by collision shell 10321 on through-hole environment is detected.

Fall the bottom margin that robot body 101 is arranged in sensor 1034, quantity can be one or more.When clear When clean robot 100 is moved to the marginal position on ground, by fall sensor 1034 it is detectable go out clean robot 100 have from The risk that eminence is fallen stops mobile or falls toward separate thereby executing corresponding dropproof reaction, such as clean robot 100 Direction movement that dropping place is set etc..

Counter 1035 and gyroscope 1036 are additionally provided in the inside of robot body 101.Counter 1035 is used for drive The rotational angle sum of driving wheel 1061 is added up, to calculate the distance that driving wheel 1061 drives clean robot 100 mobile Length.Gyroscope 1036 is used to detect the angle of the rotation of clean robot 100, to can determine that the court of clean robot 100 To.

Robot interactive unit 109 is arranged on robot body 101, and user can pass through 109 He of robot interactive unit Clean robot 100 interacts.Robot interactive unit 109 is for example including 1092 grade portions of switch button 1091 and loudspeaker Part.User can be controlled clean robot 100 and be started work or stopped working by push switch button 1091.Clean robot 100 can be by loudspeaker 1092 to user's playing alert tones.

It should be understood that the clean robot 100 of description of the embodiment of the present invention is a specific example, not to the present invention The clean robot 100 of embodiment constitutes specific restriction, and the clean robot 100 of the embodiment of the present invention can also be other tools Body implementation.For example, clean robot can have more than clean robot 100 shown in FIG. 1 in other implementations More or less component.For another example clean robot can be to sweep to drag integrated robot, i.e., the bottom of the clean robot is equipped with and drags Part, side brush and air inlet are wiped, so that the clean robot can be mopped floor and be swept the floor simultaneously to ground.

Certainly, in addition to clean robot, above-mentioned mobile robot can also for for other purposes, can autonomous machine Device people, such as storage robot and exhibition robot etc..

Consider following scenes: mobile robot encounters during moving along a wall surface and is intersected and formed by two wall surfaces Corner.

To distinguish two wall surfaces, in embodiments of the present invention, wherein the first wall surface will be known as by a wall surface, another wall surface is known as Two wall surfaces.

First wall surface can be wall, can also be other wall surfaces, for example, the wall surface of the furniture such as wardrobe, desk certainly；Similarly, Second wall surface can be wall, can also be other wall surfaces, for example, the wall surface of the furniture such as wardrobe, desk certainly.

Further, Fig. 6 is referred to, (i.e. corner is greater than 180 to the corner convex that the first wall surface and the second wall surface are formed Degree), alternatively, referring to Fig. 7, the corner that the first wall surface and the second wall surface are formed concaves (i.e. corner is less than 180 degree).

For the corner of convex, mobile robot provided in an embodiment of the present invention can be by being arranged in the laser thunder at top The cooperation of range sensor for reaching and side being arranged in is turned to.In addition, if mobile robot is clean robot, cleaner Device people can also increase the motion track moved backward after steering, leak cleaning region with cleaning.

For the corner to concave, mobile robot provided in an embodiment of the present invention equally can be achieved smoothly to turn to.In addition, If mobile robot is clean robot, the clean robot that can leave before steering first collides the second wall surface, then moves backward, It moves back to after there is turning space and turns again to, this design can increase the cleaning range of clean robot.

The technology that mobile robot is turned is explained below to realize.

Fig. 8 is referred to, the turning method of the execution of mobile robot may include following steps:

S1: mobile robot is moved along the first wall surface.

In one example, when mobile robot is moved along the first wall surface, default spacing can be kept with the first wall surface.

Specifically, the range sensor on the side of the first wall surface can be used in mobile robot, to detect to obtain it With the real-time spacing of the first wall surface, the rotational speed difference of left and right sidesing driving wheel 1061 is adjusted, according to real-time spacing to realize mobile robot It turns to the left or to the right, and finally realizes that real-time spacing is consistent with default spacing.

S2: when meeting turning condition, the angle for the second wall surface that mobile robot is detected according to detection sensor It on the corner turns, until the angle between the direction of travel and the second wall surface of mobile robot is default angle.

The laser radar 1031 or camera of above-mentioned detection sensor concretely foregoing description.

Above-mentioned direction of travel be mobile robot without divertical motion when mobile direction.

As for default angle, in one example, default angle is zero degree.

In another example, when the angle between direction of travel and the second wall surface is default angle, mobile robot and There are gap ds between second wall surface.

In yet another example, Fig. 9 or Figure 10 is referred to, default angle can be zero degree, also, work as direction of travel and second When angle between wall surface is zero degree, there is also gap ds between mobile robot and the second wall surface.

According to corner convex or can concave and different as turning condition, it is subsequent will be respectively to the turning under different situations Condition is introduced.

The angle that realization mobile robot is gone between direction of travel and the second wall surface is there are many modes of default angle.

In one example, referring to Figure 11, under type realization such as can be used in mobile robot:

S21a: mobile robot is rotated to the direction for reducing angle between direction of travel and the second wall surface, and in rotation process In, use the angle of the second wall surface of detection sensor real-time detection.

With the first wall surface on the right side of mobile robot, for the corner convex that the first wall surface and the second wall surface are formed (i.e. Fig. 6), mobile robot will turn right, and during rotation, use the angle of the second wall surface of detection sensor real-time detection Degree.

Clean robot can be by the rotational speed difference of control left and right sidesing driving wheel, to realize rotation.For turning right, machine is cleaned The revolving speed that people controls left driving wheel is greater than the revolving speed of right driving wheel, and right-hand rotation can be realized.

As for the angle of the second wall surface, by taking detection sensor is specially laser radar as an example, mobile robot can be by swashing Optical radar carries out environment detection, obtains detection data, then analyzes the detection data of laser radar, can find out second The angle of wall surface.

S22a: the angle for the second wall surface that mobile robot is obtained according to real-time detection calculates direction of travel and the second wall Real-time angle between face；

The angle of second wall surface can be indicated under world coordinate system, can also be in the coordinate system following table of laser radar Show.

Specifically, if the angle of the second wall surface is indicated under world coordinate system, the angle of the second wall surface be it is constant, But in steering procedure, the angle of the direction of travel of mobile robot is real-time change under world coordinate system.

Mobile robot can calculate expression (real-time angular) of the angle of direction of travel under world coordinate system simultaneously, so Afterwards, the difference between the angle of the second wall surface and the real-time angular of direction of travel is sought as real-time angle.

And if the angle of the second wall surface indicates under the coordinate system of laser radar, the coordinate system of laser radar can be with laser thunder The center reached is pole, and the direction of travel of mobile robot is polar axis, then the angle of the second wall surface is exactly direction of travel and the Angle between two wall surfaces.That is, the angle for the second wall surface that real-time detection obtains is real-time angle.

S23a: when the real-time angle that mobile robot turns between direction of travel and the second wall surface is default angle, stop Rotation.

In another example, referring to Figure 12, mobile robot can be used another way and realize that mobile robot is gone to Angle between direction of travel and the second wall surface is default angle:

S21b: mobile robot detects the angle of the second wall surface using detection sensor before steering；

By taking detection sensor is specially laser radar as an example, similar with introducing in S22a, the angle of the second wall surface can To be indicated under world coordinate system, can also be indicated under the coordinate system of laser radar.

S22b: the direction of travel for the angle calculation mobile robot of the second wall surface that mobile robot is obtained according to detection with Work as leading angle between second wall surface；

It is similar with introducing in S23a, if the angle of the second wall surface is indicated under world coordinate system, mobile machine People can calculate expression of the angle for turning forward direction of travel under world coordinate system simultaneously and then seek the second wall surface Difference between angle and the angle for turning forward direction of travel, which is used as, works as leading angle；

And if the angle of the second wall surface indicates under the coordinate system of laser radar, the coordinate system of laser radar can be with laser thunder The center reached is pole, turns forward direction of travel as polar axis using mobile robot, then the angle of the second wall surface is exactly before turning to Direction of travel and the second wall surface between work as leading angle.

S23b: mobile robot is determined when the differential seat angle of leading angle and default angle is rotational angle.

Mobile robot obtain between the direction of travel of mobile robot and the second wall surface behind leading angle, calculating is deserved The differential seat angle of leading angle and default angle, using the differential seat angle as rotational angle, in this way, if mobile robot angle in this prior In the case of have rotated rotational angle, then the angle between the direction of travel of mobile robot and the second wall surface is aforementioned default folder Angle.

For example, if default angle is 0 degree when leading angle is 90 degree, then rotational angle is 90 degree.

S24b: mobile robot rotates rotational angle to the direction for reducing angle between direction of travel and the second wall surface.

With the first wall surface on the right side of mobile robot, for the corner convex that the first wall surface and the second wall surface are formed (i.e. Fig. 6), it is assumed that rotational angle is 90 degree, then mobile robot will turn right 90 degree.

S3: mobile robot is moved along the second wall surface.

Step S3 is similar with aforementioned step S1, and therefore not to repeat here.

Below by taking mobile robot is clean robot as an example, technical solution provided by the embodiment of the present invention is introduced.

It should be noted that clean robot is simultaneously to ground when executing turning method provided by following embodiments Carry out clean operation.For floor-mopping robot, floor-mopping robot carries out mopping operation to ground by mopping part, and realization is dragged Ground cleaning.For example, floor-mopping robot is in moving process, and mopping part and ground face contact simultaneously form sliding friction, or drag Floor-washing robot rotates mopping part, so that mopping part is rotated relative to ground, so that mopping part and ground form sliding friction；It is right For sweeping robot, the dust exhaust apparatus of sweeping robot will carry out cleaning operation and sweeper to ground in traveling Device people rotates sweep brush, and dust or rubbish etc. can be swept to the suction inlet of dust exhaust apparatus by the sweep brush of rotation, to facilitate dust suction to fill Sucking dust and rubbish etc. are set, to realize cleaning of sweeping the floor.

It when clean robot works, can first attempt to turn around along metope, then the region enclosed is cleaned.? It, can also the movement of obstacle object if encountering barrier clean robot during clean to the region progress enclosed.

During clean along wall, the corner that clean robot can encounter convex or concave is turned.

The present embodiment introduces how clean robot turns when encountering convex corner.In the present embodiment, the first wall The bent angle in face and the second wall surface composition convex, clean robot need to continue on the second wall surface after the cleaning of the first wall surface Mobile cleaning.

3a referring to Figure 1, the turning method that clean robot is executed when encountering convex corner may include following steps:

S131: clean robot is moved along the first wall surface.

In one example, when clean robot is moved along the first wall surface, default spacing d can be kept with the first wall surface. The default spacing d can be a specific numerical value (such as 1cm), or a numberical range.

It is preceding to have addressed, range sensor is equipped in the side of clean robot.

In the present embodiment, along direction of travel setting, there are two Distance-sensings for the right side of the robot body of clean robot Device (first distance sensor and second distance sensor).Wherein, second distance sensor is more leaned on respect to first distance sensor The driving wheel of nearly robot body bottom.Relationship between two range sensors and other component can be found in 2 part of earlier figures Description, therefore not to repeat here.

Clean robot can obtain the distance to the first wall surface that above-mentioned two range sensor separately detects, by this two The distance that a range sensor detects determines the real-time spacing between clean robot and the first wall surface.

Specifically, can be by preset datum mark to the real-time range (can be described as reference distance) between the first wall surface as cleaning Real-time spacing between robot and the first wall surface.If real-time spacing is not in the range of default spacing d, clean robot is adjusted The rotational speed difference of two driving wheels of its bottom, realizes the steering of clean robot, so as to adjust its reality between the first wall surface Time interval, and real-time spacing is finally enabled to be consistent with default spacing.

Clean robot can be found in Figure 14 a along the schematic diagram that the first wall surface moves.

It should be pointed out that clean robot also passes through it while moving along the first wall surface and executing following step The cleaning device of bottom cleans ground.

S132: when the distance detected by range sensor is greater than pre-determined distance threshold value, clean robot is along current Direction of travel moves forward default Forward distance (4c referring to Figure 1).

It should be noted that in the present embodiment, turning condition above-mentioned specifically includes: when being moved along the first wall surface, It is greater than pre-determined distance threshold value by the distance that range sensor detects.

In the case where clean robot includes first distance sensor and second distance sensor, in one example, It can move forward along current direction of travel when the distance that first distance sensor detects is greater than pre-determined distance threshold value and preset forward pitch From.

By taking first distance sensor is arranged in clean robot right side as an example, 4a referring to Figure 1, when clean robot edge When first wall surface is mobile, default spacing d is kept with the first wall surface.If position shown in first distance sensor row to Figure 14 b, first The distance that range sensor detects can mutate, to be greater than pre-determined distance threshold value (as shown in Figure 14 d), this shows the One wall surface interrupts, and clean robot needs to turn right, and can just continue mobile along (second) wall surface.

If indicating pre-determined distance threshold value with X, referring to Figure 1 4e, X can be calculated with following formula:

X=L-D/2+ δ, wherein D indicates that the width of clean robot, L indicate clean robot rotation center to robot The maximum distance of head edge, δ indicate preset error amount, wherein with the rotation center of clean robot in clean robot Width middle position be example.Certainly, in other examples, can be rotated according to the difference of left and right sidesing driving wheel rotational speed difference Center can translate (the rotation overlapping of axles of the left and right sidesing driving wheel of clean robot) in the rotation axis of driving wheel.

In order to have the space of turning, before right-hand rotation, clean robot can move forward along current direction of travel and preset forward pitch From so that the head edge of clean robot is default beyond distance beyond the first wall surface.

In other words, preset beyond distance is so that clean robot does not occur in steering procedure with the first wall surface or corner The distance value of collision.

Wherein, Forward distance is preset and default beyond there are following relationships between distance: if clean robot is in first distance When the distance that sensor detects is greater than pre-determined distance threshold value, then after the current advanced default Forward distance of direction forward movement, Clean robot can be default beyond distance beyond the first wall surface.

Precedent is continued to use, if clean robot position shown in Figure 14 b is moved to position shown in Figure 14 c, is advanced Default Forward distance.Clean robot can smoothly complete right-hand rotation at the position shown in Figure 14 c.

In addition, in another example, pre-determined distance threshold value can also be greater than in the distance that second distance sensor detects When, default Forward distance is moved before current direction of travel.

In some instances, when moving along the first wall surface, range sensor is arranged in clean robot clean robot Close to the first wall surface side on, specifically, range sensor is arranged on the target side of clean robot, target side Face includes non-cylinder side, target side be on the direction of travel of clean robot, the front position of clean robot and One side between rearmost position, for example, left side or right side.At this point, because target side face includes non-cylinder side, The non-cylinder side such as planar side, thus, clean robot is visited when moving along the first wall surface by range sensor The distance measured is greater than pre-determined distance threshold value and just turns, then the target side face of clean robot easily with the first wall surface and the The corner that two wall surfaces are formed collides.For this purpose, if being greater than pre-determined distance threshold value by the distance that range sensor detects, Clean robot moves forward along current direction of travel, when clean robot along current direction of travel moved forward it is default Forward apart from when, It turns again, then the corner of the target side and the first wall surface and the formation of the second wall surface that can avoid clean robot touches It hits, so that clean robot goes on smoothly turning.

S133: when clean robot along current direction of travel moved forward it is above-mentioned it is default Forward apart from when, clean robot (root The angle of the second wall surface detected according to detection sensor) on the corner turn right, until the traveling side of clean robot It is default angle to the angle between the second wall surface.

Figure 14 f is the schematic diagram of steering procedure.

How rotation is realized, and, the angle for how realizing that clean robot is gone between direction of travel and the second wall surface is Default angle, reference can be made to the introduction of the part previous embodiment S2, therefore not to repeat here.

In one example, on along the vertical direction, the detection height of the range sensor of clean robot is less than spy Survey the detection height of sensor.Detection height is the height where sensor investigative range.For example, reference can be made to Fig. 1, laser radar 1031 are arranged in the top of robot body 101, and the side of robot body 101 is arranged in range sensor 1033, are swashing When the detectable signal of optical radar 1031 and range sensor 1033 is parallel to horizontal plane, the detection height of laser radar 1031 is big In the detection height of range sensor 1033.

In the course of rotation, range sensor 1033 still keeps the detection to environment to clean robot, because of laser thunder Detection plane up to 1031 is higher than the detection plane of range sensor 1033, so between the second wall surface and clean robot If barrier is lower than the detection plane of laser radar 1031, laser radar 1031 will be detected less than the barrier.

In order to avoid the side of clean robot collides with above-mentioned barrier, Distance-sensing is can be used in clean robot Device (first distance sensor and second distance sensor) prevents from colliding.

Concrete mode can are as follows:

During clean robot is rotated to the direction for reducing angle between direction of travel and the second wall surface, machine is cleaned People judges that range sensor is detected to whether the distance of barrier reaches default alarm threshold；If (reaching default warning Threshold value), then it stops operating；Otherwise, it continues to rotate, until the angle between the direction of travel and the second wall surface of clean robot is pre- If angle.

After stopping operating because preventing collision, clean robot can continue to move forward along barrier.And if when stopping operating, Angle between the current direction of travel of clean robot and the second wall surface is less than preset threshold, then can continue to execute the present embodiment Subsequent step.

S134: clean robot is retreated along current direction of travel, leaks clean region because turning to cleaning.

Clean robot turn right to direction of travel and the second wall and angle be default this process of angle shifting Dynamic rail mark is shown in arching trajectory (such as Figure 14 f).Then correspondingly, the cleaning track of the cleaning device of clean robot is also curved track Mark.And 4g referring to Figure 1, cleaning track can exist in inside does not clean region (namely leakage cleaning region).

In order to clean above-mentioned leakage cleaning region, as shown in Figure 14 h, clean robot needs are moved backward.Because cleaning machine The motion track of clean robot is arching trajectory when people turns to, and the cleaning track of the cleaning device of clean robot bottom is arranged in It also is arching trajectory.To generate leakage cleaning region in the inside of the arching trajectory of cleaning device.As shown in Figure 14 h, machine is cleaned When people moves backward after steering, the cleaning device of clean robot is mobile with clean robot, and the cleaning track of formation is straight line Track, so that region is cleaned in the leakage generated on the inside of cleanable aforementioned arching trajectory.

S135: when clean robot backs to the first pre-determined distance along current direction of travel, clean robot is along current Direction of travel moves forward (as shown in Figure 14 i).

In fact, above-mentioned first pre-determined distance is that enable the cleaning device of clean robot to clean not clean because of steering Region, such as above-mentioned first pre-determined distance can be greater than cleaning devices after the completion of the position and steering for turning to the preceding cleaning device of starting The distance between position.Alternatively, clean robot retreats until first distance sensor is detected less than the second wall surface, at this time clearly The distance that clean robot retreats is above-mentioned first pre-determined distance.

As for the distance moved forward after retrogressing again, the first pre-determined distance that clean robot retreats can be greater than or equal to.

S136: clean robot moves (as shown in Figure 14 j) along the second wall surface.

Step S136 is similar with aforementioned step S3, and therefore not to repeat here.

Aforementioned to refer to, range sensor may include first distance sensor and second distance sensor.Wherein, first distance Sensor and second distance sensor are arranged on the target side of mobile robot, also, 4k referring to Figure 1, along moving On the direction of travel of robot, first distance sensor 1033a is located at before second distance sensor 1033b.Above-mentioned target side Face includes non-cylinder side, also, above-mentioned target side is on the direction of travel of mobile robot, and mobile robot is most One side between front position and rearmost position.

3b referring to Figure 1, the turning method that clean robot is executed when encountering convex corner may include following steps:

S131 ': clean robot is moved along the first wall surface；

S131 ' is identical as above-mentioned 131, and therefore not to repeat here.

S132 ': when the distance that first distance sensor 1033a is detected is greater than pre-determined distance threshold value, mobile robot It moves forward along current direction of travel.

By taking first distance sensor is arranged in clean robot right side as an example, 4a referring to Figure 1, when clean robot edge When first wall surface is mobile, default spacing d is kept with the first wall surface.If position shown in first distance sensor row to Figure 14 b, first The distance that range sensor detects can mutate, to be greater than pre-determined distance threshold value (as shown in Figure 14 d), this shows the One wall surface interrupts, however at this point, clean robot can still move forward along current direction of travel.Because target side face includes non-circular Column side face, if the distance that first distance sensor detects is greater than pre-determined distance threshold value, clean robot is turned To then the target side face of clean robot easily collides with wall surface, if clean robot still moves forward along current direction of travel It is turned to again after a distance, then because target side largely has passed over the position of corner, so as to avoid cleaning machine People target side and wall surface when turning to collide, and clean robot is allowed to smoothly complete steering.

The calculating of pre-determined distance threshold value can be found in foregoing description, and therefore not to repeat here.

S133 ': when the distance that second distance sensor 1033b is detected is greater than pre-determined distance threshold value, clean robot (angle of the second wall surface detected according to detection sensor) on the corner turns right, until the traveling of clean robot Angle between direction and the second wall surface is default angle.

If clean robot is in position shown in Figure 14 L, the distance that second distance sensor 1033b is detected can dash forward Become, to be greater than pre-determined distance threshold value (can refer to shown in Figure 14 d), at this point, clean robot can be enabled to turn right.

That is, in the present embodiment, turning condition specifically includes: first distance sensor and the detection of second distance sensor To distance be all larger than pre-determined distance threshold value.

S134 '-S136 ' is identical as S134-S136 above-mentioned, and therefore not to repeat here.Wherein, S134 '-S136 ' and S134- S136 can be optional step.

As it can be seen that clean robot moves along wall and to the clean process in ground in Figure 13 a and Figure 13 b illustrated embodiment In, it is mutated by the distance that range sensor detects and is triggered and turn to.After clean robot is completed to turn to, clean robot is first Certain distance is retreated, clean region is leaked because of steering with cleaning, then proceedes to move along wall.In specific steering procedure, Clean robot is completed smoothly to turn to using the angle of the second wall surface.It is also anti-using range sensor and in steering procedure Only clean robot and barrier collision.

The following examples introduce how clean robot turns when encountering the corner to concave.In the present embodiment, First wall surface and the second wall surface form the bent angle to concave, such as the first wall and the second wall form the bent angle to concave.Clearly After clean the first wall surface of Robot cleans over the ground, it is mobile to clean over the ground to need to continue on the second wall.

Referring to Figure 15, the turning method that clean robot is executed when encountering the corner to concave may include walking as follows It is rapid:

S151: clean robot is moved along the first wall surface.

S151 is similar with S131, S1 above-mentioned, and therefore not to repeat here.

S152: the crash sensor of clean robot collides the second wall surface.

It should be noted that turning condition above-mentioned specifically includes in the present embodiment: the collision sensing of clean robot Device collides the second wall surface.

During moving along the first wall surface, laser radar thereon can detect environment clean robot, lead to Crossing laser radar clean robot may detect the barriers such as the second wall surface.In addition, when clean robot passes through crash sensor When colliding the second wall surface, clean robot also can determine that there is barrier in front.

In the present embodiment, clean robot is enabled to be moved to and the second collision with wall, it is beneficial that:

1) clean robot can confirm the presence of the second wall surface by crash sensor, with the detection data to laser radar It is verified；

2) clean robot be moved to the second collision with wall, the cleaning of the cleaning device of clean robot bottom can be made Range is as far as possible close to the second wall surface of nook.Especially in the example of the head edge a distance of cleaning device away from robot body In, clean robot and the second collision with wall can make the cleaning device of its bottom as close as possible to the second wall surface, reduce leakage clear area Domain.

S153: clean robot retreats the second pre-determined distance, so that clean robot has turning space.

After clean robot collides the second wall surface, as illustrated in fig 16 a, clean robot retreats the second pre-determined distance, with Clean robot is set to have turning space.

As long as above-mentioned second pre-determined distance can make clean robot smoothly turn to.For example, clean robot Pass through laser radar detection environment, when Airborne Lidar measures the clear in target zone, clean robot when retrogressing It can stop retreating, above-mentioned target zone is the turning space that clean robot needs.

S154: the angle for the second wall surface that clean robot is detected according to detection sensor on the corner turns left (6b referring to Figure 1), until the angle between the direction of travel and the second wall surface of clean robot is default angle.

Clean robot can turn left in situ, can also be to turn left while mobile.When turning left, the rotation of clean robot Center can be the other positions on the position of left driving wheel or the rotation axis of left and right sidesing driving wheel.

S155: clean robot moves (as shown in figure 16 c) along the second wall surface.

Step S155 is similar with aforementioned step S136 or step S3, and therefore not to repeat here.

As it can be seen that in the present embodiment, when clean robot is cleaned along wall, clean robot is collided after next wall surface successively It moves back and turns again.During specific turning, clean robot is realized using the angle of next wall surface and is smoothly turned to, so that clearly Clean robot keeps not interrupting along wall cleaning.

Another topology example of above-mentioned mobile robot is described below.Referring to Figure 17, it includes at least:

Mobile unit 1701, at least for being moved along the first wall surface；

It turns unit 1702, for when meeting turning condition, the second wall surface for being detected according to detection sensor Angle is on the corner turned, until the angle between the direction of travel and the second wall surface of mobile robot is default angle, wherein turn Angle is the non-zero included angle that the first wall surface and the second wall surface are formed, and detection sensor is arranged in mobile robot；

Angle between direction of travel and the second wall surface is after presetting angle, and above-mentioned mobile unit 1701 is also used to: edge Second wall surface is mobile.

In other embodiments of the present invention, the angle of the second wall surface detected according to detection sensor on the corner Turning, until the angle between the direction of travel and the second wall surface of mobile robot is the aspect of default angle, above-mentioned turning unit 1702 can be specifically used for:

It is rotated to the direction of angle between the direction of travel and the second wall surface for reducing mobile robot, and during rotation, Use the angle of the second wall surface of detection sensor real-time detection；

According to the angle for the second wall surface that real-time detection obtains, the real-time angle between direction of travel and the second wall surface is calculated；

When the real-time angle turned between direction of travel and the second wall surface is default angle, stop operating.

Alternatively, above-mentioned turning unit 1702 can be specifically used for:

Before steering, the angle of the second wall surface is detected using detection sensor；

Working as between the direction of travel and the second wall surface of the angle calculation mobile robot of the second wall surface obtained according to detection Leading angle；

It determines when the differential seat angle of leading angle and default angle is rotational angle；

The rotational angle is rotated to the direction for reducing angle between direction of travel and the second wall surface.

In other embodiments of the present invention, if corner is greater than 180 degree, above-mentioned turning condition can include: mobile robot exists When moving along the first wall surface, pre-determined distance threshold value is greater than by the distance that range sensor detects.Wherein, range sensor is set It sets on the side (non-cylinder side or planar side) close to the first wall surface of mobile robot.

In other embodiments of the present invention, range sensor is arranged on the target side of mobile robot, target side Including non-cylinder side, target side is the front position of mobile robot and most on the direction of travel of mobile robot One side between position afterwards.If corner is greater than 180 degree, when meeting turning condition, before steering, above-mentioned mobile unit 1701 It is also used to: moving forward along current direction of travel；

And above-mentioned turning unit 1702 can be specifically used for: when along current direction of travel moved forward it is default Forward apart from when, root The angle of the second wall surface detected according to detection sensor is on the corner turned.

In other embodiments of the present invention, above-mentioned range sensor may include first distance sensor and second distance sensing Device, wherein on the direction of travel along mobile robot, first distance sensor is located at before second distance sensor.

If corner is greater than 180 degree, above-mentioned mobile unit 1701 is also used to: big in the distance that first distance sensor detects When pre-determined distance threshold value, move forward along current direction of travel.

And above-mentioned turning unit 1702 can be specifically used for: be greater than pre-determined distance in the distance that second distance sensor detects When threshold value, the angle of the second wall surface detected according to detection sensor is on the corner turned.That is, in the present embodiment, Turning condition specifically includes: the distance that first distance sensor and second distance sensor detect is all larger than pre-determined distance threshold Value.

In other embodiments of the present invention, along the vertical direction, the detection height of range sensor is less than detection sensor Detection height.

It on the corner turns in the angle of the second wall surface detected according to detection sensor, until mobile robot Angle between direction of travel and the second wall surface is the aspect of default angle, and above-mentioned turning unit 1702 can be specifically used for:

According to the angle for the second wall surface that detection sensor detects, to the direction of travel for reducing mobile robot and the The direction rotation of angle between two wall surfaces；

During rotation, judge that range sensor is detected to whether the distance of barrier reaches default alarm threshold； If so, stopping operating；Otherwise, it continues to rotate, until the angle between the direction of travel and the second wall surface of mobile robot is default Angle.

In other embodiments of the present invention, the bottom of mobile robot is equipped with cleaning device, and cleaning device is for cleaning ground；

The angle of the second wall surface then detected in mobile robot according to detection sensor is on the corner turned, until Angle between the direction of travel of mobile robot and the second wall surface is after presetting angle, and above-mentioned turning unit 1702 also can be used In:

It is retreated along current direction of travel, clean region is leaked because turning to cleaning；

When backing to the first pre-determined distance along current direction of travel, moved forward along current direction of travel.

In other embodiments of the present invention, if corner is less than 180 degree, above-mentioned turning condition is specifically included: mobile robot Crash sensor collide the second wall surface.

Then correspondingly, the angle in the second wall surface detected according to detection sensor is on the corner turned, until moving Angle between the direction of travel of mobile robot and the second wall surface is the aspect of default angle, and above-mentioned turning unit 1702 can be used specifically In:

The second pre-determined distance is retreated, so that mobile robot has turning space；

According to the angle for the second wall surface that detection sensor detects, to angle between reduction direction of travel and the second wall surface Direction rotation, until angle between direction of travel and the second wall surface is default angle.

In other embodiments of the present invention, the default angle in above-mentioned all embodiments is zero degree；And/or

When angle between the direction of travel of mobile robot and the second wall surface is default angle, mobile robot and the second wall There are gaps between face.

In other embodiments of the present invention, the concretely clean robot of the mobile robot in above-mentioned all embodiments, The bottom of mobile robot is equipped with cleaning device, and cleaning device is for cleaning ground.Clean robot may also include cleaning control unit, For cleaning ground by cleaning device.

The embodiment of the present invention also provides a kind of storage medium.The storage medium is stored with a plurality of instruction, and above-metioned instruction is suitable for Processor is loaded, to execute the step in following turning method:

It is moved along the first wall surface；

When meeting turning condition, the angle of the second wall surface detected according to detection sensor is on the corner turned, Until the angle between the direction of travel and the second wall surface of mobile robot is default angle；Wherein, corner is the first wall surface and the The non-zero included angle that two wall surfaces are formed, detection sensor are arranged in mobile robot；

It is moved along the second wall surface.

In other embodiments of the present invention, the angle of the second wall surface detected according to detection sensor on the corner Turning, until the angle between the direction of travel and the second wall surface of mobile robot is the aspect of default angle, above-metioned instruction is through locating Reason device is loaded, and can specifically execute following steps:

Alternatively, in other embodiments of the present invention, existing in the angle of the second wall surface detected according to detection sensor Corner turning, until the angle between the direction of travel and the second wall surface of mobile robot is the aspect of default angle, above-mentioned finger Order is loaded through processor, can specifically execute following steps:

Rotational angle is rotated to the direction for reducing angle between direction of travel and the second wall surface.

In other embodiments of the present invention, range sensor is arranged on the target side of mobile robot, target side Including non-cylinder side, target side is the front position of mobile robot and most on the direction of travel of mobile robot One side between position afterwards.If corner is greater than 180 degree, when meeting turning condition, before steering, above-metioned instruction is through processor It is loaded, can also carry out following steps: being moved forward along current direction of travel；

And in terms of the angle of the second wall surface detected according to detection sensor is on the corner turned, above-metioned instruction It is loaded through processor, can specifically execute following steps:

When along current direction of travel moved forward default Forward apart from when, the second wall surface for being detected according to detection sensor Angle on the corner turn.

If corner is greater than 180 degree, above-metioned instruction is loaded through processor, can also specifically execute following steps: first When the distance that range sensor detects is greater than pre-determined distance threshold value, move forward along current direction of travel.

When the distance that second distance sensor detects is greater than pre-determined distance threshold value, detect to obtain according to detection sensor The angle of the second wall surface on the corner turn.

In other embodiments of the present invention, along the vertical direction, the detection height of range sensor is less than detection sensor Detection height；

It then on the corner turns in the angle of the second wall surface detected according to detection sensor, until mobile robot Direction of travel and the second wall surface between angle be default angle aspect, above-metioned instruction loaded through processor, can be specific Execute following steps:

The angle of the second wall surface then detected in mobile robot according to detection sensor is on the corner turned, until Angle between the direction of travel of mobile robot and the second wall surface is after presetting angle, and above-metioned instruction is added through processor It carries, can also carry out following steps:

Then correspondingly, the angle in the second wall surface detected according to detection sensor is on the corner turned, until moving Angle between the direction of travel of mobile robot and the second wall surface is the aspect of default angle, and above-metioned instruction is added through processor It carries, can specifically execute following steps:

In other embodiments of the present invention, the concretely clean robot of the mobile robot in above-mentioned all embodiments, The bottom of mobile robot is equipped with cleaning device, and cleaning device is for cleaning ground.Then above-metioned instruction is loaded through processor, may be used also Execute following steps:

Ground is cleaned by cleaning device.

In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.

The computer program product includes one or more computer instructions.Load and execute on computers the meter When calculation machine program instruction, entirely or partly generate according to process or function described in the embodiment of the present invention.The computer can To be general purpose computer, special purpose computer, computer network or other programmable devices.The computer instruction can be deposited Storage in a computer-readable storage medium, or from a computer readable storage medium to another computer readable storage medium Transmission, for example, the computer instruction can pass through wired (example from a web-site, computer, server or data center Such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave) mode to another website Website, computer, server or data center are transmitted.The computer readable storage medium can be computer and can deposit Any usable medium of storage either includes that the data storages such as one or more usable mediums integrated server, data center are set It is standby.The usable medium can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or partly lead Body medium (such as solid state hard disk Solid State Disk (SSD)) etc..

Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure And model step, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered Think beyond the scope of this invention.

The step of method described in conjunction with the examples disclosed in this document or model, can directly be held with hardware, processor The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, WD-ROM or technology In any other form of storage medium well known in field.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims

1. a kind of turning method of mobile robot characterized by comprising

Mobile robot is moved along the first wall surface；

When meeting turning condition, the angle for the second wall surface that the mobile robot is detected according to detection sensor is turning It turns at angle, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, wherein institute Stating corner is the non-zero included angle that first wall surface and second wall surface are formed, and the detection sensor is arranged in the movement In robot；

The mobile robot is moved along second wall surface.

2. the method as described in claim 1, which is characterized in that

The angle for the second wall surface that the mobile robot is detected according to detection sensor is on the corner turned, until described Angle between the direction of travel of mobile robot and second wall surface is default angle, comprising:

The mobile robot turns to the direction of angle between the direction of travel and second wall surface for reducing the mobile robot It is dynamic, and during rotation, use the angle of the second wall surface described in the detection sensor real-time detection；

The angle for second wall surface that the mobile robot is obtained according to real-time detection, calculate the direction of travel with it is described Real-time angle between second wall surface；

When the real-time angle that the mobile robot turns between the direction of travel and second wall surface is default angle, stop Rotation stop is dynamic.

3. the method as described in claim 1, which is characterized in that

The mobile robot detects the angle of second wall surface using the detection sensor before steering；

The traveling side of mobile robot described in the angle calculation for second wall surface that the mobile robot is obtained according to detection Work as leading angle between second wall surface；

The mobile robot determines described when the differential seat angle of leading angle and default angle is rotational angle；

The mobile robot rotates the angle of rotation to the direction for reducing angle between the direction of travel and second wall surface Degree.

4. the method as described in claim 1, which is characterized in that

The corner is greater than 180 degree；

The turning condition includes: the mobile robot when moving along first wall surface, is detected by range sensor The distance arrived is greater than pre-determined distance threshold value, and close first wall surface of the mobile robot is arranged in the range sensor Side on.

5. method as claimed in claim 4, which is characterized in that

The range sensor is arranged on the target side of the mobile robot, and the target side face includes non-cylindrical side Face, the target side are the front position of the mobile robot and last on the direction of travel of the mobile robot One side between position；

When meeting turning condition, the method also includes:

The mobile robot moves forward along current direction of travel；

The angle for the second wall surface that the mobile robot is detected according to detection sensor is on the corner turned, comprising:

When the mobile robot along current direction of travel moved forward it is default Forward apart from when, the mobile robot is according to detection The angle for the second wall surface that sensor detects on the corner is turned.

6. method as claimed in claim 4, which is characterized in that

The range sensor includes first distance sensor and second distance sensor；The first distance sensor and described Second distance sensor is arranged on the target side of the mobile robot, also, in the traveling along the mobile robot On direction, the first distance sensor is located at before the second distance sensor；The target side face includes non-cylinder Side, the target side are the front position of the mobile robot and most on the direction of travel of the mobile robot One side between position afterwards；

The method also includes:

When the distance that the first distance sensor detects is greater than pre-determined distance threshold value, the mobile robot is along current line It moves forward into direction；

The turning condition specifically includes: the distance that the first distance sensor and second distance sensor detect is all larger than The pre-determined distance threshold value.

7. method as claimed in claim 5, which is characterized in that

Along the vertical direction, the detection height of the range sensor is less than the detection height of the detection sensor；

The angle for the second wall surface that the mobile robot is detected according to detection sensor, to the reduction mobile robot Direction of travel and second wall surface between angle direction rotation；

During rotation, the mobile robot judges that the range sensor is detected to whether the distance of barrier reaches Default alarm threshold；If so, stopping operating；Otherwise, it continues to rotate, until the direction of travel of the mobile robot and described the Angle between two wall surfaces is default angle.

8. such as method described in claim 5 or 6, which is characterized in that

The bottom of the mobile robot is equipped with cleaning device, and the cleaning device is for cleaning ground；

It on the corner turns in the angle for the second wall surface that the mobile robot is detected according to detection sensor, until institute It states after the angle between the direction of travel of mobile robot and second wall surface is default angle, the method also includes:

The mobile robot is retreated along current direction of travel, leaks clean region because turning to cleaning；

When the mobile robot backs to the first pre-determined distance along current direction of travel, the mobile robot is worked as described in Preceding direction of travel moves forward.

9. the method as described in claim 1, which is characterized in that

The corner is less than 180 degree；

The turning condition includes: that the crash sensor of the mobile robot collides second wall surface；

The mobile robot retreats the second pre-determined distance, so that the mobile robot has turning space；

The angle for second wall surface that the mobile robot is detected according to the detection sensor, to the reduction row It is rotated into the direction of angle between direction and second wall surface, until the angle between the direction of travel and second wall surface is The default angle.

10. such as the described in any item methods of claim 1-7 and 9, which is characterized in that the default angle is zero degree；And/or

When angle between the direction of travel of the mobile robot and second wall surface is default angle, the mobile robot There are gaps between second wall surface.

11. such as the described in any item methods of claim 1-7 and 9, which is characterized in that

The mobile robot is clean robot, and the bottom of the mobile robot is equipped with cleaning device, and the cleaning device is used for Ground is cleaned, the detection sensor is laser radar；

The method also includes:

The mobile robot cleans ground by the cleaning device.

12. a kind of mobile robot characterized by comprising

Mobile unit, at least for being moved along the first wall surface；

Turning unit, for when meeting turning condition, the angle of the second wall surface detected according to detection sensor to turn It turns at angle, until the angle between the direction of travel and second wall surface of the mobile robot is default angle, wherein institute Stating corner is the non-zero included angle that first wall surface and second wall surface are formed, and the detection sensor is arranged in the movement In robot；

The mobile unit is also used to: being moved along second wall surface.

13. mobile robot as claimed in claim 12, which is characterized in that in second detected according to detection sensor The angle of wall surface is on the corner turned, until the angle between the direction of travel and second wall surface of the mobile robot is pre- If the aspect of angle, the turning unit is specifically used for:

It is rotated to the direction of angle between the direction of travel and second wall surface for reducing the mobile robot, and in rotation process In, use the angle of the second wall surface described in the detection sensor real-time detection；

According to the angle for second wall surface that real-time detection obtains, the reality between the direction of travel and second wall surface is calculated When angle；

When the real-time angle turned between the direction of travel and second wall surface is default angle, stop operating.

14. mobile robot as claimed in claim 12, which is characterized in that detected described according to detection sensor The angle of second wall surface is on the corner turned, until the angle between the direction of travel and second wall surface of the mobile robot For the aspect for presetting angle, the turning unit is specifically used for:

Before steering, the angle of second wall surface is detected using the detection sensor；

According to the direction of travel of mobile robot described in the angle calculation for detecting obtained second wall surface and second wall Work as leading angle between face；

It determines described when the differential seat angle of leading angle and default angle is rotational angle；

The rotational angle is rotated to the direction for reducing angle between the direction of travel and second wall surface.

15. a kind of storage medium, which is characterized in that the storage medium is stored with a plurality of instruction, and described instruction is suitable for processor It is loaded, to execute such as the step in the described in any item turning methods of claim 1-11.