CN109567678A - The cleaning control method and its device and sweeping robot of sweeping robot - Google Patents
The cleaning control method and its device and sweeping robot of sweeping robot Download PDFInfo
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- CN109567678A CN109567678A CN201811495564.1A CN201811495564A CN109567678A CN 109567678 A CN109567678 A CN 109567678A CN 201811495564 A CN201811495564 A CN 201811495564A CN 109567678 A CN109567678 A CN 109567678A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 410
- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000004140 cleaning Methods 0.000 title claims abstract description 35
- 230000004888 barrier function Effects 0.000 claims abstract description 200
- 238000001514 detection method Methods 0.000 claims abstract description 178
- 230000008569 process Effects 0.000 claims abstract description 24
- 230000008859 change Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 6
- 230000005855 radiation Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 17
- 241001417527 Pempheridae Species 0.000 description 11
- 230000000875 corresponding effect Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 5
- 238000013507 mapping Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention proposes the cleaning control method and its device and sweeping robot of a kind of sweeping robot.The described method includes: obtaining the detection data of the obstacle detection device on sweeping robot；According to detection data, identify that the distance between sweeping robot and barrier reach first distance；Wherein, first distance is that the variation tendency of detection data meets the distance between sweeping robot and the barrier at the variation tendency moment of setting；Control sweeping robot is rotated in place, so that the driving direction of sweeping robot is parallel with the tangent line of the contour line of barrier or contour line；Control sweeping robot is travelled according to driving direction, and control the distance between sweeping robot and barrier maintains in the distance range of setting in the process of moving.In embodiments of the present invention, reduce probability of the sweeping robot during the work time with the collision of obstructing objects, and realize sweeping robot efficiently it is autonomous along side cleaning function, optimize the cleaning control method of sweeping robot.
Description
Technical field
The present invention relates to the cleaning control method and its device of intelligent appliance field more particularly to a kind of sweeping robot,
Sweeping robot, electronic equipment and non-transitorycomputer readable storage medium.
Background technique
Currently, sweeping robot can detecte whether traveling front has barrier, avoid touching if there is barrier just stops
To barrier.There is impingement plate before existing most of sweeping robots, is primarily due to that sweeper can not be accurately detected
Device people is with a distance from barrier, and being only able to detect barrier mostly, then deceleration waits until that impingement plate encounters barrier, then stops
Get off, has seriously affected the efficiency of sweeping the floor of sweeping robot.
Meanwhile existing most of sweepers are adjusted the angle, then collide, then the mode adjusted the angle by constantly colliding
It is cleaned with realizing along side to realize that sweeping robot driving direction is parallel with the tangent line of the contour line of barrier or contour line.It is this
The method of multiple impacts not only reduces the efficiency of cleaning, can not embody the intelligence of sweeping robot, and sweeping robot
Fuselage constantly strikes obstacles, may damage furniture, this kind of barrier of wall, reduce the experience sense of user
Official.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, can be supervised in real time an object of the present invention is to provide a kind of cleaning control method of sweeping robot
The distance between sweeping robot and barrier, and the main body turning before the two is collided are surveyed, sweeping robot direction of advance is adjusted
It is consistent with the tangential direction of the contour line of barrier or contour line, and sweeping robot and barrier in driving process after maintaining
The distance between.It reduce the sweeping robot probabilities with the collision of obstructing objects during the work time, and realize and sweep the floor
Robot is efficiently autonomous along side cleaning function, optimizes the cleaning control method of sweeping robot.
It is another object of the present invention to the cleaning control devices for proposing a kind of sweeping robot.
It is another object of the present invention to propose a kind of sweeping robot.
It is another object of the present invention to propose a kind of electronic equipment.
It is another object of the present invention to propose a kind of non-transitorycomputer readable storage medium.
In order to arrive above-mentioned purpose, first aspect present invention embodiment proposes that a kind of sweeping robot cleans control method.It should
Method the following steps are included:
Obtain the detection data of the obstacle detection device on sweeping robot；
According to the detection data, identify that the distance between the sweeping robot and barrier reach first distance；Its
In, the first distance is the sweeping robot that the variation tendency of the detection data meets the variation tendency moment of setting
The distance between described barrier.
It controls the sweeping robot to be rotated in place, so that the driving direction of the sweeping robot and the obstacle
The contour line of object or the tangent line of contour line are parallel；
It controls the sweeping robot to travel according to the driving direction, and controls the sweeper in the process of moving
The distance between device people and the barrier maintain in the distance range of setting.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of cleaning control dress of sweeping robot
It sets, cleans the obstacle detection device being arranged on control device and sweeping robot and be connected.Specifically cleaning control device includes:
First obtains module, for obtaining the detection data of the obstacle detection device on sweeping robot；
Identification module, for identifying that the distance between the sweeping robot and barrier are arrived according to the detection data
Up to first distance；Wherein, the first distance is that the variation tendency of the detection data meets the variation tendency moment of setting
The distance between the sweeping robot and the barrier.
Control module is rotated, is rotated in place for controlling the sweeping robot, so that the sweeping robot
Driving direction is parallel with the tangent line of the contour line of the barrier or contour line；
Control module is travelled, is travelled for controlling the sweeping robot according to the driving direction, and running over
The distance between the sweeping robot and the barrier is controlled in journey to maintain in the distance range of setting.
The cleaning control device for the sweeping robot that second aspect of the present invention embodiment proposes, can be monitored in real time sweeper
The distance between device people and barrier, and the main body turning before the two is collided, adjust sweeping robot direction of advance and barrier
The tangent line of contour line or contour line is consistent, and the distance between sweeping robot and barrier in driving process after maintaining.This
Probability of the sweeping robot during the work time with the collision of obstructing objects is reduced, and it is efficiently autonomous to realize sweeping robot
Along side cleaning function, optimize the cleaning control method of sweeping robot.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of sweeping robot.It is set on sweeping robot
It is equipped with obstacle detection device, for detecting to barrier；Sweeping robot further includes that above-mentioned second aspect embodiment proposes
Sweeping robot clean control device；The obstacle detection device is connect with the cleaning control device.
The sweeping robot that third aspect present invention embodiment proposes, can be monitored in real time sweeping robot and barrier it
Between distance, and the two collide before main body turning, adjust sweeping robot direction of advance and barrier contour line or profile
The tangential direction of line is consistent, and the distance between sweeping robot and barrier in driving process after maintaining.It reduce sweep
The floor-washing robot probability with the collision of obstructing objects during the work time, and it is efficiently autonomous clear along side to realize sweeping robot
Function is swept, the cleaning control method of sweeping robot is optimized.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of electronic equipment, which is characterized in that including
Memory, processor；Wherein, processor is run and executable journey by reading the executable program code stored in memory
The corresponding program of sequence code cleans control method with the sweeping robot proposed for realizing first aspect present invention embodiment.
In order to achieve the above objectives, the 5th aspect embodiment of the embodiment of the present invention proposes that a kind of non-transitory is computer-readable and deposits
Storage media is stored thereon with computer program, which is characterized in that the program realizes first aspect present invention when being executed by processor
The sweeping robot that embodiment proposes cleans control method.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram that a kind of sweeping robot that the embodiment of the present invention proposes cleans control method；
Knot when the first obstacle detection device is only provided on a kind of sweeping robot that Fig. 2 proposes for the embodiment of the present invention
Structure schematic diagram；
The first obstacle detection device, the second barrier are provided on a kind of sweeping robot that Fig. 3 proposes for the embodiment of the present invention
Hinder structural schematic diagram when object detector and third obstacle detection device；
The second obstacle detection device and third are only provided on a kind of sweeping robot that Fig. 4 proposes for the embodiment of the present invention
Structural schematic diagram when obstacle detection device；
Fig. 5 is a kind of working principle diagram for obstacle detection device that the embodiment of the present invention proposes；
The first obstacle detection device and fuselage two are provided on a kind of sweeping robot that Fig. 6 proposes for the embodiment of the present invention
Structural schematic diagram when the first distance detector and second distance detector of side；
The first obstacle detection device, fuselage one are provided on a kind of sweeping robot that Fig. 7 proposes for the embodiment of the present invention
Second obstacle detection device of side, the third obstacle detection device of the fuselage other side and respectively with the second obstacle detection device,
The structural schematic diagram of the ipsilateral first distance detector of three obstacle detection devices, second distance detector；
Fig. 8 is that a kind of sweeping robot that the embodiment of the present invention proposes rotates in place corresponding relationship between angle and second distance
Schematic diagram；
Fig. 9 is that another sweeping robot that the embodiment of the present invention proposes rotates in place corresponding pass between angle and second distance
It is schematic diagram；
Figure 10 is that propose two kinds of the embodiment of the present invention may cause sweeping robot and deviate original when driving along barrier
The schematic diagram of the driving direction parallel with the tangent line of the contour line of barrier or contour line；
Figure 11 is the structural schematic diagram that a kind of sweeping robot that the embodiment of the present invention proposes cleans control device；
Figure 12 is a kind of structural schematic diagram for sweeping robot that the embodiment of the present invention proposes；
Figure 13 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention proposes.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The cleaning control method and its dress of the sweeping robot proposed according to embodiments of the present invention are described with reference to the accompanying drawings
It sets, sweeping robot, electronic equipment and non-transitorycomputer readable storage medium.
Fig. 1 is that a kind of sweeping robot that the embodiment of the present invention proposes cleans control method.As shown in Figure 1, specifically including
Following steps:
Step 101, the detection data of the obstacle detection device on sweeping robot is obtained.
In embodiments of the present invention, in order to avoid sweeping robot and barrier collide, cause machine impaired, need sweeping
It places obstacles on floor-washing robot object detector.
And the driving direction according to sweeping robot with respect to barrier, sweeping robot can be there are many obstacle detection devices
Selection, specific as follows:
Optionally, when sweeping robot is perpendicular to the contour line of barrier or the tangent line traveling of contour line or machine of sweeping the floor
When sharp angle folded by people's direction of advance and barrier is larger, obstacle detection device on sweeping robot is arranged at this time can be with
Machine of sweeping the floor can be realized including the first obstacle detection device, when as shown in Fig. 2, only having the first obstacle detection device at this time
The obstacle detection function of people.Specifically, the front end of sweeping robot is arranged in the first obstacle detection device, and scanning direction is same
Sweeping robot direction of advance is consistent, and the investigative range of the first obstacle detection device, which is with sweeping robot direction of advance, is
The certain area of axis realizes the detection to barrier in the region.
The first obstacle detection device only finite region in detectable sweeping robot direction of advance from the above.Therefore work as
The driving direction of sweeping robot is not orthogonal to acute angle folded by blocking surfaces and sweeping robot direction of advance and obstacle object
When smaller, the first obstacle detection device for being now placed in sweeping robot front end can not be collided in sweeping robot and barrier
Barrier is detected before, it is also possible to the presence of the first obstacle detection to barrier, but can not be in sweeping robot and obstacle
Control sweeping robot stops in time before object collision.Further, obstacle detection device on sweeping robot is set also
It should include the second obstacle detection device and third obstacle detection device, wherein the second obstacle detection device and third obstacle detection
Device is symmetricly set on the fuselage two sides of sweeping robot, as shown in Figure 3.The first obstacle detection device detection blind area by second
Obstacle detection device and the detection of third obstacle detection device implementation barrier, it is ensured that sweeping robot is under steam to direction of advance
With the detection of the barrier of possible collisions all on direction of advance two sides.
Optionally, the obstacle detection device being arranged on sweeping robot can only include the second obstacle detection device and
Three obstacle detection devices.Wherein, the second obstacle detection device and third obstacle detection device are symmetrically arranged at machine of sweeping the floor
The fuselage two sides of people, and be 0- α with the angle of sweeping robot direction of advance, wherein α is substantially between 45 to 90 degree, such as Fig. 4
It is shown.In the case where only there was only the second obstacle detection device and third obstacle detection device, sweeping robot can also be real
The now detection to the barrier of possible collisions all in direction of advance and direction of advance two sides under steam.
When under sweeping robot is in running order, the obstacle detection device on sweeping robot similarly keeps work
State detects whether there is the barrier that may be collided with sweeping robot, and in the case where detecting barrier, obtains
Take the detection data to the barrier.
In the embodiment of the present invention, obstacle detection device includes signal emission module and signal receiving module, and two modules are pressed
Angle according to setting and apart from setting.Signal emission module receives the first signal to the first signal of external radiation, signal receiving module
It is irradiated to the second signal being transmitted back on barrier.Fig. 5 is a kind of work for obstacle detection device that the embodiment of the present invention proposes
Schematic diagram.As shown in figure 5, signal emission module is to the first signal of external radiation, the first signal is in signal emission module and barrier
Between form first path；Second signal forms the second path, and second signal between signal receiving module and barrier
It is further converted to the detection data of obstacle detection device.In Fig. 5, solid line indicates the first path that the first signal is formed；Dotted line
Indicate the second path that second signal is formed.
Step 102, according to detection data, identify that the distance between sweeping robot and barrier reach first distance；Its
In, first distance is between the sweeping robot and barrier at the variation tendency moment that the variation tendency of detection data meets setting
Distance.
In the embodiment of the present invention, detection data may include reflected second signal.After getting detection data,
Detectable signal can be analyzed, identify variation tendency of detection data during sweeping robot is close to barrier,
In the embodiment of the present invention, if the variation tendency of detection data meets the variation tendency of setting, sweeper can be identified
Current distance between device people and barrier is exactly first distance.
Step 103, control sweeping robot is rotated in place, so that the driving direction of sweeping robot and barrier
The tangent line of contour line or contour line is parallel.
In the embodiment of the present invention, reaching first distance by distance between above-mentioned identification sweeping robot and barrier
After step, sweeping robot is out of service at away from barrier first distance.Later, in sweeping robot holding and barrier
The distance between it is constant in the case where, rotate in place until sweeping robot driving direction and barrier contour line or contour line
Tangent line it is parallel, so as in next cleaning process sweeping robot can be realized along side clean.
As a kind of possible implementation, when obstacle detection device only includes the first obstacle detection device, machine of sweeping the floor
Man-machine body two sides are symmetrically arranged with first distance detector and second distance detector, the machine as shown in fig. 6, control at this time is swept the floor
People rotates in place.Specifically, control sweeping robot is by current location (position for reaching first distance stopping) as rotation
The initial position turned, is rotated in place according to the direction of setting.Wherein, direction initialization includes counterclockwise and square clockwise
To, sweeping robot can by first distance detector and second distance detector to barrier relative to sweeping robot
Orientation, which is made, substantially to be judged, and selects direction of rotation according to the orientation, for example, when to be located substantially at sweeping robot left front for barrier
Fang Shi, sweeping robot rotate clockwise；When obstacle is located substantially at sweeping robot right front, sweeping robot revolves counterclockwise
Turn；When barrier is perpendicular to sweeping robot driving direction, sweeping robot can choose also can choose clockwise
Counterclockwise.Enable to sweeping robot in the tangent line for the contour line or contour line for reaching driving direction and barrier in this way
The angular displacement rotated when parallel is minimum.
As alternatively possible implementation, when obstacle detection device further includes the second obstacle detection device and third barrier
Hinder object detector, the second obstacle detection device and third obstacle detection device are symmetricly set on sweeping robot fuselage two sides；The
The side of fuselage, second distance detector and third obstacle detection is arranged in one range finder and the second obstacle detection device
In fuselage the other side is arranged in device, as shown in fig. 7, control sweeping robot is rotated in place at this time.Specifically, it identifies first
Detection data institute possession target obstacle detector, wherein may for the first obstacle detection device, the second obstacle detection device or
Third obstacle detection device.After determining target obstacle detector, the sweeping robot side of rotating in place can be obtained according to it
To.For example, when target obstacle detector is the second obstacle detection device, since the second obstacle detection device is set to sweeper
The left front portion of device people judges that barrier is similarly positioned in the left front of sweeping robot, determines sweeping robot clockwise
It rotates in place；When target obstacle detector is third obstacle detection device, sweep the floor since third obstacle detection device is set to
The right front portion of robot judges that barrier is similarly positioned in the right front of sweeping robot, determines sweeping robot side counterclockwise
To rotating in place.After sweeping robot starts rotation, control is opened to be at a distance from the same side with target obstacle detector
Detector detects the distance between sweeping robot and barrier in rotary course.
Further, it in rotary course, controls first distance detector and second distance detector carries out distance simultaneously
Detection, the process of detection there are it is a variety of may: when first distance detector can detect range data and second distance detects
Device illustrates that barrier is located at first distance detector side, i.e. sweeping robot left front, can control at this time without detection data
First distance detector continues working, and closes second distance detector；When second distance detector can detect range data
And first distance detector illustrates that barrier is located at second distance detector side, the i.e. right side of sweeping robot without detection data
Front can close first distance detector at this time, only retain second distance detector；In some cases when two distance measurements
When device has range data, referring to Fig. 7, since barrier is located at the corresponding range finder side of small distance data, use
Range finder positioned at the same side is more convenient the detection of detector and the rotation of fuselage, then reservation is selected to collect small distance
The range finder of data continues to detect, and closes another range finder；And when two range finders have range data and two
When distance measurement data are identical, illustrate that barrier, at this time can be according to sweeping robot perpendicular to sweeping robot driving direction
Direction of rotation accordingly selects corresponding apart from far detector, when counterclockwise rotating in place such as sweeping robot selection, holding
Second distance detector, which is opened, implements detection, when rotating in place clockwise, keeps first distance detector to open and implements to visit
It surveys.
The detection range data obtained in above-mentioned detection process are range finder and obstacle on sweeping robot
Second distance between object, wherein second distance is rotated in place with sweeping robot not to be stopped to change.And it can be according to rotation later
The variation tendency control sweeping robot of second distance rotates contour line or profile to driving direction and barrier during turning
The parallel position of the tangent line of line.
Step 104, control sweeping robot is travelled according to driving direction, and controls sweeping robot in the process of moving
The distance between barrier maintains in the distance range of setting.
After sweeping robot is rotated according to above-mentioned steps extends parallel position to driving direction and barrier, machine of sweeping the floor
People along when front direction starting traveling, start along side clean, and in cleaning process by range finder to sweeping robot with
The real-time detection of distance between barrier.Further, the appropriate adjustment row when detecting sweeping robot and traveling deviation occurring
It sails direction and guarantees that the distance between sweeping robot and barrier maintain in the distance range of setting.
Specifically, at the time of determining sweeping robot driving direction, the obtained second distance of target range detector
When as being cleaned along side between target range detector and barrier required holding third distance, i.e. third distance is solid for one
Definite value.Wherein, target range detector is one in first distance detector and second distance detector, specially above-mentioned to sweep
Retain that range finder opened in floor-washing robot rotary course.
Further, during sweeping robot is travelled along side, the target range detector real-time detection its with barrier
Hinder the distance between object, and according to currently detected the distance between sweeping robot and barrier, in real time to machine of sweeping the floor
The driving direction of people is adjusted, so that distance between the two maintains in a certain range.
Wherein, it is above-mentioned travelled along side during maintained sweeper between barrier at a distance from range, including
Third distance.Specifically, sweeping robot start at away from barrier third distance starting along side clean, due to road surface road conditions compared with
Difference, sweeping robot driving wheel correct when not in place or sweeping robot rotates in place and driving direction and barrier are not fully achieved
Hinder object equiprobable situation in parallel, sweeping robot may deviate the preset driving direction (contour line or wheel of parallel barrier
The tangent line of profile and the holding third distance between barrier) so that the distance between sweeping robot and barrier become
Change, sweeping robot cannot achieve possibly remote from barrier and clean along side, it is also possible to collide close to barrier with barrier.
At this time by the range information that is detected of range finder on analysis sweeping robot, to sweeping robot direction of advance into
Row adjustment, so that sweeping robot returns on preset travel direction.It sweeps the floor after deviateing preset travel direction due to sweeping robot
Robot can be come back to by adjusting accordingly away from barrier third distance, can approximation regard sweeping robot as and travelling
When deviate preset travel direction do one section of movement in a curve and finally come back on preset travel direction, it is inclined in sweeping robot
From-reply this during, farthest offset distance be located at sweeping robot movement camber line apex.When camber line is convex to obstacle
When object direction, also without departing from the camber line vertex at the time of sweeping robot is nearest apart from barrier；When camber line concaves towards obstacle
When object direction, equally also without departing from the camber line vertex at the time of sweeping robot is farthest apart from barrier.Therefore machine of sweeping the floor
It, should be away within the scope of the distance between people and barrier maintain one during advancing when adjusting driving direction always
It include with a distance from third in range, third is to be convex to close barrier representated by height of the barrier object space to camber line apart from side
Distance range, the other side is the distance range for concaving towards separate barrier representated by barrier camber line height, separate distance range
And maintained operating range range between sweeping robot and barrier is collectively constituted by short range.
The sweeping robot that the embodiment of the present invention proposes cleans control method, and sweeping robot and obstacle can be monitored in real time
The distance between object, and the main body turning before the two is collided, adjust sweeping robot direction of advance and barrier contour line or
The tangential direction of contour line is consistent, and the distance between sweeping robot and barrier in driving process after maintaining.This is reduced
Sweeping robot probability with the collision of obstructing objects during the work time, and realize the efficiently autonomous edge of sweeping robot
Side cleaning function optimizes the cleaning control method of sweeping robot.
In embodiments of the present invention, range finder is during sweeping robot rotates in place to the second distance of variation
It detects in real time, and determines the driving direction of sweeping robot according to second distance.Machine of sweeping the floor is determined according to second distance
People's driving direction specifically includes following:
Identify the smallest second distance, according to the smallest second distance, determine sweeping robot it is current desired first
Rotate angle；Control sweeping robot is rotated according to the first rotation angle, obtains the driving direction of sweeping robot.
As a kind of possible situation, when sweeping robot rotates in place, second distance first becomes smaller to become larger afterwards, such as Fig. 8
It is shown.According to the variation tendency of second distance, the point that second distance starts to become larger, as the smallest second distance are found.At this
The smallest second distance point, the detection direction of target obstacle detector is perpendicular to barrier, and referring to Fig. 8, sweeping robot is logical
Crossing rotation β angle parallel with the tangent line of the contour line of barrier or contour line can obtain sweeping robot driving direction.Its
In, the angle β is that this kind may descend the first rotation angle, β angular values needed for sweeping robot rotation that can pass through squareness
The several and angle α between range finder and barrier subtracts each other to obtain, and wherein α is the fixation limited when product design
Value, therefore the angle value of β is similarly fixed value, can store inside sweeping robot, for directly using.
As alternatively possible situation, when sweeping robot rotates in place, second distance is straight without the process of becoming smaller
It connects and starts to become larger, as shown in Figure 9.At this point, the point that rotation starts is point corresponding to second distance minimum value, crosses and sweep the floor in figure
The dotted line of robot central point and range finder is vertical with barrier, and the included angle value of dotted line and solid line is γ, sweeper
The angle of device people direction of advance and range finder detection direction is the above-mentioned fixed angle α referred to, is subtracted by right angle value
The sum for removing angle value α and angle γ obtains current sweeping robot direction of advance and the contour line of barrier or cutting for contour line
Angle value θ folded by line, θ are that this kind may descend the first rotation angle, sweeping robot needed for sweeping robot rotation to pass through
Rotation θ angle parallel with the tangent line of the contour line of barrier or contour line can obtain sweeping robot driving direction.Wherein,
It referring to Fig. 9, crosses between the solid line dotted line and barrier of range finder and constitutes a right angled triangle, dotted line length is above-mentioned obtain
First distance, solid line length is the minimum value of second distance, by Pythagorean theorem and the cosine law you can get it γ angle value,
And then obtain the first rotation angle, θ.
Further, it is contemplated that inertia, range finder should also be protected while being arranged in sweeping robot fuselage two sides
The position that former point is leaned in range finder setting to lateral central axes is demonstrate,proved, i.e., in front of the side of sweeping robot fuselage.Specifically, such as
Fruit is arranged on the lateral central axes of sweeping robot, and robot needs to be rotated out lateral central axes just and will appear above-mentioned
Two apart from the small trend in back that first becomes larger, it is contemplated that effect of inertia, in this case, the driving direction and obstacle of sweeping robot
The contour line of object or the tangent line of contour line are no longer parallel, and there are certain angles.
In embodiments of the present invention, after the above-mentioned angle value for obtaining the first rotation angle, it is also necessary to according to the first rotation
Gyration is rotated, to obtain sweeping robot traveling side identical with the tangent line of the contour line of barrier or contour line
To.It specifically includes as follows:
Obtain the first moment for identifying the smallest second distance；Obtain the time difference at current time and the first moment, root
According to the rotation speed of time difference and sweeping robot, sweeping robot has been obtained in from the first moment to the period at current time
The second rotation angle through rotating；According to the first rotation angle and the second rotation angle, the remaining third of sweeping robot is obtained
Angle is rotated, control sweeping robot continues to rotate third rotation angle, obtains the driving direction of sweeping robot.
Specifically, according to the variation tendency of second distance, practical minimum second distance point is obtained, obtains and reaches minimum second
First moment of distance.Simultaneously in view of there is second distance change since range finder passes through detection in practical rotary course
Main trend judges the point of second distance minimum value, and sweeping robot has rotated a lesser angle in this case, so that
The minimum second distance of actual measurement is larger than practical minimum second distance.The difference at current time and the first moment is obtained at this time
Value, that is, when being actually reached minimum second distance and sweeping robot detects between when reaching minimum second distance the existing time
Difference, can according to the revolving speed and above-mentioned time difference that sweeping robot rotates in place, calculate the first moment to current time this
The angle that sweeping robot rotates through in period, i.e., the second rotation angle.
According to above-mentioned first rotation angle and the second rotation angle, by subtracting each other show that sweeping robot do not rotate also the
Three rotation angles, control sweeping robot rotate angle rotation driving direction to the contour line or profile with barrier according to third
The tangential direction of line is identical, obtains sweeping robot driving direction.
Further, for above-mentioned alternatively possible situation, i.e. second distance only exists the trend to become larger, sweeps the floor at this time
Robot judges the point of rotation starting for the minimum point of second distance, and identical as actual minimum point, so there is no need to calculate the
Two rotation angles and third rotate angle, and the traveling side of sweeping robot can be directly obtained by rotation the first rotation angle
To.
In the embodiment of the present invention, rotate in place completing above-mentioned sweeping robot to driving direction, sweeping robot opens
It is dynamic cleaned along side, but in practice since subtle variation may occur for the driving direction of various situation sweeping robots,
Cause deviation driving direction that cannot complete to clean along side or collide with barrier.At this time, it may be necessary to according to current sweeper
The distance between device people and barrier, the direction change of real-time detection sweeping robot, and variation occur after as much as possible and
When made adjustment to driving direction to return in former driving direction.It specifically includes as follows:
Current distance is compared with third distance；If current distance is greater than third distance, it is determined that machine of sweeping the floor
The tangent line of contour line or contour line of the driving direction of people far from barrier, if current distance is less than third distance, it is determined that
The driving direction of sweeping robot is close to the contour line of barrier or the tangent line of contour line；According to current distance and third apart from it
Between difference, control sweeping robot counter-rotating.
Wherein, current distance is compared with third distance, and referring to Fig.1 0.If current distance LaGreater than third away from
From in figure shown in (a), sweeping robot is directed away from the direction running of barrier, and sweeping robot is in traveling a distance
After can cannot complete to clean along side far from wall；If current distance LbLess than third distance, in figure shown in (b), sweeper
Device people may touch towards the direction running close to barrier, sweeping robot after travelling a period of time with barrier
It hits.
Optionally, the difference between current distance and third distance is calculated, if difference is positive value, sweeping robot is towards far
Direction running from barrier controls sweeping robot towards the direction running close to barrier at this time；Similarly, if difference is negative
Value, control sweeping robot are directed away from the direction running of barrier.Wherein, the absolute value Yu reverse adjustment of difference are swept the floor machine
The degree of people's driving direction is positively correlated, and the absolute value of difference is bigger, and the deviation of barrier is more serious, and sweeping robot is inversely adjusted
The degree of whole angle is bigger.There are a mapping relations between the size of absolute value and driving direction the adjustment degree of difference, it is stored in
In sweeping robot.
Further, there may be have not the small range for influencing traveling on barrier in the practical application of sweeping robot
Concave or convex situation influences range finder to the detection of distance between current sweeping robot and barrier and machine of sweeping the floor
Whether people is to adjusting the judgement of driving direction.Third distance can be deviateed to machine of sweeping the floor detecting distance between the two at this time
A waiting time is arranged between the determining adjustment driving direction of people, and (waiting time can not be too long, it is ensured that passes through under deviation state
Crossing the time sweeping robot can not strikes obstacles), the distance within waiting time between the two comes back to third distance
Or gradually drawn close to the numerical value of third distance, sweeping robot abandons the adjustment to driving direction, if distance between the two is still
The numerical value for so deviateing third distance then controls sweeping robot adjustment driving direction, avoids in blocking surfaces out-of-flatness shape
Sweeping robot, which frequently adjusts driving direction, under state influences sweeping efficiency.
Wherein, above-mentioned involved all range finders can be by transmitting sound wave or light wave, through obstacle
Object is reflected back is received the time spent by this process again, calculates distance by time and velocity of light or sound.
In embodiments of the present invention, realize sweeping robot to direction of advance in the method by object detector of placing obstacles
After the detection of upper barrier, it is also necessary to be carried out according to the data detected to the distance between sweeping robot and barrier certain
Control in degree.Wherein, it according to the collected detection data of obstacle detection device, identifies between sweeping robot and barrier
Distance whether reach first distance, specifically include as follows:
Second signal is extracted from detection data, and the second signal detected in sweeping robot driving process is divided
Analysis, obtains the change in signal strength trend of second signal；Whether identification variation tendency is the variation tendency set, if identified
Variation tendency is the variation tendency of setting, obtains the distance between current time sweeping robot and barrier；When wherein current
The distance at quarter is first distance.
Wherein, detection data includes second signal, can be according to the second letter by second signal after extracting in detection data
Number receiving time, get the change in signal strength trend of corresponding second signal.The variation tendency is identified later,
Judge whether to meet signal strength first to become larger the preset variation tendency to become smaller afterwards.If the variation tendency identified meets setting
Variation tendency, then according to current time signal strength obtain between corresponding current time sweeping robot and barrier away from
From.
Specifically, at the time of identifying when the signal strength of second signal restarts to become smaller, i.e., currently current time is
The signal strength of the second signal at moment is maximum.By sweeping robot when the above-mentioned signal strength maximum that can learn second signal
The distance between barrier be first distance, i.e., the distance between current time sweeping robot and barrier for first away from
From.
Further, when the variation tendency for identifying second signal meets the variation tendency of setting, then when obtaining current
The distance between sweeping robot and barrier are carved, is specifically included:
According to the signal strength of the second signal at current time, the distance between sweeping robot and barrier are obtained.
Specifically, the signal strength of second signal and the distance between sweeping robot and barrier are between first distance
There should be a mapping relations, the signal strength of different second signals corresponds to different distance values, which is sweeper
The distance between device people and barrier.The mapping relations modes such as acquire by experiment in sweeping robot development process and obtain
It takes.After the intensity for getting current time second signal, inquiry mapping relations can be obtained by sweeping robot and barrier
The distance between.
Above content is explained referring to Fig. 5, the folder of signal emission module and signal receiving module in figure
Angle and apart from setting, can make the overlapping region between two paths become afterwards as sweeping robot first becomes larger close to barrier
It is small.Specifically, during sweeping robot is from a distance close to barrier, due to the weight between first path and the second path
Folded region first becomes larger to become smaller afterwards, i.e. reflecting surface area of the first signal on barrier is as sweeping robot is close to barrier elder generation
Become smaller after becoming larger, wherein the reflecting surface area on barrier is bigger, the intensity of the second signal of the generation after the first signal reflex
Also bigger, on the contrary the intensity of second signal, with regard to smaller, this makes the signal strength of second signal as sweeping robot is close
Barrier first becomes larger to become smaller afterwards.When sweeping robot is close to away from one specific range of barrier, overlapping region starts to become smaller, this
When second signal signal strength it is maximum, it is specified that this specific range be between sweeping robot and barrier first away from
From.
In order to realize that above-mentioned sweeping robot cleans control method, cleans and control the present invention also provides a kind of sweeping robot
Device.Figure 11 is the structural schematic diagram that a kind of sweeping robot that the embodiment of the present invention proposes cleans control device.Wherein, it sweeps the floor
It is provided with obstacle detection device 31 in robot and cleans control device 32；Obstacle detection device 31 is for visiting barrier
It surveys, and obstacle detection device 31 is connect with control device 32 is cleaned.
Specifically, cleaning control device 32 includes:
First obtains module 321, for obtaining the detection data of the obstacle detection device 31 on sweeping robot；
Identification module 322, for identifying that the distance between sweeping robot and barrier reach first according to detection data
Distance；Wherein, first distance is the sweeping robot and barrier that the variation tendency of detection data meets the variation tendency moment of setting
Hinder the distance between object.
Control module 323 is rotated, is rotated in place for controlling sweeping robot, so that the traveling side of sweeping robot
The contour line of Xiang Yuyu barrier or the tangent line of contour line are parallel；
Control module 324 is travelled, is travelled for controlling sweeping robot according to driving direction, and control in the process of moving
The distance between sweeping robot processed and barrier maintain in the distance range of setting.
When obstacle detection device 31 includes the first obstacle detection device 311.Wherein, the first obstacle detector setting is being swept the floor
The front end of robot；The fuselage two sides of sweeping robot are also symmetrically arranged with first distance detector and second distance detection
Device.At this point, rotation control module 323, is specifically used for:
Sweeping robot is controlled using current location as initial position, is rotated in place according to direction initialization；Wherein, if
Determining direction includes counter clockwise direction and clockwise direction；
In rotary course, control first distance detector and second distance detector and carry out distance measurement simultaneously, with from
The second distance between sweeping robot and barrier is got in one of range finder；
According to second distance, the driving direction of sweeping robot is determined.
When obstacle detection device 31 further includes the second obstacle detection device 312 and third obstacle detection device 313.Wherein,
Second obstacle detection device 312 and third obstacle detection device 313 are symmetricly set on the fuselage two sides of sweeping robot；First away from
From the side that fuselage is arranged in detector and the second obstacle detection device 312, second distance detector and third obstacle detection
The other side of fuselage is arranged in device 313.At this point, rotation control module 323, is specifically used for:
Identify target obstacle detector 31 belonging to detection data；
According to installation site of the target obstacle detector 31 on sweeping robot, the rotation side of sweeping robot is determined
To；Wherein, target obstacle detector 31 is the first obstacle detection device 311, the second obstacle detection device 312 and third obstacle
One in object detector 313；
When target obstacle detector 31 is one in the second obstacle detection device 312 and third obstacle detector,
During sweeping robot rotates, control is in the target range detector of the same side with target obstacle detector 31, obtains
Take the second distance between sweeping robot and barrier；
According to second distance, the driving direction of sweeping robot is determined.
Control module 323 is rotated, is further used for:
Identify the smallest second distance, according to the smallest second distance, determine sweeping robot it is current desired first
Rotate angle；
Control sweeping robot is rotated according to the first rotation angle, obtains the driving direction of sweeping robot.
Control module 323 is rotated, is further also used to:
Obtain the first moment for identifying the smallest second distance；
The time difference for obtaining current time and the first moment obtains according to the rotation speed of time difference and sweeping robot
The second rotation angle that sweeping robot has rotated in from the first moment to the period at current time；
According to the first rotation angle and the second rotation angle, obtains the remaining third of sweeping robot and rotate angle, control
Sweeping robot continues to rotate third rotation angle, obtains the driving direction of sweeping robot.
Control module 324 is travelled, is specifically used for:
After the driving direction traveling for determining sweeping robot, acquisition target range detector is at this time between barrier
Third distance；Wherein, target range detector is one in the first citing detector and second distance detector；
During controlling sweeping robot traveling, obtain in real time current between target range detector and barrier
Distance；
According to current distance, the driving direction of sweeping robot is adjusted so that sweeping robot and barrier it
Between distance maintain distance range in；Wherein, distance range includes third distance.
Control module 324 is travelled, is further used for:
Current distance is compared with third distance；
If current distance is greater than third distance, it is determined that contour line of the driving direction of sweeping robot far from barrier
Or the tangent line of contour line, if current distance is less than third distance, it is determined that the driving direction of sweeping robot is close to barrier
Contour line or contour line tangent line；
According to the difference between current distance and third distance, sweeping robot counter-rotating is controlled.
Wherein, it is infrared sensor or ultrasonic wave that sweeping robot, which cleans the obstacle detection device 31 in control device 32,
Sensor.
In embodiments of the present invention, obstacle detection device 31 includes signal emission module and signal receiving module；Signal
To the first signal of external radiation, signal receiving module receives the first signal and is irradiated to the second letter being transmitted back on barrier transmitting module
Number；Detection data includes second signal.
Further, identification module 322 are specifically used for:
Second signal is extracted from detection data, and the second signal detected in sweeping robot driving process is divided
Analysis, obtains the change in signal strength trend of second signal；
Whether identification variation tendency is the variation tendency of setting, if identifying that variation tendency is the variation tendency of setting,
Obtain the distance between current time sweeping robot and barrier；Wherein the distance at current time is first distance.
Wherein, the variation tendency that above-mentioned second signal is set first becomes larger as signal strength to become smaller afterwards.
Identification module 322, is further used for:
According to the signal strength of the second signal at current time, the distance between sweeping robot and barrier are obtained；Its
In, current time is at the time of identifying that the signal strength of second signal becomes smaller again.
Wherein, signal emission module and signal receiving module are according to the angle of setting and apart from setting, so that the first signal
The first path and second signal formed between signal emission module and barrier is between signal receiving module and barrier
Form between the second path that there are overlapping region, maximum of the overlapping region at current time
The sweeping robot that the embodiment of the present invention proposes cleans control device, and sweeping robot and obstacle can be monitored in real time
The distance between object, and the main body turning before the two is collided, adjust sweeping robot direction of advance and barrier contour line or
The tangential direction of contour line is consistent, and the distance between sweeping robot and barrier in driving process after maintaining.This is reduced
Sweeping robot probability with the collision of obstructing objects during the work time, and realize the efficiently autonomous edge of sweeping robot
Side cleaning function optimizes the cleaning control method of sweeping robot.
In order to realize above-described embodiment, the present invention also provides a kind of sweeping robots.Figure 12 is proposition of the embodiment of the present invention
A kind of sweeping robot structural schematic diagram.As shown in figure 12, it is provided with obstacle detection device 31 on sweeping robot, is used for
Barrier is detected；It is additionally provided with the sweeping robot that above-mentioned second aspect embodiment proposes on sweeping robot and cleans control
Device 32 processed；Obstacle detection device 31 connect 32 with control device is cleaned.
The embodiment of the present invention propose sweeping robot, can be monitored in real time between sweeping robot and barrier away from
From, and the main body turning before the two is collided, adjust sweeping robot direction of advance and the contour line of barrier or cutting for contour line
Line direction is consistent, and the distance between sweeping robot and barrier in driving process after maintaining.It reduce machines of sweeping the floor
People's probability with the collision of obstructing objects during the work time, and realize that sweeping robot is efficiently autonomous to clean function along side
Can, optimize the cleaning control method of sweeping robot.
In order to realize above-described embodiment, the present invention also provides a kind of electronic equipment.Figure 13 is provided in an embodiment of the present invention
The structural schematic diagram of a kind of electronic equipment.As shown in figure 13, which includes: memory 131 and processor 132.
Wherein, processor 132 is run and executable journey by reading the executable program code stored in memory 131
The corresponding program of sequence code, to clean control method for realizing the sweeping robot in above-described embodiment.
In order to realize above-described embodiment, the present invention also provides a kind of non-transitorycomputer readable storage mediums, deposit thereon
Contain computer program, which is characterized in that the program realizes that the sweeping robot in above-described embodiment is clear when being executed by processor
Sweep control method.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (25)
1. a kind of cleaning control method of sweeping robot, which comprises the following steps:
Obtain the detection data of the obstacle detection device on sweeping robot；
According to the detection data, identify that the distance between the sweeping robot and barrier reach first distance；Wherein, institute
State first distance for the variation tendency of the detection data meet setting the variation tendency moment the sweeping robot and institute
State the distance between barrier；
It controls the sweeping robot to be rotated in place, so that the driving direction of the sweeping robot and the barrier
The tangent line of contour line or contour line is parallel；
It controls the sweeping robot to travel according to the driving direction, and controls the sweeping robot in the process of moving
The distance between described barrier maintains in the distance range of setting.
2. the method according to claim 1, wherein the obstacle detection device includes the first obstacle detector；
Wherein, the front end of the sweeping robot is arranged in first obstacle detector；The fuselage two sides of the sweeping robot
Also it is symmetrically arranged with first distance detector and second distance detector；
The control sweeping robot is rotated in place, so that the driving direction of the sweeping robot and the obstacle
The contour line of object or the tangent line of contour line are parallel, comprising:
The sweeping robot is controlled using current location as initial position, is rotated in place according to direction initialization；Wherein, institute
Stating direction initialization includes counter clockwise direction and clockwise direction；
In rotary course, controls the first distance detector and the second distance detector while carrying out distance measurement,
With from the second distance got in one of range finder between the sweeping robot and the barrier；
According to the second distance, the driving direction of the sweeping robot is determined.
3. according to the method described in claim 2, it is characterized in that, the obstacle detection device further includes the second obstacle detection
Device and third obstacle detection device；The second obstacle detection device and the third obstacle detection device are symmetricly set on described
The fuselage two sides of sweeping robot；The fuselage is arranged in the first distance detector and the second obstacle detection device
The other side of the fuselage is arranged in side, the second distance detector and the third obstacle detection device；
The control sweeping robot is rotated in place, so that the driving direction of the sweeping robot and the obstacle
The contour line of object or the tangent line of contour line are parallel, comprising:
Identify target obstacle detector belonging to the detection data；Wherein, the target obstacle detector is described the
One in one obstacle detection device, the second obstacle detection device and the third obstacle detection device；
When the target obstacle detector is one in the second obstacle detection device and the third obstacle detector,
According to installation site of the target obstacle detector on the sweeping robot, the rotation of the sweeping robot is determined
Direction；
During sweeping robot rotation, control and the target obstacle detector be in the target of the same side away from
From detector, the second distance between the sweeping robot and the barrier is obtained；
According to the second distance, the driving direction of the sweeping robot is determined.
4. according to the method in claim 2 or 3, which is characterized in that it is described according to the second distance, determine described in sweep the floor
The driving direction of robot, comprising:
It identifies the smallest second distance, according to the smallest second distance, determines the current institute of the sweeping robot
The the first rotation angle needed；
It controls the sweeping robot to be rotated according to the first rotation angle, obtains the traveling side of the sweeping robot
To.
5. according to the method described in claim 4, it is characterized in that, the control sweeping robot is according to first rotation
Gyration is rotated, and the driving direction for obtaining the sweeping robot includes:
Obtain the first moment for identifying the smallest second distance；
The time difference for obtaining current time and first moment, according to the rotation of the time difference and sweeping robot speed
Degree obtains the second rotation that the sweeping robot in from first moment to the period at the current time has rotated
Angle；
According to the first rotation angle and the second rotation angle, the remaining third rotation angle of the sweeping robot is obtained
Degree controls the sweeping robot and continues to rotate the third rotation angle, obtains the driving direction of the sweeping robot.
6. according to the method described in claim 5, it is characterized in that, it is described control in the process of moving the sweeping robot with
The distance between described barrier maintains in the distance range of setting, comprising:
Determine the sweeping robot the driving direction traveling after, obtain target range detector at this time with the barrier
Hinder the third distance between object；Wherein, the target range detector is the first distance detector and the second distance
One in detector；
During controlling sweeping robot traveling, obtain in real time the target range detector and the barrier it
Between current distance；
According to the current distance, the driving direction of the sweeping robot is adjusted so that the sweeping robot with
The distance between described barrier maintains in the distance range；Wherein, the distance range includes the third distance.
7. according to the method described in claim 6, it is characterized in that, described according to the current distance, to the machine of sweeping the floor
The driving direction of people is adjusted, comprising:
The current distance is compared with the third distance；
The current distance is greater than the third distance, determines the driving direction of the sweeping robot far from the barrier
The tangent line of contour line or contour line；
The current distance is less than the third distance, determines the driving direction of the sweeping robot close to the barrier
The tangent line of contour line or contour line；
According to the difference between the current distance and third distance, the sweeping robot counter-rotating is controlled.
8. method according to claim 1-3, which is characterized in that the obstacle detection device is infrared sensor
Or ultrasonic sensor.
9. method according to claim 1-3, which is characterized in that the obstacle detection device includes signal hair
Penetrate module and signal receiving module；The signal emission module receives institute to the first signal of external radiation, the signal receiving module
It states the first signal and is irradiated to the second signal being transmitted back on the barrier；Wherein, the detection data includes second letter
Number；
It is described according to the detection data, identify that the distance between the sweeping robot and barrier reach first distance, packet
It includes:
The second signal is extracted from the detection data, to described detected in the sweeping robot driving process
Binary signal is analyzed, and the change in signal strength trend of the second signal is obtained；
Identify whether the variation tendency is the variation tendency set, identifies that the variation tendency is that the variation of the setting becomes
Gesture obtains the distance between sweeping robot and barrier described in current time；Wherein the distance at the current time is described
First distance.
10. according to the method described in claim 9, it is characterized in that, the variation tendency set is first as the signal strength
Become larger and becomes smaller again；The distance between sweeping robot and barrier described in the acquisition current time, comprising:
According to the signal strength of the second signal at the current time, obtain between the sweeping robot and barrier
The distance；Wherein, the current time is at the time of identifying that the signal strength of the second signal becomes smaller again.
11. according to the method described in claim 9, it is characterized in that, the signal emission module and the signal receiving module
According to the angle of setting and apart from setting, so that first signal shape between the signal emission module and the barrier
At first path and the second signal formed between the signal receiving module and the barrier between the second path
There are overlapping region, maximum of the overlapping region at the current time.
12. a kind of cleaning control device of sweeping robot, which is characterized in that be provided with obstacle physical prospecting on the sweeping robot
Device is surveyed, for detecting to barrier；The obstacle detection device is connect with the cleaning control device；
The cleaning control device, comprising:
First obtains module, for obtaining the detection data of the obstacle detection device on sweeping robot；
Identification module, for according to the detection data, identifying the distance between the sweeping robot and barrier arrival the
One distance；Wherein, the first distance is that the variation tendency of the detection data meets the described of the variation tendency moment of setting
The distance between sweeping robot and the barrier；
Control module is rotated, is rotated in place for controlling the sweeping robot, so that the traveling of the sweeping robot
Direction is parallel with the tangent line of the contour line of the barrier or contour line；
Control module is travelled, is travelled for controlling the sweeping robot according to the driving direction, and in the process of moving
The distance between the sweeping robot and the barrier is controlled to maintain in the distance range of setting.
13. device according to claim 12, which is characterized in that the obstacle detection device includes the first obstacle detection
Device；Wherein, the front end of the sweeping robot is arranged in first obstacle detector；The fuselage two of the sweeping robot
Side is also symmetrically arranged with first distance detector and second distance detector；
The rotation control module, is specifically used for:
The sweeping robot is controlled using current location as initial position, is rotated in place according to direction initialization；Wherein, institute
Stating direction initialization includes counter clockwise direction and clockwise direction；
In rotary course, controls the first distance detector and the second distance detector while carrying out distance measurement,
With from the second distance got in one of range finder between the sweeping robot and the barrier；
According to the second distance, the driving direction of the sweeping robot is determined.
14. device according to claim 13, which is characterized in that the obstacle detection device further includes the second obstacle physical prospecting
Survey device and third obstacle detection device；The second obstacle detection device and the third obstacle detection device are symmetricly set on institute
State the fuselage two sides of sweeping robot；The first distance detector and the second obstacle detection device are arranged in the fuselage
Side, the other side of the fuselage is arranged in the second distance detector and the third obstacle detection device；
The rotation control module, is specifically used for:
Identify target obstacle detector belonging to the detection data；
According to installation site of the target obstacle detector on the sweeping robot, the sweeping robot is determined
Direction of rotation；Wherein, the target obstacle detector is the first obstacle detection device, the second obstacle detection device
With one in the third obstacle detection device；
The target obstacle detector is one in the second obstacle detection device and the third obstacle detector, in institute
During stating sweeping robot rotation, the target range that control is in the same side with the target obstacle detector is detected
Device obtains the second distance between the sweeping robot and the barrier；
According to the second distance, the driving direction of the sweeping robot is determined.
15. device described in 3 or 14 according to claim 1, which is characterized in that the rotation control module is further used for:
It identifies the smallest second distance, according to the smallest second distance, determines the current institute of the sweeping robot
The the first rotation angle needed；
It controls the sweeping robot to be rotated according to the first rotation angle, obtains the traveling side of the sweeping robot
To.
16. device according to claim 15, which is characterized in that the rotation control module is further used for:
Obtain the first moment for identifying the smallest second distance；
The time difference for obtaining current time and first moment, according to the rotation of the time difference and sweeping robot speed
Degree obtains the second rotation that the sweeping robot in from first moment to the period at the current time has rotated
Angle；
According to the first rotation angle and the second rotation angle, the remaining third rotation angle of the sweeping robot is obtained
Degree controls the sweeping robot and continues to rotate the third rotation angle, obtains the driving direction of the sweeping robot.
17. device according to claim 16, which is characterized in that the traveling control module is used for, is specifically used for:
Determine the sweeping robot the driving direction traveling after, obtain target range detector at this time with the barrier
Hinder the third distance between object；Wherein, the target range detector is the first citing detector and the second distance
One in detector；
During controlling sweeping robot traveling, obtain in real time the target range detector and the barrier it
Between current distance；
According to the current distance, the driving direction of the sweeping robot is adjusted so that the sweeping robot with
The distance between described barrier maintains in the distance range；Wherein, the distance range includes the third distance.
18. device according to claim 17, which is characterized in that the traveling control module is used for, is further used for:
The current distance is compared with the third distance；
The current distance is greater than the third distance, determines the driving direction of the sweeping robot far from the barrier
The tangent line of contour line or contour line；
The current distance is less than the third distance, determines the driving direction of the sweeping robot close to the barrier
The tangent line of contour line or contour line；
According to the difference between the current distance and third distance, the sweeping robot counter-rotating is controlled.
19. the described in any item devices of 2-14 according to claim 1, which is characterized in that the obstacle detection device is infrared biography
Sensor or ultrasonic sensor.
20. the described in any item devices of 2-14 according to claim 1, which is characterized in that the obstacle detection device includes letter
Number transmitting module and signal receiving module；The signal emission module connects to the first signal of external radiation, the signal receiving module
It receives first signal and is irradiated to the second signal being transmitted back on the barrier；Wherein, the detection data includes described
Binary signal；
The identification module, is specifically used for:
The second signal is extracted from the detection data, to described detected in the sweeping robot driving process
Binary signal is analyzed, and the change in signal strength trend of the second signal is obtained；
Identify whether the variation tendency is the variation tendency set, identifies that the variation tendency is that the variation of the setting becomes
Gesture obtains the distance between sweeping robot and barrier described in current time；Wherein the distance at the current time is described
First distance.
21. device according to claim 20, which is characterized in that the variation tendency set is first as the signal strength
Become larger and becomes smaller again；
The identification module, is further used for:
According to the signal strength of the second signal at the current time, obtain between the sweeping robot and barrier
The distance；Wherein, the current time is at the time of identifying that the signal strength of the second signal becomes smaller again.
22. device according to claim 20, which is characterized in that the signal emission module and the signal receiving module
According to the angle of setting and apart from setting, so that first signal shape between the signal emission module and the barrier
At first path and the second signal formed between the signal receiving module and the barrier between the second path
There are overlapping region, maximum of the overlapping region at the current time.
23. a kind of sweeping robot characterized by comprising be provided with obstacle detection device on the sweeping robot, be used for
Barrier is detected；The obstacle detection device is connect with the cleaning control device, and as claim 12-22 appoints
The cleaning control device of sweeping robot described in one.
24. a kind of electronic equipment, which is characterized in that including memory, processor；
Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, with the cleaning controlling party for realizing the sweeping robot as described in any in claim 1-11
Method.
25. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The cleaning control method of the sweeping robot as described in any in claim 1-11 is realized when being executed by processor.
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