CN110123208A - A kind of method and robot controlling robot cleaner - Google Patents
A kind of method and robot controlling robot cleaner Download PDFInfo
- Publication number
- CN110123208A CN110123208A CN201910327537.1A CN201910327537A CN110123208A CN 110123208 A CN110123208 A CN 110123208A CN 201910327537 A CN201910327537 A CN 201910327537A CN 110123208 A CN110123208 A CN 110123208A
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- robot
- skids
- entry region
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Classifications
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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
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
Abstract
The present invention is suitable for robotic technology field, provide a kind of method and robot for controlling robot cleaner, wherein, the method of the control robot cleaner includes judging whether the robot currently skids, if the robot currently skids, it is determined that the position that the robot skids, the position skidded according to the robot, the entry region for determining the robot controls the robot and is cleaned in other regions in addition to the entry region.Whether the present invention is currently skidded by prejudging the robot, it can take appropriate measures in time after robot skids, to avoid robot from falling into the state of skidding for a long time in a certain position, achieve the purpose that improve robot cleaner efficiency and intelligence degree.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of method, robot and meters for controlling robot cleaner
Calculation machine readable storage medium storing program for executing.
Background technique
When Intelligent cleaning robot work on moister smooth ground or when needing to cross certain barriers, often
The phenomenon that being easy to appear skidding.
However in the prior art respective treated mode directly is carried out to the robot after skidding often make robot
The state for falling into skidding whithin a period of time influences the cleaning efficiency and intelligence degree of robot.
Therefore it's necessary to propose a new technical scheme, to solve the above technical problems.
Summary of the invention
In consideration of it, the embodiment of the invention provides a kind of method and robot for controlling robot cleaner, it can be to avoid machine
Device people falls into the state of skidding in a certain position for a long time, to improve the cleaning efficiency and intelligence degree of robot.
The first aspect of the embodiment of the present invention provides a kind of method for controlling robot cleaner, comprising:
Judge whether the robot currently skids；
If the robot currently skids, it is determined that the position that the robot skids；
According to the position that the robot skids, the entry region of the robot is determined；
The robot is controlled to be cleaned in other regions in addition to the entry region.
The second aspect of the embodiment of the present invention provides a kind of robot, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, above-mentioned processor realize above-mentioned first when executing above-mentioned computer program
The method that aspect refers to.
The third aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, above-mentioned computer program realizes method mentioned in the first aspect when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present embodiment, first determining whether described
Whether robot currently skids, if the robot currently skids, it is determined that the position that the robot skids
It sets, the position then skidded according to the robot determines the entry region of the robot, finally controls the machine
People cleans in other regions other than the entry region.Compared with prior art, the present invention passes through described in judgement in advance
Whether robot currently skids, and can take appropriate measures in time after robot skids, to avoid machine
People falls into the state of skidding in a certain position for a long time, achievees the purpose that improve robot cleaner efficiency and intelligence degree, have
Stronger usability and practicality.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1-a is the flow diagram of the method for the control robot cleaner that the embodiment of the present invention one provides；
Fig. 1-b is the schematic diagram that the robot that the embodiment of the present invention one provides handles skidding position；
Fig. 1-c is that the robot that the embodiment of the present invention one provides gets around the clean schematic diagram of entry region progress；
Fig. 2 is the flow diagram of the method for control robot cleaner provided by Embodiment 2 of the present invention；
Fig. 3 is the flow diagram of the method for the control robot cleaner that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
It should be noted that " first ", " second " etc. in the present embodiment describe, it is for distinguishing different regions, mould
Block etc. does not represent sequencing, does not also limit " first " and " second " as different types.
If should be understood that after the method using control robot cleaner provided by the present application, the robot is default
Still the position currently skidded can not be voluntarily left in time, then can be assisted by way of manual intervention, such as logical
The mode of voice prompting is crossed to remind active user to impose assistance.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1-a is the flow diagram of the method for the control robot cleaner that the embodiment of the present invention one provides, and this method can
With the following steps are included:
S101: judge whether the robot currently skids.
The executing subject of the method for control robot cleaner provided by the invention can be robot itself, application scenarios
Can for the robot on ground water droplet or grease stain carry out clean scene, can also be the robot because crossing
Certain barriers and the scene skidded, the barrier includes but is not limited to chair legs, table leg, the pedestal of fan, door
The floor tile of bank, wire rod and protrusion；One of described artificial controlling intelligent household appliances of machine, including sweeping robot, floor cleaning machine
Device people, automatic cleaning machine and intellective dust collector can complete indoors the cleaner on ground automatically by certain artificial intelligence
Make, the interior can be parlor, bedroom, study or kitchen.
In one embodiment, the machine can be judged by one or more sensors that the robot carries
Whether people currently skids.
S102: if the robot currently skids, it is determined that the position that the robot skids.
In one embodiment, it can determine what the robot skidded according to the travel track of the robot
Position.
In one embodiment, it can determine what the robot skidded according to the current position of the robot
Position.
S103: the position skidded according to the robot determines the entry region of the robot.
The entry region is the region for forbidding the robot current, and the entry region includes but is not limited to clean to prohibit
Area, barrier region and virtual wall region.
In one embodiment, the entry region is the area that preset mark is added in the preset range of the position
Domain, the position are the position that the robot skids.
In one embodiment, the preset range can be determined according to the size of robot, and the preset mark can
Think preset warning symbol.
In one embodiment, the entry region of the robot can be determined centered on the position skidded.
S104: it controls the robot and is cleaned in other regions in addition to the entry region.
In one embodiment, the cleaning includes along side cleaning and region clean, and the cleaning along side refers to finger machine
People detects wall or other boundaries in locating room using the sensor on body, thus close to wall or other boundaries into
The behavior of row movement；The region clean with it is described corresponding along side cleaning, refer to robot in a certain region along a certain rule
It draws path and carries out clean behavior.
It is explained and illustrated by taking a kind of specific application scenarios as an example, as shown in Fig. 1-b, the robot is first determined whether
Whether itself skids, and the position (black in such as Fig. 1-b that the robot skids then is determined after skidding
Region), the entry region (shade in such as Fig. 1-b of the robot is determined further according to the position that the robot skids
Region), finally control the robot according to shown in Fig. 1-c in other regions (such as Fig. 1-c in addition to the entry region
In the outer boundary of entry region that is represented by dashed line) cleaned.
Therefore whether the embodiment of the present invention is currently skidded by prejudging the robot, it can be in machine
It takes appropriate measures in time after the raw skidding of device human hair, so that robot is avoided to fall into the state of skidding for a long time in a certain position,
Achieve the purpose that improve robot cleaner efficiency and intelligence degree, there is stronger usability and practicality.
Embodiment two
Fig. 2 is the flow diagram of the method for control robot cleaner provided by Embodiment 2 of the present invention, is to above-mentioned reality
Applying the further refinement of step S101-S102 and step S104 and explanation, this method in example one may comprise steps of:
S201: the first reading and the second reading of the robot are obtained respectively within a preset time, is calculated separately described
It is pre- to judge whether the first reading changing value calculated exceeds first for the changing value of the changing value of first reading and the second reading
If whether value and the second reading changing value exceed the second preset value, if the first reading changing value is default beyond first
It is worth and the second reading changing value is without departing from the second preset value, it is determined that the robot currently skids.
Generally, robot often will appear the unmatched phenomenon of movement when skidding.Therefore, by a variety of
The data of sensor acquisition are analyzed and are compared, and just can primarily determine whether the robot currently skids.
In one embodiment, if first reading is the reading of odometer on driving wheel in the robot, institute
The reading that the second reading is inertial sensor in the robot middle fuselage is stated, the inertial sensor includes accelerometer and top
Spiral shell instrument.
In one embodiment, if first reading is the reading of odometer on driving wheel in the robot, institute
State the reading that the second reading is laser radar sensor in the robot middle fuselage.
In one embodiment, if first reading is the reading of inertial sensor in the robot middle fuselage,
Second reading is the reading of laser radar sensor on the robot fuselage.
S202: obtaining travel track of the robot in the preset time, judges the travel track obtained
It is whether lasting elongated in the preset time, if the travel track is lasting elongated, according to last in the travel track
Position in electronic map corresponding to one tracing point determines the position that the robot skids.
It, can be corresponding at this time ceaselessly in the same place movement up to getting away when being skidded due to usual robot
Travel track can't continue elongated and be concentrated near certain point.Therefore, by obtaining the robot described default
Travel track in time, whether the robot can not only occur to skid carries out secondary judgement, to increase judgement
Accuracy can also obtain the position that robot skids.
In one embodiment, the robot can be obtained by way of positioning in real time in the preset time
Travel track.
It is taken off since the preset movement of robot execution can be controlled in the present invention in time after robot skids
Body.Therefore, the last one tracing point will be the tracing point near skidding region in the travel track of acquisition.Specifically,
In one embodiment, the position approximation in electronic map corresponding to the last one tracing point in the travel track can be made
The position skidded for the robot.
Certainly in practical applications, can also be looked for by counting the distribution situation of all tracing points in the travel track
To a centrostigma, the position that the robot skids is determined further according to this centrostigma found.
S203: the position skidded according to the robot determines the entry region of the robot.
Above-mentioned steps S203 is identical as the step S103 in embodiment one, and specific implementation process can be found in step S101's
Description, so here is no more repetition.
S204: it controls the robot and is moved to other regions in addition to the entry region.
In one embodiment, it can be moved to by controlling the preset movement of robot execution except described forbidden
Other regions other than region, such as a series of combinative movement such as execute retrogressing, twisting, rotation.
S205: being most short to up to path for the robot is planned, to indicate that the robot is reached according to being most short to for planning
Path is moved to the outer boundary of the entry region.
In one embodiment, it can be planned according to the current position of the robot with the electronic map of storage described
It is most short to up to path.
S206: it controls the robot and the entry region is carried out along Bian Qingjie.
In one embodiment, the robot is controlled to the entry region along the clean number in side, such as cleaning one
Step S207 is executed after week.
S207: it controls the robot and is cleaned in other regions in addition to the entry region.
In one embodiment, before executing step S207, further includes:
Cleaning path in planning region, the region are other regions in addition to the entry region.
Therefore the embodiment of the present invention two gives compared to embodiment one and judges whether the robot is currently sent out
The raw specific implementation skidded, can first pass through the first reading and the second reading carries out preliminary judgement, then pass through traveling
Track is judged again, to improve the accuracy whether judgement currently skids；Also, travel track can also be passed through
Determine the position that the robot skids；Further, it is also possible to be carried out to other regions in addition to the entry region
First the outer boundary of the entry region is cleaned before region clean, reaches comprehensive clean purpose, is conducive to further mention
High robot cleaner efficiency and intelligence degree have stronger usability and practicality.
Embodiment three
Fig. 3 is the flow diagram of the method for the control robot cleaner that the embodiment of the present invention three provides, and is to above-mentioned reality
Applying the another refinement of step S101-S102 and step S104 and explanation, this method in example one may comprise steps of:
S301: the first reading and the second reading of the robot are obtained respectively within a preset time, is calculated separately described
It is pre- to judge whether the first reading changing value calculated exceeds first for the changing value of the changing value of first reading and the second reading
If whether value and the second reading changing value exceed the second preset value, if the first reading changing value is default beyond first
It is worth and the second reading changing value is without departing from the second preset value, it is determined that the robot currently skids.
Above-mentioned steps S301 is identical as the step S201 in embodiment one, and specific implementation process can be found in step S201's
Description, so here is no more repetition.
S302: obtaining the current posture information of the pre-stored electronic map of the robot and the robot respectively,
According to the electronic map and posture information of acquisition, position of the robot currently in the electronic map, root are determined
According to the current position in the electronic map of the robot, the position that the robot skids is determined.
In one embodiment, the electronic map includes grating map, and the posture information includes that the robot exists
Two-dimensional plane coordinate and azimuth under real coordinate system.
It should be understood that by obtaining the electronic map and posture information, it can be by the robot under real coordinate system
Location information be converted to location information of the robot under local Coordinate System, to obtain position of the robot in electronic map
It sets.
Since robot is often ceaselessly moved in the same position after skidding until getting away, robot
It the position skidded often will not be far from the position currently in electronic map.It, can be with specifically, in one embodiment
Position approximation by the robot currently in the electronic map is determined as the position that the robot skids.
S303: the position skidded according to the robot determines the entry region of the robot.
S304: it controls the robot and is moved to other regions in addition to the entry region.
S305: being most short to up to path for the robot is planned, to indicate that the robot is reached according to being most short to for planning
Path is moved to the outer boundary of the entry region.
S306: it controls the robot and the entry region is carried out along Bian Qingjie.
S307: it controls the robot and is cleaned in other regions in addition to the entry region.
Above-mentioned steps S303-S307 is identical as the step S203-S207 in embodiment two, and specific implementation process can be found in
The description of step S203-S207, so here is no more repetition.
Therefore the embodiment of the present invention three gives another kind and judges that the robot is current compared to embodiment one
The specific implementation whether skidded, can using the robot currently the position approximation in the electronic map as
The position that the robot skids；Further, it is also possible to carrying out region to other regions in addition to the entry region
First the outer boundary of the entry region is cleaned before cleaning, reaches comprehensive clean purpose, is conducive to further increase machine
Device people cleaning efficiency and intelligence degree have stronger usability and practicality.
Example IV
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.As shown in figure 4, the machine of the embodiment
People 4 includes: processor 40, memory 41 and is stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The processor 40 realizes the step in above method embodiment one, example when executing the computer program 42
The step S101 to S104 as shown in Fig. 1-a.Alternatively, realizing the step in above method embodiment two, such as step shown in Fig. 2
Rapid S201 to S207.Alternatively, realizing the step in above method embodiment three, such as step S301 to S307 shown in Fig. 3.
The robot may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that
Fig. 4 is only the example of robot 4, does not constitute the restriction to robot 4, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the robot can also include input-output equipment, network
Access device, bus etc..
The processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the robot 4, such as the hard disk or memory of robot 4.
The memory 41 is also possible to the External memory equipment of the robot 4, such as the plug-in type being equipped in the robot 4 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 41 can also both include the internal storage unit of the robot 4 or wrap
Include External memory equipment.The memory 41 is for other programs needed for storing the computer program and the robot
And data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method for controlling robot cleaner characterized by comprising
Judge whether the robot currently skids；
If the robot currently skids, it is determined that the position that the robot skids；
According to the position that the robot skids, the entry region of the robot is determined；
The robot is controlled to be cleaned in other regions in addition to the entry region.
2. the method according to claim 1, wherein being determined in the position skidded according to the robot
After the entry region of the robot, further includes:
It controls the robot and is moved to other regions in addition to the entry region.
3. the method according to claim 1, wherein judging whether the robot currently occurs skidding and include:
Obtain the first reading and the second reading of the robot respectively within a preset time；
Calculate separately the changing value of first reading and the changing value of the second reading；
Judge calculate it is described first reading changing value whether exceed the first preset value and it is described second reading changing value whether
Beyond the second preset value；
If the first reading changing value is beyond the first preset value and the second reading changing value is without departing from the second preset value, it is determined that
The robot currently skids.
4. according to the method described in claim 3, it is characterized in that, if the robot currently skids, it is determined that described
The position that robot skids includes:
If the robot currently skids, travel track of the robot in the preset time is obtained；
It is elongated to judge whether the travel track obtained continues in the preset time；
If the travel track is lasting elongated, according to corresponding to the last one tracing point in the travel track electronically
Position in figure determines the position that the robot skids.
5. according to the method described in claim 3, it is characterized in that, if the robot currently skids, it is determined that described
The position that robot skids further include:
If the robot currently skids, the pre-stored electronic map of the robot and the machine are obtained respectively
The current posture information of people；
According to the electronic map and posture information of acquisition, position of the robot currently in the electronic map is determined
It sets；
According to the current position in the electronic map of the robot, the position that the robot skids is determined.
6. the method according to claim 1, wherein determining institute according to the position that the robot skids
The entry region for stating robot includes:
According to the position that the robot skids, the entry region of the robot is determined, the entry region is in institute
The region of addition preset mark in the preset range that rheme is set, the position are the position that the robot skids.
7. method according to any one of claims 1 to 6, which is characterized in that the method also includes:
The robot is controlled to carry out along Bian Qingjie the entry region.
8. the method according to the description of claim 7 is characterized in that carrying out edge to the entry region controlling the robot
Before the cleaning of side, further includes:
Most being short to up to path for the robot is planned, to indicate that the robot is moved to according to being most short to up to path for planning
The outer boundary of the entry region.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 8 times when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 8 of realization the method.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019102374825 | 2019-03-27 | ||
| CN201910237482 | 2019-03-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110123208A true CN110123208A (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910327537.1A Pending CN110123208A (en) | 2019-03-27 | 2019-04-23 | A kind of method and robot controlling robot cleaner |
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| CN110680253A (en) * | 2019-09-25 | 2020-01-14 | 深圳乐动机器人有限公司 | Robot edge cleaning method and robot |
| CN112733922A (en) * | 2021-01-04 | 2021-04-30 | 上海高仙自动化科技发展有限公司 | Method and device for determining forbidden area, robot and storage medium |
| CN114355887A (en) * | 2021-12-03 | 2022-04-15 | 云鲸智能(深圳)有限公司 | Robot narrow passage method and device, robot and storage medium |
| WO2023185345A1 (en) * | 2022-03-30 | 2023-10-05 | 添可智能科技有限公司 | Assisting method for cleaning apparatus and cleaning apparatus |
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