CN110338715B - Method and chip for cleaning floor by intelligent robot and cleaning robot - Google Patents
Method and chip for cleaning floor by intelligent robot and cleaning robot Download PDFInfo
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- CN110338715B CN110338715B CN201910623704.7A CN201910623704A CN110338715B CN 110338715 B CN110338715 B CN 110338715B CN 201910623704 A CN201910623704 A CN 201910623704A CN 110338715 B CN110338715 B CN 110338715B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000008569 process Effects 0.000 claims description 21
- 230000004888 barrier function Effects 0.000 claims description 12
- 238000010408 sweeping Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000004018 waxing Methods 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4063—Driving means; Transmission means therefor
Abstract
The invention relates to a method and a chip for cleaning the ground by an intelligent robot and a cleaning robot. And in the same way, the traversal cleaning of all the areas is completed. In the cleaning modes, the starting point of the robot is used as the circle center, the area to be cleaned is divided into a plurality of small areas, and the small areas are used as units for traversing cleaning. In addition, the robot can avoid leaving and cleaning some areas with smaller entrances in the way.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a method and a chip for cleaning the ground of an intelligent robot and a cleaning robot.
Background
The existing robot SLAM algorithm mainly adopts three ground traversing modes: one is to directly traverse the grid regions one by one, and complete the traversal of the global region after all the grid regions are traversed; the other is that, the global edge is firstly carried out, after a global range is defined, the traversal of the grid regions one by one is carried out; in another example, a grid region is defined first, and after the defined grid region is traversed, the next grid region is defined and traversed. These traversal methods have both advantages and disadvantages. Due to the complexity and diversity of home environments, the existing traversal mode cannot meet all requirements, and more robots with different traversal modes are needed in the market.
Disclosure of Invention
The invention provides a method and a chip for cleaning the ground of an intelligent robot and a cleaning robot, which can improve the cleaning efficiency of the robot. The specific technical scheme of the invention is as follows:
a method for cleaning the ground by an intelligent robot comprises the following steps: step 1: the robot takes the current position as an original point, moves forwards and straightly in a first straight line direction until a wall or an object close to the wall is detected, the position point at the moment is an original starting point, and the step 2 is carried out; step 2: the robot walks along the first edge direction, sets the original starting point as a new starting point, and enters step 3; and step 3: the robot judges whether an included angle between a straight line between the current position and the original point and the direction of the previous straight line reaches a preset angle, if so, the robot enters a step 4, otherwise, the robot continues to walk along the edge until the original initial point is reached, the original initial point is taken as an interruption point, and then the robot enters a step 6; and 4, step 4: the robot stops the edge, determines that the current position is an interruption point, turns to the original point, walks towards the original point along the current linear direction, defines a region to be cleaned after reaching the original point, performs traversal cleaning on the region to be cleaned, and enters step 5 after the cleaning is finished; and 5: the robot returns to the interruption point, sets the interruption point as a new starting point, continues to walk along the edge along the first edge direction, and returns to the step 3; step 6: the robot stops following the edge, turns to the original point, walks towards the original point along the current linear direction, and after reaching the original point, the robot defines the last area to be cleaned and performs traversal cleaning on the area to be cleaned; wherein the current linear direction is a linear direction between the interruption point and the origin point; and the previous straight line direction is a straight line direction from the new starting point to the origin.
Further, the step 1 specifically includes the following steps: step 11: the robot receives a control instruction for starting cleaning, judges whether the robot is on a charging seat, if so, enters step 12, and if not, enters step 13; step 12: the robot retreats from the charging seat, turns to 180 degrees, moves forwards for a first preset distance, and then enters step 14 by taking the current position as the origin; step 13: the robot takes the current position as the origin and goes to step 14; step 14: the robot moves forwards in a straight line in a first straight line direction, and when an obstacle is detected, the step 15 is carried out, wherein the first straight line direction is the direction right ahead when the robot is at the current position; step 15: the robot carries out edge-following on the barrier according to the first edge-following direction, and judges whether the robot returns to the first straight line direction before the edge-following walking distance of the robot reaches the second preset distance, if yes, the step 14 is returned, the robot continues to move forwards and straightly according to the first straight line direction, if not, the robot is determined to detect the wall or an object leaning against the wall, the step 2 is carried out, and the robot continues to carry out edge-following walking according to the first edge-following direction.
Further, the first edge direction is a counterclockwise direction, and the preset angle is 90 °.
Further, in the process that the robot in the step 4 walks towards the origin along the current linear direction, if an obstacle is detected, the following steps are executed: and the robot walks edgewise along one side of the edgewise path positioned on the barrier, and continues to move forwards towards the original point along the current linear direction when the robot walks to the linear path corresponding to the current linear direction.
Further, the robot in step 4 performs traversal cleaning on the area to be cleaned, and specifically includes the following steps: step 41: the robot walks along the straight line path corresponding to the previous straight line direction for a preset interval, and then the step 42 is carried out; step 42: the robot turns, moves straight forward along the direction parallel to the current straight direction, and enters step 43 after reaching the edgewise path; step 43: the robot proceeds edgewise walking in a second edgewise direction opposite to the first edgewise direction, and proceeds to step 44 after walking at a preset interval; step 44: the robot turns, moves straight forward along the direction parallel to the current linear direction, judges whether the robot reaches the end point of the linear path after reaching the linear path in the previous linear direction, if not, returns to the step 41, and if so, enters the step 45; step 45: and the robot judges whether the whole cleaning of the current area to be cleaned is finished, if so, the step 5 is carried out, if not, the block which is not cleaned is continuously subjected to supplementary scanning, and the step 5 is carried out after the supplementary scanning is finished.
Further, in the process of traversing and cleaning the area to be cleaned by the robot, if an obstacle is detected, the robot walks edgewise along one side of the obstacle in the current linear direction until the robot returns to the linear path corresponding to the obstacle detected by the robot, and then continues to walk along the linear path.
Further, the robot in step 4 performs traversal cleaning on the area to be cleaned, and specifically includes the following steps: step 41: the robot walks along the linear path corresponding to the current linear direction for a preset interval, and then the step 42 is carried out; step 42: the robot turns, goes straight ahead along the direction parallel to the previous straight direction, and enters step 43 after reaching the edgewise path; step 43: the robot walks edgewise along the first edgewise direction, and enters step 44 after walking at preset intervals; step 44: the robot turns, moves straight forward along the direction parallel to the previous straight line direction, judges whether the end point of the straight line path is reached after the robot reaches the straight line path in the current straight line direction, if not, returns to the step 41, and if so, enters the step 45; step 45: and the robot judges whether the whole cleaning of the current area to be cleaned is finished, if so, the step 5 is carried out, if not, the block which is not cleaned is continuously subjected to supplementary scanning, and the step 5 is carried out after the supplementary scanning is finished.
Further, in the process of traversing and cleaning the area to be cleaned by the robot, if an obstacle is detected, the robot walks edgewise along one side of the obstacle in the previous linear direction until the robot returns to the linear path corresponding to the obstacle detected by the robot, and then continues to walk along the linear path.
A chip is used for storing program instructions for controlling a robot to execute the intelligent robot floor cleaning method.
A cleaning robot comprises a main control chip, wherein the main control chip is the chip.
According to the method and the chip for cleaning the ground of the intelligent robot and the cleaning robot, the robot defines an area to be cleaned in a mode of combining an included angle straight edge and a marginal edge, after the area is traversed and cleaned, the next area to be cleaned is defined in the same mode, and then traversal and cleaning are continuously carried out. And in the same way, the traversal cleaning of all the areas is completed. In the cleaning modes, the starting point of the robot is used as the circle center, the area to be cleaned is divided into a plurality of small areas, and the small areas are used as units for traversing cleaning. In addition, the robot can avoid leaving and cleaning some areas with smaller entrances in the way.
Drawings
Fig. 1 is a schematic diagram of a walking route of an intelligent robot for cleaning a floor according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the intelligent robot walking forward in a first straight direction according to the embodiment of the present invention.
Fig. 3 is a schematic view illustrating the robot detecting an obstacle when the robot travels straight in the direction of the origin according to the embodiment of the present invention.
Fig. 4 is a diagram illustrating an embodiment of the robot for performing traversal cleaning on a region to be cleaned according to the present invention.
Fig. 5 is a first schematic walking diagram of the robot for detecting the obstacle in the process of traversing and cleaning the area to be cleaned according to the invention.
Fig. 6 is another embodiment of the robot for performing traversal cleaning on the area to be cleaned according to the invention.
Fig. 7 is a second schematic view of the robot walking when detecting an obstacle during the process of traversing and cleaning the area to be cleaned according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention. In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.
The following embodiments refer to wall-adjacent objects, such as wardrobes, television cabinets, sofas, etc. that are adjacent to a wall. The isolated barrier is an object which is not close to a wall, and the robot can walk along the outer edge of the object for a circle, such as a tea table, a dining table and the like in the center of a living room.
A method for cleaning the ground by an intelligent robot comprises a sweeping robot, a mopping robot, a floor polishing robot or a floor waxing robot and the like. The robot can perform positioning, obstacle type determination, obstacle avoidance and other behaviors through a camera, a laser radar and other sensors. The following mentioned traversal means that the robot walks all over the ground of the area where the robot is located. When the robot completes the traversal of the area, it indicates that the robot has completed cleaning of the area. The cleaning is not limited to sweeping and dust collection, and can also refer to cleaning functions of mopping, polishing or waxing and the like. Namely, the robot can sweep and suck dust, mop the floor, polish or wax the floor according to the method for cleaning the floor.
The method for cleaning the ground by the intelligent robot specifically comprises the following steps: in step 1, the robot moves forward and straight in a first linear direction by taking the current position as an origin until a wall or an object near the wall is detected, wherein the first linear direction is the current forward direction of the robot. The robot determines the position point at this time as the original starting point, and then proceeds to step 2. In step 2, the robot walks along the first edge direction, the original starting point is set as a new starting point, the first edge direction may be a counterclockwise edge direction or a clockwise edge direction, and the first edge direction may be set according to the product design requirements. When the robot actually walks along the edge, the robot performs edge detection by using a right sensor, and then walks along the edge anticlockwise; the robot uses the left sensor to carry out edge detection, and then walks clockwise along the edge. When the robot walks along the side, the process proceeds to step 3. In step 3, the robot walks along the edge and judges whether an included angle between a straight line from the current position to the original point and the direction of the previous straight line reaches a preset angle in real time, wherein the preset angle can be set to be any angle between 60 degrees and 120 degrees. If the preset angle is reached, which indicates that the robot has already planned a sufficient range of cleaning areas, the process proceeds to step 4 to start area cleaning. Otherwise, continuing to walk along the edge, if the robot reaches the original starting point but does not reach the preset angle, indicating that the current pre-defined area is the last remaining uncleaned area, taking the original starting point as an interruption point by the robot, and only cleaning the remaining area, so that the step 6 is entered. In step 4, the robot stops following the edge, determines that the current position is an interruption point, turns to the original point, walks towards the original point along the current linear direction, defines a region to be cleaned after reaching the original point, performs traversal cleaning on the region to be cleaned, and enters step 5 after the cleaning is finished. In step 5, the robot returns to the interruption point, sets the interruption point as a new starting point, continues to walk along the first edge direction, returns to step 3, and continues to circle the next region to be cleaned for traversal cleaning. In step 6, the robot stops following the edge, turns to the origin, walks towards the origin along the current straight line direction, and after reaching the origin, the robot defines the last area to be cleaned and performs traversal cleaning on the area to be cleaned, thereby completing the floor cleaning of all areas. Wherein the current linear direction is a linear direction between the interruption point and the origin point; and the previous straight line direction is a straight line direction from the new starting point to the origin.
As shown in fig. 1, the outermost rectangular frame represents an area surrounded by four walls, point P is the current position of the robot, and the robot uses point P as the origin. The robot starts straight to the right from the origin and detects the wall on the right side at point B. Then, the robot turns upward, performs edgewise detection with the right sensor, and starts counterclockwise edgewise walking. The robot walks along the edge and judges whether the included angle between the straight line between the current position and the point P and the straight line direction PB reaches a preset angle of 90 degrees. When the robot walks to the point A, the included angle between the straight line PA and the straight line PB just reaches 90 degrees, so the robot takes the point A as an interruption point, turns to the direction at the point A and walks along the straight line direction AP towards the point P. After reaching the point P, a to-be-cleaned area PBA is defined, and the robot performs traversal cleaning on the area. After cleaning, the robot returns to the point A, the robot continues to walk along the side, when the robot walks to the point F, the included angle between the linear direction FP and the linear direction AP is 90 degrees, the robot takes the point F as an interruption point, walks towards the point P along the linear direction FP, after the robot reaches the point P, a region PAF to be cleaned is defined, and the robot traverses and cleans the region. After the cleaning is finished, the robot returns to the point F to continue to walk along the edge, and according to the same manner, after the robot finishes traversing and cleaning the area PFD to be cleaned and the area PDB to be cleaned, the cleaning of all the areas is finished. It should be noted that when the robot walks from point D to point B along the edge, the preset angle is just reached, and the robot returns to the starting point B, so that the robot can walk straight towards point P with point B as an interruption point to define the area to be cleaned PDB. If the robot walks to the starting point B along the edge, the preset angle is not reached, the robot is indicated to walk around the whole area along the edge for one circle, the preset angle does not need to be reached along the edge any more, and therefore the robot can directly walk from the starting point B to the point P in a straight line to define the final area PDB to be cleaned.
In the method of this embodiment, the robot defines an area to be cleaned by using a combination of an included angle straight edge (PB, PA, PF, etc.) and a following edge (BA, AF, FD, etc.), and after traversing and cleaning of the area is completed, a next area to be cleaned is defined by using the same manner, and then the traversing and cleaning are continued. And in the same way, the traversal cleaning of all the areas is completed. In the cleaning modes, the starting point of the robot is used as the circle center, the area to be cleaned is divided into a plurality of small areas, and the small areas are used as units for traversing cleaning. In addition, the robot can avoid leaving and cleaning some areas with smaller entrances in the way.
As one embodiment, the step 1 specifically includes steps 11 to 15. In step 11, the robot receives a control command for starting cleaning, where the control command may be sent by a user through a remote controller or sent by directly operating a control key on a robot panel. Then, the robot judges whether the robot is on the charging seat, and the judging mode can be detected and judged through the charging circuit. When the robot detects that the robot is currently located on the charging seat, step 12 is performed, the robot retreats from the charging seat, turns to 180 degrees, and then moves forward for a first preset distance, wherein the first preset distance can be configured according to the design requirements of products, and can be generally configured to any value between 1 meter and 3 meters, preferably 2 meters. Then the robot takes the current position as the origin, because the charging seat is generally placed at the position close to the wall in the middle of the room, the robot needs to perform circumferential division based on the origin, and only 180-degree division can be performed on the charging seat, so that the robot needs to walk to a point as close to the middle of the area as possible, so that the robot can better utilize the method to perform cleaning, and the cleaning effect is better. The robot walks a first preset distance and then proceeds to step 14. In step 14, the robot moves straight ahead in a first straight direction, which is the direction directly ahead when the robot is at the current position, and when an obstacle is detected, the process proceeds to step 15. In step 15, the robot edgewise walks the obstacle counterclockwise, and determines whether the robot returns to the first straight line direction before the edgewise walking distance reaches a second preset distance, where the second preset distance may be configured according to a specific product design and may generally be set to 1.5 meters. As shown in fig. 2, when the robot moves straight forward from point P to point P1, the robot detects an obstacle M, the robot moves along the obstacle M with the right-side edge sensor, and the robot generally determines whether to return to the straight line direction PB, and the robot moves straight to point P2, and then the robot returns to the straight line direction PB, and the distance the robot travels along the edge of the obstacle M does not reach the second preset distance, so the process returns to step 14, and the robot continues to travel forward from point P2 to point B along the straight line direction PB. When the robot walks to the point B, the robot detects the obstacle again, the robot continues to utilize the edgewise sensor on the right side to perform edgewise walking, the robot walks upwards and edgewise along the obstacle all the time, when the robot walks to the point p3, the robot has already walked the second preset distance, but the robot does not return to the linear direction PB yet, so the robot determines that the obstacle detected at present is a wall or an object close to the wall, and the process enters the step 2, and the robot continues to walk edgewise along the wall according to the anticlockwise edgewise direction. According to the method, whether the detected barrier is a wall or an object close to the wall is judged according to the distance of walking along the edge, the robot can be accurately and efficiently controlled to execute the action along the wall or the object close to the wall, the robot is further ensured to comprehensively define the area within the preset angle range, and the problem of cleaning leakage is effectively avoided.
Preferably, the first edge direction is a counterclockwise direction, and the preset angle is 90 °. The arrangement can reasonably divide the blocks so as to improve the cleaning efficiency of the robot.
As an embodiment, in the process that the robot in the step 4 walks toward the origin along the current linear direction, if an obstacle is detected, the following steps are performed: and the robot walks edgewise along one side of the edgewise path positioned on the barrier, and continues to move forwards towards the original point along the current linear direction when the robot walks to the linear path corresponding to the current linear direction. As shown in fig. 3, when the robot travels straight from point a to point P and reaches point P4, the obstacle M is detected. The robot turns to the left, continues to utilize its edgewise sensor on right side to carry out edgewise walking to barrier M, passes through point p5, point p6 and point p7 in proper order, and at this moment, the one side of barrier M that the robot followed is this side that is located edgewise route BA of barrier M, so can rationally circle the region of treating cleaning, avoids the left side of barrier M too big, and if the robot carries out left side edgewise to barrier M, can consume the plenty of time on edgewise route, can greatly reduced the robot like this and circle the efficiency in the region of treating cleaning. Therefore, the robot walks edgewise along one side of the edgewise path of the obstacle, the area to be cleaned can be efficiently defined, and the cleaning efficiency of the robot is improved. When the robot returns to the linear direction AP at point P7, the robot continues to travel straight in the linear direction AP toward point P. If an obstacle is detected again during walking, the edgewise processing is continued in the same manner until the robot returns to point P.
As one embodiment, the robot in step 4 performs traversal cleaning on the area to be cleaned, specifically including the following steps 41 to 45. In step 41, the robot travels along the straight path corresponding to the previous straight direction for a preset interval, and then the process goes to step 42, where the preset interval may be set according to the product design requirement, and is generally set to the width of the robot body. In step 42 the robot turns, travels straight ahead in a direction parallel to said current straight direction, and after reaching the edgewise path, proceeds to step 43. In step 43, the robot walks edgewise in a second edgewise direction opposite to the first edgewise direction, and proceeds to step 44 after walking a predetermined interval. In step 44, the robot turns, moves straight forward along a direction parallel to the current linear direction, and after reaching the linear path in the previous linear direction, determines whether the end point of the linear path is reached, where the end point is the last cleaning point in the linear path, that is, when the robot reaches the last cleaning point, the cleaning of the area corresponding to the linear path is completed. If the end point of the straight path is not reached, the flow returns to step 41 to continue the arcuate path cleaning. If the end of the straight path is reached, step 45 is entered. In step 45, the robot determines whether to complete the cleaning of the current area to be cleaned, the determination is performed in such a way that the robot searches a map constructed in the walking process, analyzes whether an interface between a cleaned area and an uncleaned area exists in the current area to be cleaned, the length of the interface is greater than the width of the robot body, if the interface exists, the robot navigates to the positions of the interface, and continues to perform supplementary scanning on the areas which are not cleaned, the supplementary scanning is also performed in the manner of the bow-shaped cleaning, and the step 5 is performed after the supplementary scanning is completed. If the search map finds that there are no such boundary lines, which indicates that the cleaning of the current cleaning area is completed, the process goes directly to step 5 to perform the next operation.
As shown in fig. 4, the robot starts from point P, passes through points B and a in sequence, and then returns to point P, and defines a square area to be cleaned PBA, where AP is the current straight direction and PB is the previous straight direction. Then, the robot walks rightwards for a distance of the body width from the point P to the point k1, then turns to walk upwards to the point k2, turns to the point again, walks rightwards for a distance of the body width to the point k3, turns to the point again, walks downwards to the point k4, then turns to the point k5 again, and so on, the robot performs the bow-shaped cleaning according to the track form similar to the bow shape, and walks to the point k 6. Since the point k6 is the end point of the straight line path in the previous straight line direction PB, the robot determines that there is still one long block above the straight line path without cleaning, and therefore the robot continues to move upward to the point k 7. And searching the map after the robot reaches the point k7, determining that the complete sweeping of the current to-be-cleaned area PBA is completed, and then the robot walks to the point A from the point k7 to continue the delineation and cleaning of the next to-be-cleaned area.
According to the method, the straight path corresponding to the straight direction is used as the reference edge to carry out the bow-shaped planning and cleaning, and the mode of final supplementary cleaning is combined, so that the cleaning of the whole area can be ensured, and the cleaning efficiency and the cleaning coverage rate are effectively guaranteed.
As one embodiment, in the process of traversing and cleaning the area to be cleaned by the robot, if an obstacle is detected, the robot walks edgewise along one side of the obstacle in the current linear direction until the robot returns to the linear path corresponding to the obstacle detected by the robot, and then continues to walk along the linear path. As shown in fig. 5, the robot performs traversal cleaning on the PBCDA to be cleaned, starts the zigzag cleaning from point a, and detects the obstacle M when the robot walks to point b. At this time, since the linear direction AP is the current linear direction, the linear direction PB is the previous linear direction, and the left side of the obstacle M is located on the current linear direction side, the robot turns left and travels along the obstacle edge to the point e along the route trajectory of bcde. Then, the robot travels from point f to point g and detects the obstacle M, and the left side of the obstacle M is still located on one side of the current straight line direction, so the robot travels along the route trajectory gdcbh to point B. Then, the robot walks to the point i along the path BC and moves to the point j, and the PBCDA of the current area to be cleaned is completed. According to the method, when the robot encounters an obstacle in the traversal cleaning process, the robot walks edgewise along one side of the obstacle in the current linear direction, so that the walking planning performance of the robot can be guaranteed, the condition of missing sweeping is avoided, and the cleaning quality of the robot is improved.
As one embodiment, the robot in step 4 performs traversal cleaning on the area to be cleaned, specifically including the following steps 41 to 45. In step 41, the robot walks along a linear path corresponding to the current linear direction for a preset interval, and then the step 42 is performed, wherein the preset interval can be correspondingly set according to the product design requirement and is generally set as the width of the robot body. In step 42 the robot turns, travels straight ahead in a direction parallel to the last straight direction, reaches an edgewise path and proceeds to step 43. In step 43, the robot walks along the first edge direction, which is the counterclockwise direction, and then proceeds to step 44 after walking at preset intervals. In step 44, the robot turns, moves straight forward along a direction parallel to the previous straight line direction, and after reaching the straight line path in the current straight line direction, determines whether the end point of the straight line path is reached, where the end point is the last cleaning point in the straight line path, that is, when the robot reaches the last cleaning point, the cleaning of the area corresponding to the straight line path is completed. If the end point of the straight path is not reached, the flow returns to step 41 to continue the arcuate path cleaning. If the end of the straight path is reached, step 45 is entered. In step 45, the robot determines whether to complete the cleaning of the current area to be cleaned, the determination is performed in such a way that the robot searches a map constructed in the walking process, analyzes whether an interface between a cleaned area and an uncleaned area exists in the current area to be cleaned, the length of the interface is greater than the width of the robot body, if the interface exists, the robot navigates to the positions of the interface, and continues to perform supplementary scanning on the areas which are not cleaned, the supplementary scanning is also performed in the manner of the bow-shaped cleaning, and the step 5 is performed after the supplementary scanning is completed. If the search map finds that there are no such boundary lines, which indicates that the cleaning of the current cleaning area is completed, the process goes directly to step 5 to perform the next operation.
As shown in fig. 6, the robot starts from point P, passes through points B and a in sequence, and then returns to point P, and defines a square area to be cleaned PBA, where PA is the current straight direction and PB is the previous straight direction. Then, the robot starts from the point P and walks upwards for a distance of the body width along the direction PA to reach the point k1, then turns to walk rightwards to the point k2, turns to the next time, walks upwards for a distance of the body width to reach the point k3, turns to the next time, walks leftwards to the point k4, then turns to the next time, walks upwards to the point k5, and so on, the robot performs the bow-shaped cleaning according to the track form similar to the bow shape, and walks to the point k 6. Since the point k6 is the end point of the straight path in the current straight direction PA, the robot determines that there is still one long block on the right side that is not being cleaned, and therefore, the robot continues to travel to the right to the point k 7. And searching the map after the robot reaches the point k7, determining that the complete sweeping of the current to-be-cleaned area PBA is completed, and then the robot walks to the point A from the point k7 to continue the delineation and cleaning of the next to-be-cleaned area.
According to the method, the straight path corresponding to the current straight direction is used as the reference edge to carry out the bow-shaped planning and cleaning, and the mode of final supplementary cleaning is combined, so that the cleaning of the whole area can be ensured, and the cleaning efficiency and the cleaning coverage rate are effectively guaranteed.
As one embodiment, in the process of traversing and cleaning the area to be cleaned by the robot, if an obstacle is detected, the robot walks edgewise along one side of the obstacle in the previous linear direction until the robot returns to the linear path corresponding to the obstacle detected by the robot, and then continues to walk along the linear path. As shown in fig. 7, the robot performs traversal cleaning on the area to be cleaned PBA, starts from point a to point b, performs zigzag cleaning, and detects the obstacle M when the robot travels to point c. At this time, since the linear direction PA is the current linear direction, the linear direction PB is the previous linear direction, and the lower side of the obstacle M is located on one side of the previous linear direction, the robot turns right, travels to the point f along the edge of the obstacle along the route track of cdef, and continues to travel straight after bypassing the obstacle M. The robot walks to the point g all the time in a bow-shaped cleaning mode to reach the key point of the straight path corresponding to the current straight direction, at the moment, the robot searches a map to judge that an uncleaned block is arranged on the right side, so the robot continues to walk to the point h rightwards to complete traversal cleaning of the current area to be cleaned PBA. According to the method, when the robot encounters an obstacle in the traversal cleaning process, the robot walks edgewise along one side of the obstacle in the previous straight line direction, so that the walking planning of the robot can be ensured, the condition of missing sweeping is avoided, and the sweeping quality of the robot is improved.
A chip is used for storing program instructions for controlling a robot to execute the intelligent robot floor cleaning method. The chip control robot defines an area to be cleaned in a mode of combining an included angle straight edge (PB, PA, PF or the like) and a marginal edge (BA, AF, FD or the like), defines the next area to be cleaned in the same mode after traversing and cleaning the area, and then continues to traverse and clean. And in the same way, the traversal cleaning of all the areas is completed. In the cleaning modes, the starting point of the robot is used as the circle center, the area to be cleaned is divided into a plurality of small areas, and the small areas are used as units for traversing cleaning. In addition, the robot can avoid leaving and cleaning some areas with smaller entrances in the way.
A cleaning robot comprises a main control chip, wherein the main control chip is the chip. The cleaning robot provided with the main control chip defines an area to be cleaned in a mode of combining an included angle straight edge (PB, PA, PF or the like) and a marginal edge (BA, AF, FD or the like), defines the next area to be cleaned in the same mode after traversing and cleaning the area, and then continues to traverse and clean. And in the same way, the traversal cleaning of all the areas is completed. In the cleaning modes, the starting point of the robot is used as the circle center, the area to be cleaned is divided into a plurality of small areas, and the small areas are used as units for traversing cleaning. In addition, the robot can avoid leaving and cleaning some areas with smaller entrances in the way.
The sensor for detecting an obstacle described in each of the above embodiments refers to an infrared sensor or a mechanical collision sensor for detecting an obstacle. The edge sensor is an infrared sensor, an ultrasonic sensor, a laser sensor or the like which is arranged at the side of the robot and is used for detecting an object positioned at the side of the robot.
The linear direction AP and the linear direction PA described in the above embodiments may both refer to the direction indicated by the linear line PA.
In the following embodiments, when a name is preceded by a first, second, third, etc. quantitative term, the name can be directly used as a general name.
In the above embodiments, directional words such as "up", "down", "left", and "right" refer to directions such as up, down, left, and right in the drawings, unless otherwise specified. If the specific description exists, the specific description definition is carried out, for example, the left side of the robot refers to the left side of the forward direction of the robot, and does not refer to the left side of the drawing.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for cleaning the floor by an intelligent robot is characterized by comprising the following steps:
step 1: the robot takes the current position as an original point, moves forwards and straightly in a first straight line direction until a wall or an object close to the wall is detected, the position point at the moment is an original starting point, and the step 2 is carried out;
step 2: the robot walks along the first edge direction, sets the original starting point as a new starting point, and enters step 3;
and step 3: the robot judges whether an included angle between a straight line between the current position and the original point and the direction of the previous straight line reaches a preset angle, if so, the robot enters a step 4, otherwise, the robot continues to walk along the edge until the original initial point is reached, the original initial point is taken as an interruption point, and then the robot enters a step 6;
and 4, step 4: the robot stops the edge, determines that the current position is an interruption point, turns to the original point, walks towards the original point along the current linear direction, defines a region to be cleaned after reaching the original point, performs traversal cleaning on the region to be cleaned, and enters step 5 after the cleaning is finished;
and 5: the robot returns to the interruption point, sets the interruption point as a new starting point, continues to walk along the edge along the first edge direction, and returns to the step 3;
step 6: the robot stops following the edge, turns to the original point, walks towards the original point along the current linear direction, and after reaching the original point, the robot defines the last area to be cleaned and performs traversal cleaning on the area to be cleaned;
wherein the current linear direction is a linear direction between the interruption point and the origin point;
and the previous straight line direction is a straight line direction from the new starting point to the origin.
2. The method according to claim 1, characterized in that said step 1 comprises in particular the steps of:
step 11: the robot receives a control instruction for starting cleaning, judges whether the robot is on a charging seat, if so, enters step 12, and if not, enters step 13;
step 12: the robot retreats from the charging seat, turns to 180 degrees, moves forwards for a first preset distance, and then enters step 14 by taking the current position as the origin;
step 13: the robot takes the current position as the origin and goes to step 14;
step 14: the robot moves forwards in a straight line in a first straight line direction, and when an obstacle is detected, the step 15 is carried out, wherein the first straight line direction is the direction right ahead when the robot is at the current position;
step 15: the robot carries out edge-following on the barrier according to the first edge-following direction, and judges whether the robot returns to the first straight line direction before the edge-following walking distance of the robot reaches the second preset distance, if yes, the step 14 is returned, the robot continues to move forwards and straightly according to the first straight line direction, if not, the robot is determined to detect the wall or an object leaning against the wall, the step 2 is carried out, and the robot continues to carry out edge-following walking according to the first edge-following direction.
3. The method of claim 2, wherein the first edgewise direction is counterclockwise and the preset angle is 90 °.
4. The method according to claim 3, wherein during the robot walking along the current linear direction toward the origin in step 4, if an obstacle is detected, the following steps are performed:
and the robot walks edgewise along one side of the edgewise path positioned on the barrier, and continues to move forwards towards the original point along the current linear direction when the robot walks to the linear path corresponding to the current linear direction.
5. The method according to claim 4, wherein the robot in step 4 performs traversal cleaning on the area to be cleaned, and specifically comprises the following steps:
step 41: the robot walks along the straight line path corresponding to the previous straight line direction for a preset interval, and then the step 42 is carried out;
step 42: the robot turns, moves straight forward along the direction parallel to the current straight direction, and enters step 43 after reaching the edgewise path;
step 43: the robot proceeds edgewise walking in a second edgewise direction opposite to the first edgewise direction, and proceeds to step 44 after walking at a preset interval;
step 44: the robot turns, moves straight forward along the direction parallel to the current linear direction, judges whether the robot reaches the end point of the linear path after reaching the linear path in the previous linear direction, if not, returns to the step 41, and if so, enters the step 45;
step 45: and the robot judges whether the whole cleaning of the current area to be cleaned is finished, if so, the step 5 is carried out, if not, the block which is not cleaned is continuously subjected to supplementary scanning, and the step 5 is carried out after the supplementary scanning is finished.
6. The method according to claim 5, wherein in the process of traversing and cleaning the area to be cleaned by the robot, if an obstacle is detected, the robot walks edgewise along one side of the obstacle in the current linear direction until the robot returns to the linear path corresponding to the obstacle detected by the robot, and then continues to walk along the linear path.
7. The method according to claim 4, wherein the robot in step 4 performs traversal cleaning on the area to be cleaned, and specifically comprises the following steps:
step 41: the robot walks along the linear path corresponding to the current linear direction for a preset interval, and then the step 42 is carried out;
step 42: the robot turns, goes straight ahead along the direction parallel to the previous straight direction, and enters step 43 after reaching the edgewise path;
step 43: the robot walks edgewise along the first edgewise direction, and enters step 44 after walking at preset intervals;
step 44: the robot turns, moves straight forward along the direction parallel to the previous straight line direction, judges whether the end point of the straight line path is reached after the robot reaches the straight line path in the current straight line direction, if not, returns to the step 41, and if so, enters the step 45;
step 45: and the robot judges whether the whole cleaning of the current area to be cleaned is finished, if so, the step 5 is carried out, if not, the block which is not cleaned is continuously subjected to supplementary scanning, and the step 5 is carried out after the supplementary scanning is finished.
8. The method of claim 7, wherein during the traversal cleaning of the area to be cleaned by the robot, if an obstacle is detected, the robot walks edgewise along one side of the obstacle in the previous straight line direction until the robot returns to the straight line path corresponding to the obstacle detected by the robot, and then continues to walk along the straight line path.
9. A chip for storing program instructions for controlling a robot to perform the method of cleaning a floor by an intelligent robot according to any one of claims 1 to 8.
10. A cleaning robot comprising a master control chip, wherein the master control chip is the chip of claim 9.
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| CN110362079B (en) * | 2019-07-11 | 2022-07-08 | 珠海一微半导体股份有限公司 | Traversal control method and chip of robot and cleaning robot |
| CN111067430B (en) * | 2019-12-27 | 2022-08-19 | 美智纵横科技有限责任公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| CN111290388B (en) * | 2020-02-25 | 2022-05-13 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
| CN113662476B (en) * | 2020-05-14 | 2023-04-04 | 杭州萤石软件有限公司 | Method and system for improving cleaning coverage rate of movable cleaning robot |
| CN111721280B (en) * | 2020-05-25 | 2022-05-31 | 科沃斯机器人股份有限公司 | Area identification method, self-moving equipment and storage medium |
| CN111802962A (en) * | 2020-06-30 | 2020-10-23 | 深圳乐动机器人有限公司 | Robot cleaning method and device, robot and storage medium |
| CN112595311A (en) * | 2020-12-08 | 2021-04-02 | 深圳市银星智能科技股份有限公司 | Cleaning path planning method and device, mobile robot and storage medium |
| EP4059403B8 (en) * | 2021-01-19 | 2023-12-27 | Yituo Electric Co., Ltd. | Control method and control device of cleaning equipment |
| CN113589806A (en) * | 2021-07-21 | 2021-11-02 | 珠海一微半导体股份有限公司 | Strategy control method for robot walking in Chinese character' gong |
| CN113934218B (en) * | 2021-11-16 | 2022-03-25 | 杭州云象商用机器有限公司 | Cleaning robot path planning method, device, equipment and storage medium |
| CN114617484A (en) * | 2021-11-30 | 2022-06-14 | 追觅创新科技(苏州)有限公司 | Cleaning method of cleaning device, and storage medium |
| CN117311367B (en) * | 2023-11-23 | 2024-04-19 | 科沃斯家用机器人有限公司 | Control method and control unit of self-mobile device and self-mobile device |
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| JPH11102220A (en) * | 1997-09-26 | 1999-04-13 | Minolta Co Ltd | Controller for moving body |
| CN103099586B (en) * | 2013-03-06 | 2016-03-02 | 重庆艾亿佳智能技术有限公司 | A kind of clean method along limit navigation to the clean robot of middle expansion |
| CN109199245A (en) * | 2018-09-30 | 2019-01-15 | 江苏美的清洁电器股份有限公司 | Sweeper and its control method and control device |
| CN109528090A (en) * | 2018-11-24 | 2019-03-29 | 珠海市微半导体有限公司 | The area coverage method and chip and clean robot of a kind of robot |
| CN109464074B (en) * | 2018-11-29 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | Area division method, subarea cleaning method and robot thereof |
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