CN110786783B

CN110786783B - Cleaning method of cleaning robot and cleaning robot

Info

Publication number: CN110786783B
Application number: CN201810867142.6A
Authority: CN
Inventors: 刘章林; 张一茗; 陈震
Original assignee: Qfeeltech Beijing Co Ltd
Current assignee: Qfeeltech Beijing Co Ltd
Priority date: 2018-08-01
Filing date: 2018-08-01
Publication date: 2022-03-15
Anticipated expiration: 2038-08-01
Also published as: CN110786783A

Abstract

The invention provides a cleaning method of a cleaning robot and the cleaning robot, which can effectively clean stubborn scales which are difficult to clean by a conventional method and greatly improve the cleaning effect by acquiring an initial course, then moving in a cross mode, cleaning the area covered by a motion track and realizing the regular cross of the track for many times in the cross mode so as to repeatedly clean each area of an area to be cleaned from different angles.

Description

Cleaning method of cleaning robot and cleaning robot

Technical Field

The invention relates to the technical field of smart homes, in particular to a cleaning method of a cleaning robot and the cleaning robot.

Background

At present, various robots gradually enter the daily life of people, and gradually replace human beings to undertake more and more housework, for example, at present, many cleaning robots can perform repeated housework such as sweeping, mopping and the like, and people are liberated from heavy daily housework.

However, market research finds that many people still do not want to use the cleaning robot to clean the floor at home, because the cleaning route of the "bow" (also called "zigzag") generally used by the cleaning robot at present cannot clean the floor to the cleanliness that can be achieved by human home service staff, so that users need to clean the floor again after using the cleaning robot to clean the floor, and thus the manpower cannot be completely saved.

Disclosure of Invention

The invention provides a cleaning method of a cleaning robot and the cleaning robot, which are used for repeatedly cleaning different angles of an area to be cleaned and improving the cleaning effect.

An aspect of the present invention provides a cleaning method of a cleaning robot, including:

the cleaning robot acquires an initial course;

executing a cross mode; cleaning the area covered by the motion trail of the cross mode;

wherein the interleaved pattern comprises first and second actions performed in alternating cycles;

wherein the first action comprises:

the cleaning robot moves a first displacement L1 along the initial heading;

rotating the first rotating direction by a first angle alpha 1;

a moving second displacement L2;

rotating by a second angle α 2 in the first rotational direction;

moving a third displacement L3, the third displacement L3 intersecting the trajectory of the first displacement L1;

rotating the second rotating direction by a third angle alpha 3;

moving the fourth displacement L4, wherein the end point of the fourth displacement L4 has an offset with respect to the start point of the first displacement L1;

the second action comprises:

rotating the fourth angle α 4 to return to the initial heading.

Further, the performing the cross mode and cleaning the area covered by the motion trail of the cross mode may include:

acquiring the boundary of an area to be cleaned;

within a range defined by a boundary of the area to be cleaned, the cleaning robot executes the cross mode; and cleaning the area covered by the crossed mode motion trail.

Further, the method may further include:

obtaining a first reference line and a second reference line according to the boundary of the region to be cleaned, and determining at least one displacement and one angle of the first displacement L1, the second displacement L2, the third displacement L3, the fourth displacement L4, the first angle α 1, the second angle α 2 and the third angle α 3 according to the first reference line and the second reference line; or

Obtaining a first reference line and a cleaning main direction according to the boundary of the region to be cleaned, and determining at least one displacement and one angle among the first displacement L1, the second displacement L2, the third displacement L3, the fourth displacement L4, the first angle α 1, the second angle α 2, and the third angle α 3 according to the first reference line and the cleaning main direction.

Further, the first angle α 1 may be equal to the fourth angle α 4; and/or the second angle a2 may be equal to the third angle a 3.

Further, the cross mode may further include: at least one third action;

the first action, the second action, and the third action are performed in a preset sequence in an alternating cycle.

Further, before the obtaining the initial heading and performing the cross-mode motion, the method may further include:

autonomously selecting the crossover pattern; or

Receiving a mode selection instruction, and if the mode selection instruction is a cross mode selection instruction, selecting the cross mode;

if the mode selection instruction is a comprehensive mode selection instruction, moving in a comprehensive mode, and cleaning an area covered by a movement track of the comprehensive mode; wherein the synthesis mode is at least one other mode and the cross mode are alternately executed in a predetermined rule or random mode;

when the cross mode is connected with the other modes, the cross mode carries out steering recovery to the initial course through the second action; or

The cross mode takes the initial course of the other modes as the initial course; or

And the cross mode takes the ending course of the other modes as the initial course.

Another aspect of the present invention provides a cleaning robot including:

the moving unit is used for driving the cleaning robot to move;

the control unit is used for acquiring an initial course; controlling a motion unit to perform a cross mode motion; controlling a cleaning unit to clean an area covered by the motion trail;

the cleaning unit is used for cleaning an area covered by the motion trail of the motion unit;

wherein the interleaved pattern comprises first and second actions performed in alternating cycles; wherein the first action comprises: the cleaning robot moves a first displacement L1 along the initial heading; rotating the first rotating direction by a first angle alpha 1; a moving second displacement L2; rotating by a second angle α 2 in the first rotational direction; moving a third displacement L3, the third displacement L3 intersecting the trajectory of the first displacement L1; rotating the second rotating direction by a third angle alpha 3; moving the fourth displacement L4, wherein the end point of the fourth displacement L4 has an offset with respect to the start point of the first displacement L1; the second action comprises: rotating the fourth angle α 4 to return to the initial heading.

Further, the cross mode may further include: at least one third action;

Further, the control unit may be further configured to:

controlling the motion unit to move in a comprehensive mode, and controlling the cleaning unit to clean an area covered by the motion trail of the comprehensive mode; wherein the synthesis mode is at least one other mode and the cross mode are alternately executed in a predetermined rule or random mode;

when the cross mode is connected with the other modes, the cross mode can be steered and restored to the initial heading through the second action; or

The cross mode may have a starting heading of the other mode as the initial heading; or

The cross mode may have the terminating heading of the other mode as the initial heading.

According to the cleaning method of the cleaning robot and the cleaning robot, the initial course is obtained, then the cleaning robot moves in the cross mode, the area covered by the movement track is cleaned, and the track is regularly crossed for many times in the cross mode, so that each area of the area to be cleaned is repeatedly cleaned from different angles, stubborn dirt which is difficult to clean in the conventional method can be effectively cleaned, and the cleaning effect is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1a is a flowchart of a cleaning method of a cleaning robot according to an embodiment of the present invention;

FIG. 1b is a diagram illustrating the steps performed in the cross mode of FIG. 1 a;

FIG. 2a is a schematic diagram of a cross-mode motion trajectory according to an embodiment of the present invention;

FIG. 2b is a schematic diagram of the two-cycle motion profile of the crossover pattern shown in FIG. 2 a;

FIG. 2c is a schematic diagram of the three-cycle motion profile of the crossover pattern shown in FIG. 2 a;

fig. 3 is a schematic diagram of a motion trajectory of another cross mode according to an embodiment of the present invention;

fig. 4a is a schematic diagram of a motion trajectory of another cross mode according to an embodiment of the present invention;

FIG. 4b is a schematic diagram of the two-cycle motion profile of the crossover pattern shown in FIG. 4 a;

FIG. 4c is a schematic diagram of the three-cycle motion profile of the crossover pattern shown in FIG. 4 a;

FIG. 5 is a schematic view of a fiducial line provided in accordance with an embodiment of the present invention;

fig. 6a is a schematic diagram of a motion trajectory of another cross mode according to an embodiment of the present invention;

FIG. 6b is a schematic diagram of the two-cycle motion profile of the crossover pattern shown in FIG. 6 a;

FIG. 6c is a schematic diagram of the three-cycle motion profile of the crossover pattern shown in FIG. 6 a;

fig. 7 is a schematic diagram of a motion trajectory of another cross mode according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a motion trajectory of another cross mode according to an embodiment of the present invention;

FIG. 9a is a schematic diagram of a motion trajectory in another integrated mode according to an embodiment of the present invention;

FIG. 9b is a schematic diagram of the motion trajectory of the three cycles of the integrated mode shown in FIG. 9 a;

FIG. 10a is a schematic diagram of a motion trajectory in another integrated mode according to an embodiment of the present invention;

FIG. 10b is an exploded view of the motion trajectory of the cross mode in the integration mode shown in FIG. 10 a;

FIG. 10c is an exploded view of the motion trajectory of the other modes of the integrated mode shown in FIG. 10 a;

FIG. 10d is an exploded view of the motion trajectory of another mode of the integrated mode shown in FIG. 10 a;

FIG. 10e is an exploded view of the motion trajectory of another mode of the integrated mode shown in FIG. 10 a;

fig. 11 is a structural view of a cleaning robot according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an embodiment of the present invention, there is provided a method embodiment of a cleaning method for a cleaning robot, where the steps shown in the flowchart of the drawings may be implemented by combining electronic components and/or devices with corresponding functions, or implemented on hardware such as a PCB by using integrated circuit technology, or implemented in a computer system capable of implementing a set of computer-executable instructions; also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

Fig. 1a is a flowchart of a cleaning method of a cleaning robot according to an embodiment of the present invention. As shown in fig. 1a, the embodiment provides a cleaning method of a cleaning robot, which includes the following specific steps:

and S100, acquiring an initial heading.

S200, executing a cross mode; and cleaning the area covered by the crossed mode motion trail.

In this embodiment, first, the cleaning robot obtains an initial heading, and then the cleaning robot may be controlled to enter the cross mode along the initial heading, where the initial heading is a heading when entering the cross mode of this embodiment, and specifically, for example, the cleaning robot may use a current running direction as the initial heading, or may enter the initial heading after rotating a preset angle towards a certain predetermined direction (as shown in fig. 4a, after running an initial dotted line, the cleaning robot rotates a certain preset angle counterclockwise to adjust to the direction of L1, and the heading at this time is the initial heading, that is, the heading at the beginning of the line segment L1 is along the direction of L1), and of course, a fixed direction may also be set as the initial heading.

Preferably, the angle between the initial course and the longest edge in the surrounding environment can be acquired, the angle is compared with the preset angle or the preset angle range, and if the preset angle or the preset angle range is not met, the initial course can be adjusted, so that the requirement of the preset angle or the preset angle range is met, and the area to be cleaned of the surrounding environment is covered to the maximum extent. In this embodiment, the initial course may be adjusted by environmental relocation to achieve the optimal coverage effect, and specifically, the cleaning robot may acquire a map in real time through a ranging device such as a laser radar or a TOF, or may pre-store or pre-acquire the map, then position a position coordinate of the cleaning robot itself in the map by identifying surrounding features or through other positioning devices, and then acquire the initial course corresponding to the optimal coverage effect according to the position coordinate.

Sometimes, the motion trail contains complicated crossing patterns, and in this case, the initial heading can be determined by finding at least partial displacement and/or angle of the first displacement L1, the second displacement L2, the third displacement L3, the fourth displacement L4, the first angle α 1, the second angle α 2, the third angle α 3, and the fourth angle α 4 of the crossing patterns mentioned later in the present invention in the motion trail, and then determining the initial heading by reverse extrapolation.

In this embodiment, the interleaving mode specifically includes a first action and a second action that are executed in an alternating cycle, and the specific steps are shown in fig. 1 b. In the motion trajectories shown in fig. 2a, 3 and 4a, the solid line part represents a trajectory for performing a first motion and a second motion once, wherein the first motion includes: s210, the cleaning robot moves a first displacement L1 along the initial course; s220, rotating by a first angle α 1 in a first rotation direction (clockwise in fig. 2a and 4a, and counterclockwise in fig. 3); s230, moving the second displacement L2; s240, rotating in the first rotation direction by a second angle α 2; s250, moving a third displacement L3, wherein the third displacement L3 is crossed with the track of the first displacement L1; s260, rotating by a third angle α 3 in a second rotation direction (counterclockwise in fig. 2a and 4a, and clockwise in fig. 3); s270, the fourth displacement L4 is moved, wherein the end point of the fourth displacement L4 has a certain offset with respect to the start point of the first displacement L1. And the second action comprises: s280, the cleaning robot rotates the fourth angle α 4 to return to the initial heading, which is usually to rotate α 4 to the second rotation direction to return to the initial heading before the first action is performed (of course, the cleaning robot may also rotate α 4 to the first rotation direction in some specific modes, in short, the second action is to make the cleaning robot return its orientation to the initial heading), so that the cleaning robot can subsequently engage the first action to perform the alternate loop as shown in fig. 2b, fig. 2c (where fig. 2b is a schematic diagram of two cycles, and the dotted line and the solid line respectively represent the first cycle and the second cycle; fig. 2c is a schematic diagram of three cycles, and the dotted line, the two-dotted line and the solid line respectively represent the first cycle, the second cycle and the third cycle) and fig. 4b, fig. 4c (where fig. 4b is a schematic diagram of two cycles, and the dotted line and the solid line respectively represent the first cycle and the second cycle; fig. 4c is a schematic diagram of three cycles, the first cycle, the second cycle, and the third cycle are represented by a dot-dash line, a two-dot-dash line, and a solid line, respectively). In the crossing mode, because the third displacement L3 crosses the track of the first displacement L1, at least one of the first angle alpha 1, the second angle alpha 2 and the third angle alpha 3 is not a right angle, namely the crossing mode is different from the existing 'bow-shaped' (also called 'zigzag') cleaning mode, the cleaning area is cleaned for many times in one cleaning process, stubborn stains can be effectively removed, and the cleaning effect of the floor is greatly improved. The term "returning to the original heading" in the second action means that the cleaning robot has the same heading (or called pose or heading angle, i.e. only angle) as the original heading of the cross mode in the cycle after completing the second action, but the position of the cleaning robot at the end of the second action is different from the position of the cleaning robot before the first action in the same cycle because the end point of the fourth displacement L4 is usually offset from the start point of the first displacement L1 (in some embodiments, the displacement of other modes connected with the cross mode is also included). For example, in fig. 2a, point a is the starting position of the cleaning robot before the first action of the cross mode, and its heading is the initial heading; point B is the end position of the cleaning robot after completing this cycle of the cross mode, after its second motion, the cleaning robot rotates in place at point B by a fourth angle α 4 to adjust its heading to the same initial heading as its heading at point a (as indicated by the dashed arrow in fig. 2 a), but its position is already different from point a (as shown in fig. 2a, the two points A, B are shifted by LB), which is referred to as "returning to the initial heading shown".

In some embodiments, in particular, the cleaning robot controls the motion unit to perform the above-described crossing pattern by its control unit.

In the embodiment of fig. 2a, DL1 and DL2 are respectively referred to as a first reference line and a second reference line (in the present invention, DL represents a reference line), and DL1 and/or DL2 can both represent the cleaning main direction determined by the boundary of the current region to be cleaned, and the reference lines in the present invention represent the cleaning main direction, i.e. the direction of the reference lines is parallel to the cleaning main direction, including the case where the reference lines are the same direction or opposite direction to the cleaning main direction, but not only the same direction. The cleaning main direction refers to a connection direction of points at the same stage of a plurality of cycles of the cleaning robot in the cross mode or the integrated mode described later, for example, in fig. 2c, point A, B, C, D is an initial position of a first cycle, a second cycle, a third cycle, and a fourth cycle of the cross mode, respectively, that is, the points at the same stage of the four cycles are represented respectively, and then the connection direction of ABCD points represents the cleaning main direction; and point E, F, G, H is a phase of the first cycle, the second cycle, the third cycle, and the fourth cycle of the cross pattern, respectively, which are rotated by the first angle α 1 after moving the first displacement L1, that is, point E, F, G, H also represents the same phase point of the four cycles, respectively, and the connection line direction of the EFGH points also represents the same cleaning main direction, which is from bottom to top in fig. 2c (as shown by the double arrow in fig. 2 c). In the embodiment of FIG. 2a, there are two datum lines, and the first datum line DL1 and the second datum line DL2 are parallel to each other and to the cleaning main direction (including being substantially parallel, for example, the included angle between DL1 and DL2 is within + -2 °), and thus also represent the cleaning main direction; the area between the two reference lines defines the macro travel path of the cleaning robot and therefore the two reference lines can be considered to define the area to be cleaned of the cleaning robot, i.e. the area covered between the two reference lines along the main direction of cleaning represented by the reference lines, i.e. the area covered by the cross pattern.

In fig. 2a, the trajectory of L2 is parallel to the first reference line DL1 of the boundary of the area to be cleaned, and the trajectory of L4 is parallel to the second reference line DL2 of the boundary of the area to be cleaned, i.e. the cleaning robot moves the second displacement L2 in the direction of the first reference line DL1 (the second displacement L2 is parallel to and opposite to the cleaning main direction) after moving the first displacement L1 to reach a position which is a predetermined threshold dd1 from the first reference line DL1, and similarly moves the fourth displacement L4 in the direction of the second reference line DL2 (the fourth displacement L4 is also parallel to and opposite to the cleaning main direction) after moving the third displacement L3 to reach a position which is a predetermined threshold dd2 from the second reference line DL 2. It is easily conceivable that in other embodiments, the second displacement L2 in the motion trajectory as in fig. 2a may coincide with DL1 (i.e. the predetermined threshold dd1 is 0); in this or other embodiments, the fourth displacement L4 in the motion trajectory as in fig. 2a may coincide with DL2 (i.e. the predetermined threshold dd2 is 0). For fig. 3, the first rotation direction is counterclockwise and the second rotation direction is clockwise; for fig. 4a to 4c, the first rotation direction is clockwise and the second rotation direction is counterclockwise. Comparing fig. 2a, 3 and 4a, it can be found that the motion trace of the cleaning robot described according to the above embodiment may form two different modes, where the mode defined in the present invention if at least one of the second displacement L2 and the fourth displacement L4 is parallel to the reference line representing the cleaning main direction is the first cross mode; if the mode in which any one of the second displacement L2 and the fourth displacement L4 is not parallel to the reference line is the second crossing mode in which the trajectory of the second displacement L2 does not cross the trajectory of the fourth displacement L4. The motion trajectories in fig. 2a to 2c, 6a to 6c, 7, 8, 9a, and 9b are in a first cross mode, and the motion trajectories in fig. 3, 4a to 4c, and 10a are in a second cross mode, wherein the first cross mode is more effective in cleaning the boundary of the area to be cleaned, and the second cross mode is more focused on cleaning the middle area. The end point of the fourth displacement L4 has a certain offset with respect to the start point of the first displacement L1, which in this embodiment is moved along the cleaning main direction, i.e. after performing a plurality of cycles of the cross mode, as shown in fig. 2b, 2c, 4b, 4c, the end point of the fourth displacement L4 of the cleaning robot after each cycle forms a connection line parallel to the cleaning main direction, and certainly also parallel to the reference line. For example, for fig. 2a, the cleaning main direction is from bottom to top, after a plurality of cycles of the crossover pattern are performed, the end point of the fourth displacement L4 of each cycle thereof has an upward offset with respect to the start point of the first displacement L1 (i.e. the end point of the fourth displacement L4 of the last cycle of the crossover pattern). If the cleaning main direction is downward, the end point of the fourth displacement L4 has a downward offset with respect to the start point of the first displacement L1; and the smaller the offset, the denser the tracks, and the greater the track density, which is equivalent to the more times of cleaning the coverage area, the better the cleaning effect. For the second crossing pattern, as shown in fig. 10a, although neither of the second displacement L2 and the fourth displacement L4 is parallel to the reference line, the "shift amount is moved in the cleaning main direction" in accordance with the above is still satisfied.

It should be noted that, in this embodiment, each displacement parameter and each angle parameter of the cross pattern may be set according to a plurality of parameters such as the boundary of the cleaning area, the cleaning main direction, and the track density, or each displacement parameter and each angle parameter of the cross pattern may be automatically changed in real time according to the change of the boundary of the cleaning area during the cleaning process of the cleaning robot.

According to the cleaning method of the cleaning robot, the initial course is obtained, then the cross mode is executed, the area covered by the motion track of the cross mode is cleaned, and the track is regularly crossed for many times in the cross mode, so that each area of the area to be cleaned is repeatedly cleaned from different angles in one cleaning process, stubborn dirt which is difficult to clean in a conventional method can be effectively cleaned, and the cleaning effect is greatly improved.

On the basis of the above embodiment, the performing the cross mode and cleaning the area covered by the motion trajectory of the cross mode includes:

acquiring the boundary of an area to be cleaned;

In one embodiment, a first reference line DL1 and a second reference line DL2 are obtained according to the boundary of the region to be cleaned, and at least one displacement and one angle among the first displacement L1, the second displacement L2, the third displacement L3, the fourth displacement L4, the first angle α 1, the second angle α 2 and the third angle α 3 are determined according to the first reference line DL1 and the second reference line DL 2.

In an embodiment, the two reference lines themselves may not be straight lines at all times, but have an arc shape at the turning as shown in fig. 5, and the two reference lines DL1, DL2 are still parallel to each other at the straight line part. In this case, the reference line can still characterize the cleaning main direction.

In other embodiments, the two reference lines DL may not be parallel but form a wedge shape, and the cross mode is adjusted according to the area defined by the two reference lines DL, as shown in fig. 6a, 6b, 6c and 7.

In one embodiment, the two parallel boundaries of the area to be cleaned are substantially parallel to the first and second reference lines, respectively, so that the first and second reference lines can be determined by the two parallel boundaries of the area to be cleaned, as shown in fig. 2a, 3 and 4 a. In another embodiment, the first reference line is determined from a longer boundary of the area to be cleaned, for example, the first reference line is set to be parallel to the longer boundary and spaced apart from the longer boundary by a first distance D1 (for example, 3 cm); a virtual boundary parallel to the longer boundary and spaced apart from the longer boundary by a second distance D2 (e.g., 50cm) is set within the region to be cleaned, and the second reference line is determined by the virtual boundary, for example, the virtual boundary is directly used as the second reference line, or the second reference line is set parallel to the virtual boundary and spaced apart from the virtual boundary by a third distance D3 (e.g., 2 cm). In another embodiment, two virtual boundaries parallel to and spaced apart from the fourth distance D4 (for example, 50cm) may be manually set within the range of the area to be cleaned, and the two virtual boundaries are respectively used as the first reference line and the second reference line. The first reference line and the second reference line may be straight lines, broken lines or curved lines. In addition, the first reference line and the second reference line may also be angled as shown in fig. 6a and 7. For the condition that the first datum line is parallel to the second datum line, the displacement parameters and the angle parameters do not change after each cycle of the cross mode is determined; for the case that the first reference line and the second reference line form an angle, the angle parameters in each cycle of the cross mode may be unchanged, and the displacement parameters may be different, for example, fig. 6b and 6c are different from fig. 6a (where fig. 6b is a schematic diagram of two cycles of the cross mode, and fig. 6c is a schematic diagram of three cycles of the cross mode), the angle parameters are unchanged, the second displacement L2 and the fourth displacement L4 in the displacement parameters are unchanged, and the first displacement L1 and the third displacement L3 in different cycles of the cross mode are both different (gradually increased). Furthermore, fig. 6a belongs to a first crossing mode, in which the trajectories of L2 and L4 are respectively parallel to a first reference line of the boundary of the area to be cleaned and to a second reference line coinciding with a virtual boundary (the dashed line in fig. 6a represents a virtual boundary), the first angle α 1 of said angular parameters may be equal to said fourth angle α 4; the second angle α 2 may be equal to the third angle α 3, although these four angle parameters may not be related. The first cross mode can also be seen in fig. 7, where the trajectories of the second displacement L2 and the fourth displacement L4 are parallel to a reference line determined by an actual boundary and a reference line determined by a virtual boundary (represented by a dotted line in the figure) of the area to be cleaned, respectively, thereby defining a macro travel path of the cleaning robot, i.e. the area covered by the cross mode. In this embodiment, the boundary of the area to be cleaned may be obtained in real time by various sensors of the cleaning robot (for example, a distance measuring device such as a laser radar, or a camera, an odometer, and an inertial measurement unit IMU, or by obtaining a two-dimensional map of a room in advance), or may be defined by a user (for example, a human-defined virtual boundary in this embodiment).

In this embodiment, after acquiring the first reference line and the second reference line according to the boundary of the area to be cleaned, the determining at least one of the displacement parameter L1 to L4 and the angle parameter α 1 to α 3 includes:

determining at least one displacement and one angle among the first displacement L1, the second displacement L2, the third displacement L3, the fourth displacement L4, the first angle α 1, the second angle α 2, and the third angle α 3 according to the cleaning main direction (first reference line, second reference line), the initial heading, and preset parameters, wherein the preset parameters are pre-stored or autonomously selected by the cleaning robot.

In this embodiment, the movement trajectory of the cleaning robot may be determined by the cleaning main direction and the initial heading under the condition that the preset parameter is defined, where the preset parameter is preset by a user and stored in the cleaning robot or autonomously selected by the cleaning robot. In one embodiment, if the main brush or main wipe width of the cleaning robot is determined, the difference between the fourth displacement and the second displacement, i.e., the difference between L4-L2 or the difference between the positions of two points at the same phase point of the adjacent cycle in the cross pattern (e.g., A, B points in fig. 2a are the initial positions of the first cycle and the second cycle of the cross pattern, respectively (the starting point of the first displacement L1 of a cycle of the cross pattern in the present invention is the initial position of a cycle of the cross pattern), the "difference between the positions of two points at the same phase of the adjacent cycle", i.e., the difference LB between the positions of A, B points) (the same as or slightly smaller than the main brush or main wipe width, thereby achieving non-missing cleaning) can be determined, in this embodiment, the difference between L4-L2, i.e., the offset amount of the ending point of the fourth displacement L4 in the same cycle of the cross pattern from the starting point of the first displacement L1, i.e., the amount of displacement of the cleaning robot in the cleaning main direction when completing one cycle of the cross pattern. In the embodiments shown in fig. 2a to 2c, fig. 3, fig. 4a to 4c, fig. 6a to 6c, fig. 7, and fig. 8, the difference L4-L2 is also the offset of a phase point (e.g., the end point of the fourth displacement L4) in the next cycle relative to the corresponding phase point (e.g., the end point of the fourth displacement L4) in the previous cycle in the adjacent cycles of the crossing pattern. The optimal angles α 1 and α 2 can be determined from the distance between the two reference lines and L2 or L4, and thus L1 and L3 can be determined from the distance between the two reference lines and α 1 or α 2. The density degree of coverage of the cleaning area can be determined by adjusting the angle parameters of the first angle alpha 1, the second angle alpha 2, the third angle alpha 3 and the fourth angle alpha 4, and the smaller the four angles are set, the more the coverage times of the same area are, the more the cleaning times are, and the cleaning time is increased correspondingly.

In one embodiment, a displacement and an angle, such as the first displacement L1 and the first angle α 1, determined by the cleaning main direction, the boundary of the area to be cleaned, and the initial heading may be determined according to a preset relationship between the displacements and a preset relationship between the angles, so as to determine the motion trajectory of the cleaning robot. For example, in the simplest case, four angles are all equal, that is, α 1 ═ α 4 ═ α 2 ═ α 3, and as shown in fig. 2a, the position of the end point B of the fourth displacement L4 in the cleaning main direction (in fig. 2a, the direction from bottom to top) is equal to the initial position point a, and the displacement is constant LB (in this embodiment, the offset) in the cleaning main direction, and the relationship between the first displacement L1 and the third displacement L3 can be determined by the geometric relationship between the above displacements and the angles. In other embodiments, if the angular relationships and the displacement relationships are changed, various similar motion track patterns can be formed.

In one embodiment, as shown in fig. 8, at least one of the first displacement L1, the second displacement L2, the third displacement L3, the fourth displacement L4, the first angle α 1, the second angle α 2, and the third angle α 3 may be determined according to only one reference line (a first reference line DL1 shown in fig. 8) and a cleaning main direction (a direction indicated by an upward arrow in fig. 8) obtained from the boundary of the region to be cleaned. For example, one displacement and one angle are set according to the first reference line and the cleaning main direction of the cleaning robot, and the crossing pattern is formed based on the relationship between a plurality of displacements (L1 to L4) and/or a plurality of angles (α 1 to α 4) which are preset or automatically calculated according to the requirements.

It should be noted that, of course, each displacement parameter and angle parameter of the cross mode may also be set by the user, and are not described herein again.

On the basis of the above embodiment, the cross mode in another embodiment of the present invention further includes: at least one third action; the first action, the second action, and the third action are performed in a preset sequence in an alternating cycle.

Wherein the third action can be any trajectory, for example, a1 and a2 in fig. 9a, 9b (wherein fig. 9b is a schematic diagram of three cycles of the crossing pattern) can be combined into one third action, or as one third action or two third actions, respectively; in the embodiment where a1 and a2 are two third actions, respectively, a1 may be performed before the first action, a2 may be performed after the second action, and then the actions are performed in an alternating cycle, that is, the sequence of actions in one cycle is: a first third action (A1) - - > first action- - > second third action (A2) - - > first third action (A1), and the operation is repeated; of course, in another view, a2 and a1 may be regarded as a third action, and the sequence of actions in a cycle is: the first action, the second action, the third action (a2+ a1), the first action, and so on are substantially the same as the above embodiments. The third action is not illustrated here, and it should be noted that the first action, the second action, and the third action are executed in a preset sequence, so that the tracks in each cycle of the crossing pattern are the same or similar (as in the case of the embodiment of fig. 7 plus the third action), and there is a crossing track.

On the basis of the above embodiment, the obtaining the initial heading in S100, before performing the cross-mode motion, may further include:

autonomously selecting the crossover pattern; or

And receiving a mode selection instruction, and if the mode selection instruction is a cross mode selection instruction, selecting the cross mode.

In this embodiment, the cleaning robot may autonomously select the cross mode, or may be selected by a user, for example, the cleaning robot may be in communication connection with a terminal device, for example, a terminal device such as a mobile phone or a tablet computer through WIFI, and the user may select the mode on the terminal device, and then the terminal device sends a mode selection instruction to the cleaning robot according to the mode selected by the user. Of course, the user may directly input the mode selection command on the operation panel provided on the cleaning robot body. In this embodiment, the cleaning robot is not limited to receive the mode selection command in the above-listed manner, and the details are not repeated herein.

As a further improvement of the above embodiment, the cleaning method of the cleaning robot may further include:

if the mode selection instruction is a comprehensive mode selection instruction, controlling the motion unit to move in a comprehensive mode, and controlling the cleaning unit to clean the area covered by the motion track; wherein the synthesis mode is at least one other mode and the crossing mode are alternately executed in a predetermined regular or random manner.

In the present embodiment, the crossing pattern may be alternately performed with other patterns in a predetermined regular or random manner to form the integrated pattern, wherein the other patterns include at least one of a zigzag pattern, a edgewise pattern, a random pattern, and a dot-overlay pattern, although the other patterns are not limited to the above list. FIGS. 9a and 9b show embedding the motion trajectories of A2 and A1 between two crossing patterns; as shown in fig. 10a, the motion trajectory shown in fig. 10c is embedded between the cross patterns shown in fig. 10b, but the motion trajectory shown in fig. 10c may be replaced by the motion trajectory shown in fig. 10d or fig. 10 e. Further, the first and second interleaving patterns in the above-described embodiments may be performed alternately, or the first and second interleaving patterns may be performed alternately and at least one other pattern may be performed alternately. The first cross pattern and the second cross pattern are different cross patterns, but each cross pattern belongs to the cross pattern of the present invention. It should be noted that the integrated mode in the present embodiment is an alternate execution of the crossing mode and other modes and/or other crossing modes, and may be an alternate in a predetermined rule, such as crossing mode-zigzag mode-edge mode-crossing mode-zigzag mode-edge mode … …, or a random alternate, such as crossing mode-zigzag mode-crossing mode-edge mode-zigzag mode-edge mode … …, and the like, and may be selected by the cleaning robot.

Further, when the cross mode is connected with the other modes, the cross mode performs steering to recover to the initial heading through the second action (as shown in fig. 9b, the cross mode is recovered to the initial heading after moving by a displacement a1 and then connected); or

Furthermore, after the first action is executed in the cross mode, the other modes can be connected, the initial course is recovered through the second action, and the first action of the next cross mode is connected (wherein the rotating direction and the angle required for recovering to the initial course can be determined according to the actual situation).

According to the cleaning method of the cleaning robot, the initial course is obtained, the moving unit is controlled to move in the cross mode, the cleaning unit is controlled to clean the area covered by the moving track, the track is regularly crossed for many times in the cross mode, each area of the area to be cleaned is repeatedly cleaned from different angles, stubborn dirt which is difficult to clean in a conventional method can be effectively cleaned, and the cleaning effect is greatly improved.

Fig. 11 is a structural view of a cleaning robot according to an embodiment of the present invention. As shown in fig. 11, the cleaning robot provided in this embodiment includes a motion unit 300, a control unit 301, and a cleaning unit 302. The motion unit 300 is configured to drive the cleaning robot to move, where the motion unit 300 may specifically include a chassis, and a wheel assembly or a track mounted on the chassis, and may further include a code wheel (also called an odometer), a gyroscope, an accelerometer (both collectively called an inertial measurement unit IMU), and the like mounted on the chassis, and is configured to calculate motion parameters such as a mileage, an acceleration, a speed, an angle, an angular acceleration, and the like of the motion; various sensors may also be included, such as cliff sensors, proximity sensors, impact sensors, etc.;

the control unit 301 is configured to obtain an initial heading; controlling a motion unit to perform a cross mode motion; controlling a cleaning unit to clean an area covered by the motion trail; the control unit 301 specifically includes a processor such as a DSP, an FPGA, an ARM, and/or a GPU, and the like, and is configured to receive an image sent by an image acquisition device (such as a camera), various data and/or information sent by a odometer, and a ranging device such as an IMU and/or a laser radar, and obtain an initial heading by receiving image information obtained by the image acquisition device, information of a moving distance obtained by the odometer, angle and angular velocity information obtained by the IMU, or distance information obtained by the ranging device, and then summarizing and calculating the information; the control unit 301 further comprises a memory;

The cleaning unit 302 is used for cleaning an area covered by a motion track, wherein the cleaning unit 302 may include a dust suction assembly (such as a fan, a dust box, etc.), a floor wiping assembly (such as a water tank, a floor wiping cloth, etc.), and/or a rolling brush device (such as a main brush, a side brush, etc.).

In this embodiment, specific structures of the moving unit and the cleaning unit are not limited, and any moving unit and any cleaning unit in the prior art may be adopted, which is not described herein again.

Further, the first angle α 1 is equal to the fourth angle α 4; and/or the second angle a2 is equal to the third angle a 3.

Further, the cross mode further includes: at least one third action;

Further, the control unit 301 is further configured to:

controlling the motion unit 300 to move in a comprehensive mode, and controlling the cleaning unit 302 to clean an area covered by the comprehensive mode motion track; wherein the synthesis mode is at least one other mode and the cross mode are alternately executed in a predetermined rule or random mode;

The cleaning robot provided in this embodiment may be specifically configured to execute the method embodiment provided in fig. 1a, and specific functions are not described herein again.

The cleaning robot provided by the embodiment can effectively clean stubborn scales which are difficult to clean by a conventional method, and greatly improves the cleaning effect by acquiring the initial course, then controlling the motion unit to move in the cross mode, controlling the cleaning unit to clean the area covered by the motion track, and realizing the multiple regular cross of the track in the cross mode, so that each area to be cleaned is repeatedly cleaned from different angles.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium and/or memory comprises: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

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

1. A cleaning method of a cleaning robot, characterized by comprising:

the cleaning robot acquires an initial course;

acquiring the boundary of a region to be cleaned, obtaining a first reference line and a second reference line according to the boundary of the region to be cleaned, and determining at least one displacement and one angle in a first displacement L1, a second displacement L2, a third displacement L3, a fourth displacement L4, a first angle alpha 1, a second angle alpha 2 and a third angle alpha 3 according to the first reference line and the second reference line;

within the range defined by the boundary of the area to be cleaned, the cleaning robot executes a cross mode; cleaning the area covered by the motion trail of the cross mode;

wherein the first action comprises:

the cleaning robot moves a first displacement L1 along the initial heading;

rotating the first rotating direction by a first angle alpha 1;

a moving second displacement L2;

rotating by a second angle α 2 in the first rotational direction;

rotating the second rotating direction by a third angle alpha 3;

the second action comprises:

rotating the fourth angle α 4 to return to the initial heading.

2. The method according to claim 1, characterized in that said first angle α 1 is equal to said fourth angle α 4; and/or the second angle a2 is equal to the third angle a 3.

3. The method of claim 1, wherein the cross pattern further comprises: at least one third action;

4. The method of claim 1, wherein said obtaining an initial heading, prior to performing cross-mode motion, further comprises:

autonomously selecting the crossover pattern; or

5. A cleaning robot, characterized by comprising:

the moving unit is used for driving the cleaning robot to move;

the control unit is further configured to: acquiring the boundary of a region to be cleaned, obtaining a first reference line and a second reference line according to the boundary of the region to be cleaned, and determining at least one displacement and one angle in a first displacement L1, a second displacement L2, a third displacement L3, a fourth displacement L4, a first angle alpha 1, a second angle alpha 2 and a third angle alpha 3 according to the first reference line and the second reference line; controlling a motion unit to perform a cross mode motion within a range defined by a boundary of the area to be cleaned;

6. The cleaning robot of claim 5, wherein the first angle a1 is equal to the fourth angle a 4; and/or the second angle a2 is equal to the third angle a 3.

7. The cleaning robot of claim 5, wherein the cross pattern further comprises: at least one third action;

8. The cleaning robot of claim 5, wherein the control unit is further configured to: