CN111061263B - Robot obstacle-cleaning and winding method and sweeping robot - Google Patents
Robot obstacle-cleaning and winding method and sweeping robot Download PDFInfo
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- CN111061263B CN111061263B CN201911183129.XA CN201911183129A CN111061263B CN 111061263 B CN111061263 B CN 111061263B CN 201911183129 A CN201911183129 A CN 201911183129A CN 111061263 B CN111061263 B CN 111061263B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 438
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000010408 sweeping Methods 0.000 title claims abstract description 32
- 238000004804 winding Methods 0.000 title description 4
- 238000013459 approach Methods 0.000 claims description 15
- 239000000523 sample Substances 0.000 claims 1
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- 229910052739 hydrogen Inorganic materials 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention relates to a robot cleaning obstacle-detouring method and a sweeping robot, wherein the method comprises the following steps: presetting a cleaning route of a robot and turning points on the cleaning route; when detecting that an obstacle exists in a cleaning route where the robot is currently located, controlling the robot to perform obstacle-surrounding operation according to the position relation between the current position of the robot and a turning point on the cleaning route other than the current cleaning route where the robot is located; and when the robot is detected to bypass the obstacle and return to the current cleaning route of the robot or reach an adjacent cleaning route, ending the obstacle-bypassing operation. According to the invention, the current position of the robot is compared with the position relation of the turning point on the cleaning route, so that the robot is controlled to move along the wall to the right or to the left, the cleaning obstacle avoidance of the cleaning robot is realized, the cleaning coverage rate of the cleaning robot is improved, the time of obstacle-surrounding objects is saved, and the cleaning quality and efficiency are ensured.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a robot obstacle-sweeping and winding method and a sweeping robot.
Background
With the rapid development of science and technology, the living standard of people is continuously improved, intelligent products are more and more widely accepted and applied by the masses, and a sweeping robot is typical. The sweeping robot is intelligent cleaning equipment capable of automatically sweeping dust, hair, paper scraps and other substances on the ground.
In the indoor cleaning process, the sweeping robot realizes navigation and obstacle avoidance through laser, ultrasonic waves, collision and other modes, and the application of laser and ultrasonic technology enables the sweeping robot to have the indoor map construction and navigation capacity, so that the sweeping robot has higher cleaning efficiency compared with the sweeping robot in a collision type operation mode of random collision. However, the conventional sweeping robot is not suitable for external factors such as obstacles when setting an internal sweeping program, so that the sweeping coverage rate of the sweeping robot is greatly reduced once the obstacles appear on a sweeping path, the time taken for winding the obstacles is long, and the sweeping quality and efficiency are affected.
Disclosure of Invention
In order to solve the technical problems of low cleaning coverage rate and long time spent on obstacle avoidance by the existing sweeping robot, the invention provides a method for cleaning the obstacle avoidance by the robot and the sweeping robot, and the robot is controlled to complete the obstacle avoidance operation according to the position relation between the current position of the robot and a turning point on a cleaning route, so that the cleaning coverage rate of the sweeping robot is improved, and the time for obstacle avoidance is saved.
According to one aspect of the present invention, there is provided a method of robotic cleaning of an obstacle detouring comprising:
presetting a cleaning route of a robot and turning points on the cleaning route;
when detecting that an obstacle exists in a cleaning route where the robot is currently located, controlling the robot to perform obstacle-surrounding operation according to the position relation between the current position of the robot and a turning point on the cleaning route other than the current cleaning route where the robot is located;
and when the robot is detected to bypass the obstacle and return to the current cleaning route of the robot or reach an adjacent cleaning route, ending the obstacle-bypassing operation.
Preferably, the position of the turning point on the cleaning route beyond the cleaning route where the robot is currently located is obtained through the following steps:
storing the positions of turning points on the cleaning route according to the cleaning sequence of the robot;
when detecting that the current cleaning route of the robot has an obstacle, acquiring the position of the turning point on the cleaning route outside the current cleaning route of the robot from the stored positions of the turning points on the cleaning route.
Preferably, the storing the positions of the turning points on the cleaning route according to the cleaning sequence of the robot includes:
and storing the positions of the turning points on the cleaning route into a first list and a second list according to the cleaning sequence of the robot.
Preferably, the method further comprises:
when the robot reaches a turning point of the current cleaning route, the robot turns around to enter a cleaning route adjacent to the current cleaning route, and the turning point of the current cleaning route and the positions of the turning points, which are not reached by the robot and are arranged before the turning point of the current cleaning route, in the first list are deleted.
Preferably, according to the positional relationship between the current position of the robot and a turning point on a cleaning route other than the cleaning route where the robot is currently located, the control of the robot to perform obstacle detouring operation includes:
recording the cleaning direction of a cleaning route where the robot is currently located; and determining the position relation between the current position of the robot and a turning point on a cleaning route outside the current cleaning route of the robot according to the cleaning direction of the current cleaning route of the robot.
Preferably, determining the positional relationship between the current position of the robot and the turning point on the cleaning route other than the current cleaning route of the robot according to the cleaning direction of the cleaning route of the robot, includes:
when the number of the positions of the turning points on the cleaning route stored in the first list is larger than one, the positions of the turning points on the cleaning route outside the current cleaning route of the robot in the first list are judged to be located in the left area or the right area of the current position of the robot when seen along the cleaning direction of the current cleaning route of the robot.
Preferably, if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the left area of the current position of the robot, the robot is controlled to move along the wall by the right;
wherein the robot moves right along the wall such that the right side of the robot approaches the obstacle and proceeds along the edge of the obstacle.
Preferably, if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the right area of the current position of the robot, controlling the robot to move along the wall by the left;
wherein the robot moves along the wall to control the left side of the robot to approach the obstacle and to advance along the edge of the obstacle.
Preferably, determining the positional relationship between the current position of the robot and the turning point on the cleaning route other than the current cleaning route of the robot according to the cleaning direction of the cleaning route of the robot, further includes:
when the number of the positions of the turning points on the cleaning route stored in the first list is not more than one, the positions of the turning points on the cleaning route outside the current cleaning route of the robot in the second list are judged to be located in the left area or the right area of the current position of the robot when seen along the cleaning direction of the current cleaning route of the robot.
Preferably, if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the left area of the current position of the robot, the robot is controlled to move along the wall by the right;
wherein the robot moves right along the wall such that the right side of the robot approaches the obstacle and proceeds along the edge of the obstacle.
Preferably, if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the right area of the current position of the robot, controlling the robot to move along the wall by the left;
wherein the robot moves along the wall to control the left side of the robot to approach the obstacle and to advance along the edge of the obstacle.
Preferably, the current position of the robot is a position of the robot acquired in real time.
Preferably, only one turning point is arranged on each cleaning route as seen along the cleaning direction of each cleaning route;
the positions of the turning points on the cleaning routes except the current cleaning route of the robot are the positions of the turning points on the cleaning routes adjacent to the current cleaning route of the robot.
Preferably, when the number of the positions of the turning points on the cleaning route stored in the first list is greater than one, the position of the second turning point in the first list is the position of the turning point on the cleaning route adjacent to the current cleaning route;
when the number of the positions of the turning points on the cleaning route stored in the first list is not more than one, the position of the penultimate turning point in the second list is the position of the turning point on the cleaning route adjacent to the current cleaning route.
Preferably, when the robot is detected to bypass an obstacle and return to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route where the robot is currently located;
when the robot is detected to reach a cleaning route adjacent to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route adjacent to the cleaning route where the robot is currently located.
According to another aspect of the present invention, there is provided a sweeping robot including:
a body; and
the robot cleaning obstacle detouring system comprises a body, a memory and a controller, wherein the memory and the controller are arranged on the body, executable codes are stored on the memory, and the executable codes can realize the robot cleaning obstacle detouring method when being executed by the processor.
One or more embodiments of the above-described solution may have the following advantages or benefits compared to the prior art:
by the method for cleaning and obstacle-detouring by the robot and the robot for cleaning, disclosed by the embodiment of the invention, the robot is controlled to move along the wall to the right or to the left so as to finish the obstacle-detouring operation by judging the position relation between the current position of the robot and the turning point on the cleaning route, so that the robot for cleaning and obstacle-detouring is realized, the cleaning coverage rate of the robot for cleaning and obstacle-detouring is improved, the time of obstacle-detouring objects is saved, and the cleaning quality and efficiency are ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention, without limitation to the invention.
Fig. 1 is a flow chart of a method of robot cleaning a detour according to an embodiment of the invention.
Fig. 2 shows a cleaning route and a turning point on the cleaning route for a robot to clean a obstacle detouring according to an embodiment of the invention.
Fig. 3 is a schematic view of a robotic sweeping obstacle detouring according to an embodiment of the invention.
Detailed Description
The following will describe embodiments of the present invention in detail with reference to the drawings and examples, thereby solving the technical problems by applying technical means to the present invention, and realizing the technical effects can be fully understood and implemented accordingly. It should be noted that, as long as no conflict is formed, each embodiment of the present invention and each feature of each embodiment may be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.
In order to solve the technical problems of low cleaning coverage rate and long obstacle-detouring time of the traditional sweeping robot, firstly, the embodiment of the invention provides a method for cleaning and obstacle-detouring by the robot.
Fig. 1 is a flow chart of a method of robot cleaning a detour according to an embodiment of the invention. As shown in fig. 1, the method includes:
step S1: presetting a cleaning route of a robot and turning points on the cleaning route;
the turning points are the connection points of two adjacent cleaning routes.
The turning points of the cleaning route may be turning points set at the end point of the cleaning route as seen along the cleaning direction of the cleaning route, or turning points set at the end point of the cleaning route as seen against the cleaning direction of the cleaning route, and how to define the turning points of the cleaning route may be specifically set according to specific application scenarios, and are not limited one by one.
The following description will be given taking, as an example, a turning point of the cleaning route as a turning point set at an end point of the cleaning route as seen in a cleaning direction along the cleaning route.
Fig. 2 shows a cleaning route and a turning point on the cleaning route for a robot to clean a obstacle detouring according to an embodiment of the invention.
As shown in fig. 2, each thin solid line represents one cleaning route, twelve cleaning routes are provided in total, and a turning point is provided at the end point of each cleaning route as seen in the cleaning direction of each cleaning route. And from top to bottom, the turning point on the first cleaning route is L, the turning point on the second cleaning route is A, … …, and the turning point on the last cleaning route is F. All cleaning routes are connected by a turning point to form an arc shape, which is called an arc-shaped cleaning path. It should be noted that the number of the cleaning paths and the turning points can be flexibly set according to the actual situation, and the present invention is not limited thereto.
As shown in fig. 2, two kinds of obstacles may be encountered during the cleaning of the robot, wherein the "obstacle 1" is small in size, and only one cleaning route is blocked; the obstacle 2 is large and blocks a plurality of cleaning routes. In order to reasonably bypass the two obstacles, after the cleaning route of the robot and the turning points on the cleaning route are set, the positions of the turning points on all the cleaning routes are stored according to the cleaning sequence of the robot. The cleaning sequence of the robot is that the robot starts from a preset first cleaning route and sequentially starts from a second cleaning route, a third cleaning route, … … and a last cleaning route until the cleaning end point. Taking fig. 2 as an example, the order of storing the positions of the turning points is "L, A, K, B, … …, F" in order.
Preferably, in the embodiment of the present invention, positions of turning points on all the cleaning routes are stored in the first list according to the cleaning sequence of the robot. And simultaneously, storing the positions of the turning points on all the cleaning routes into a second list according to the cleaning sequence of the robot. Taking fig. 2 as an example, the positions of all the turning points stored in the first list and the second list are the same, and are stored according to the sequence of L, A, K, B, … … and F, so that when deleting or calling the position of a certain turning point, the specified item in the list can be accurately deleted or called, the deletion or calling error can not occur, and further, the robot can be ensured to clean according to the preset cleaning sequence, and cleaning omission can not exist.
Step S2: when detecting that the current cleaning route of the robot has an obstacle, controlling the robot to perform obstacle-detouring operation according to the position relation between the current position of the robot and a turning point on the cleaning route outside the current cleaning route of the robot.
The current position of the robot may be a position of the robot acquired in real time.
Fig. 3 is a schematic view of a robotic sweeping obstacle detouring according to an embodiment of the invention.
As shown in fig. 3, taking "obstacle 1" as an example, the current cleaning route of the robot is the first cleaning route, i.e. the cleaning route where the turning point L is located. In step S2, when the sensor provided on the robot detects the "obstacle 1", the cleaning direction of the cleaning route where the robot is currently located and the current position of the robot are recorded, and the positional relationship between the current position of the robot and the turning point on the cleaning route other than the cleaning route where the robot is currently located is determined according to the cleaning direction of the cleaning route where the robot is currently located.
Specifically, while recording the cleaning direction of the cleaning route where the robot is currently located and the current position of the robot, it is determined whether the number of positions of the turning points stored in the first list is greater than one. The number of the positions of the turning points on the cleaning route stored in the first list is twelve through judgment, and obviously more than one. And then, calling out the positions of the turning points on the cleaning route except the cleaning route where the robot is currently located from the positions of all the turning points stored in the first list. It should be noted that, the position of the turning point on one cleaning path, for example, the position of the turning point a on the second cleaning path, or the positions of the turning points on a plurality of cleaning paths may be adjusted, and the present invention is not limited thereto. After the position of the turning point on the cleaning route outside the current cleaning route of the robot is taken out, the robot is controlled to move along the wall by the right or the left by judging the position relation between the position of the turning point on the cleaning route outside the current cleaning route and the current position of the robot.
Specifically, as seen along the cleaning direction of the cleaning route where the robot is currently located, it is determined whether the position of the turning point on the cleaning route other than the cleaning route where the robot is currently located in the first list is located in a left side area or a right side area of the current position of the robot, wherein:
if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the left area of the current position of the robot, controlling the robot to move along the wall by the right;
if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the right side area of the current position of the robot, controlling the robot to move along the wall by the left side;
wherein controlling the robot to move along the wall by the right comprises: controlling the right side of the robot to approach the obstacle and advance along the edge of the obstacle; controlling the robot to move along the wall by the left side comprises: the left side of the control robot approaches the obstacle and proceeds along the edge of the obstacle.
Taking the "obstacle 1" of fig. 3 as an example, it is determined whether one or more of the positions of the turning points "A, K, B, … …, F" are in the left-hand region or the right-hand region of the current position of the robot, as viewed along the arrow (cleaning direction) on the first cleaning route.
For ease of understanding, the robot may be thought of as a car that includes left and right vision mirrors on either side of the body. The current direction of the head is towards point L, while one or more of the positions "A, K, B, … …, F" are obviously on the right-view mirror side of the car, i.e. one or more of the positions "A, K, B, … …, F" are in the right-hand region of the current position of the robot. After determining that one or more of the positions "A, K, B, … …, F" is in the right region of the current position of the robot, the left side of the robot (automobile left view mirror) is controlled to approach the obstacle and follow the edge of the obstacle (obstacle detouring direction of "obstacle 1" shown in fig. 3).
Step S3: and when the robot is detected to bypass the obstacle and return to the current cleaning route of the robot or reach an adjacent cleaning route, ending the obstacle-bypassing operation.
In the running process of the robot, acquiring the position of the robot in real time, judging whether the robot bypasses an obstacle or returns to the current cleaning route of the robot or reaches an adjacent cleaning route according to the position of the robot acquired in real time, wherein:
when the robot is detected to bypass the obstacle and return to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route where the robot is currently located;
when the robot is detected to reach the cleaning route adjacent to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route adjacent to the cleaning route where the robot is currently located.
According to the method for cleaning and obstacle-detouring by the robot, provided by the invention, the robot is controlled to move along the wall to the right or to move along the wall to the left so as to finish obstacle-detouring operation by judging the position relation between the current position of the robot and the turning point on the cleaning route, so that the cleaning and obstacle-detouring operation of the robot is realized, the cleaning coverage rate of the robot is improved, the time of obstacle-detouring objects is saved, and the cleaning quality and efficiency are ensured.
Taking the "obstacle 1" of fig. 3 as an example, when the robot is detected to bypass the "obstacle 1" and return to the first cleaning route again, the heading of the robot is adjusted to be the same as the recorded cleaning direction (direction indicated by an arrow) of the first cleaning route, and the obstacle detouring is completed.
Preferably, when the robot reaches the turning point of the currently located cleaning route, the robot is turned around to enter the cleaning route adjacent to the currently located cleaning route, and the turning point of the currently located cleaning route and the positions of the turning points, which are not reached by the robot and are arranged before the turning point of the currently located cleaning route, in the first list are deleted. Taking the "obstacle 1" of fig. 3 as an example, when the robot reaches the turning point L on the first cleaning route, the position of the turning point L in the first list is deleted.
Preferably, in the embodiment of the present invention, the position of the turning point on the cleaning route other than the cleaning route where the robot is currently located is the position of the turning point on the cleaning route adjacent to the cleaning route where the robot is currently located. When the number of the positions of the turning points on the cleaning routes stored in the first list is larger than one, the positions of the turning points on the cleaning routes adjacent to the cleaning route where the robot is currently located are the positions of the second turning points stored in the first list. Taking the "obstacle 1" of fig. 3 as an example, when the sensor disposed on the robot detects the "obstacle 1", only the position of the second turning point (i.e. the turning point a) in the first list is adjusted and taken out, and the robot is controlled to move along the wall to the right or along the wall to the left by judging the positional relationship between the position of the turning point a and the current position of the robot, and the specific process is referred to above and will not be repeated herein.
Taking the "obstacle 2" of fig. 3 as an example, as shown in fig. 3, the current cleaning route of the robot is a fourth cleaning route (i.e. the cleaning route where the turning point B is located), and the robot proceeds in the direction indicated by the arrow on the fourth cleaning route. At this time, the positions of the passing u-turn points "L, A and K" have been deleted in the first list, and only the positions of the u-turn points "B, J, C, I, D, H, E, G and F" remain.
In step S2, when the sensor provided on the robot detects the "obstacle 2", the cleaning direction of the cleaning route where the robot is currently located and the current position of the robot are recorded, and the positional relationship between the current position of the robot and the turning point on the cleaning route other than the cleaning route where the robot is currently located is determined according to the cleaning direction of the cleaning route where the robot is currently located.
Specifically, while recording the cleaning direction of the cleaning route where the robot is currently located and the current position of the robot, it is determined whether the number of positions of the turning points stored in the first list is greater than one. The number of the positions of the turning points on the cleaning route stored in the first list is nine through judgment, and the number is obviously more than one. Next, the positions of the u-turn points on the cleaning route other than the cleaning route where the undeleted robot is currently located, that is, one or more of the positions of the u-turn points "J, C, I, D, H, E, G and F", are retrieved from the positions of all the u-turn points stored in the first list. It should be noted that, the position of the turning point on one cleaning path, for example, the position of the turning point J on the fifth cleaning path, or the positions of the turning points on a plurality of cleaning paths may be adjusted, and the present invention is not limited thereto.
After the positions of the turning points on the cleaning routes except the cleaning route where the undeleted robot is currently located are taken out, the robot is controlled to move along the wall towards the right or along the wall towards the left by judging the position relation between the positions of the turning points on the cleaning routes except the cleaning route where the undeleted robot is currently located and the current position of the robot.
Specifically, as seen in the cleaning direction of the cleaning route where the robot is currently located, it is determined whether the position of the u-turn point on the cleaning route other than the cleaning route where the robot is currently located, which is not deleted in the first list, is located in the left side area or the right side area of the current position of the robot, wherein:
if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the left area of the current position of the robot, controlling the robot to move along the wall by the right;
if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the right side area of the current position of the robot, controlling the robot to move along the wall by the left side;
wherein controlling the robot to move along the wall by the right comprises: controlling the right side of the robot to approach the obstacle and to advance along the edge of the obstacle, controlling the robot to move along the wall to the left includes: the left side of the control robot approaches the obstacle and proceeds along the edge of the obstacle.
Taking the "obstacle 2" of fig. 3 as an example, it is determined whether one or more of the positions of the turning points "J, C, I, D, H, E, G and F" is in the left-hand region or the right-hand region of the current position of the robot, as viewed along the arrow (cleaning direction) on the fourth cleaning route.
For ease of understanding, the robot can be thought of as a car comprising left and right vision mirrors on either side of the body, with the direction of the head now facing point B, and one or more of the positions "J, C, I, D, H, E, G and F" being apparent to the left of the car on the left of the mirror, i.e. one or more of the positions "J, C, I, D, H, E, G and F" being in the left region of the current position of the robot. After determining that one or more of the positions "J, C, I, D, H, E, G and F" is in the left region of the current position of the robot, the right side of the robot (automobile right view mirror) is controlled to approach the obstacle and advance along the edge of the obstacle (obstacle detouring direction of "obstacle 2" shown in fig. 3).
In step S3, during the running of the robot, the position of the robot is acquired in real time, and whether the robot bypasses an obstacle and returns to the current cleaning route or reaches an adjacent cleaning route is determined according to the position of the robot acquired in real time, wherein:
when the robot is detected to bypass the obstacle and return to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route where the robot is currently located;
when the robot is detected to reach the cleaning route adjacent to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route adjacent to the cleaning route where the robot is currently located.
Through the way of adjusting the heading of the robot provided by the embodiment of the invention, namely the way of adjusting the heading of the robot according to the cleaning direction of the cleaning route, the robot can clean according to the preset cleaning sequence, and cleaning omission does not exist.
Taking the "obstacle 2" of fig. 3 as an example, when it is detected that the robot bypasses the cleaning route reaching the adjacent fifth cleaning route (i.e., the cleaning route where the turning point J is located), the heading of the robot is adjusted to be the same as the cleaning direction of the fifth cleaning route, and the obstacle detouring is finished.
Preferably, when the robot reaches the turning point of the currently located cleaning route, the robot is turned around to enter the cleaning route adjacent to the currently located cleaning route, and the turning point of the currently located cleaning route and the positions of the turning points, which are not reached by the robot and are arranged before the turning point of the currently located cleaning route, in the first list are deleted. Taking the "obstacle 2" of fig. 3 as an example, when the robot reaches the turning point J on the fifth sweeping path, the position of the turning point J in the first list and the position of the non-reached turning point B are deleted.
Preferably, in the embodiment of the present invention, the position of the turning point on the cleaning route other than the cleaning route where the robot is currently located is the position of the turning point on the cleaning route adjacent to the cleaning route where the robot is currently located. When the number of the positions of the turning points on the cleaning routes stored in the first list is larger than one, the positions of the turning points on the cleaning routes adjacent to the cleaning route where the robot is currently located are the positions of the second turning points in the first list. Taking the "obstacle 2" of fig. 3 as an example, when the sensor disposed on the robot detects the "obstacle 2", only the position of the second turning point (i.e. the turning point J) in the first list is called out, and the robot is controlled to move along the wall to the right or along the wall to the left by judging the positional relationship between the position of the turning point J and the current position of the robot, and the specific process is referred to above and will not be repeated herein.
Therefore, according to the first mode, the positions of the turning points on the cleaning route are stored in the first list, and the robot is controlled to move along the wall to the right or move along the wall to complete the obstacle-surrounding operation by judging the position relation between the positions of the turning points in the first list and the current position of the robot.
As shown in fig. 3, since the position of the turning point in the first list is always deleted as the robot moves, only the position of the turning point F remains in the first list when the robot reaches the penultimate cleaning route.
The following description will be made taking the "obstacle 4" of fig. 3 as an example when the number of positions of the turning point on the cleaning route stored in the first list is not more than one.
As shown in fig. 3, the robot is now located in the penultimate cleaning path and proceeds in the direction indicated by the arrow on the penultimate cleaning path. In step S2, when the sensor provided on the robot detects the "obstacle 4", the cleaning direction of the cleaning route where the robot is currently located and the current position of the robot are recorded, and the positional relationship between the current position of the robot and the turning point on the cleaning route other than the cleaning route where the robot is currently located is determined according to the cleaning direction of the cleaning route where the robot is currently located.
Specifically, while recording the cleaning direction of the cleaning route where the robot is currently located and the current position of the robot, it is determined whether the number of positions of the turning points stored in the first list is greater than one.
And judging that the number of the positions of all the turning points stored in the first list is one or zero, namely not more than one. At this time, the positions of the turning points on the cleaning route other than the cleaning route where the robot is currently located are retrieved from the positions of all the turning points stored in the second list. It should be noted that, the position of the turning point on one cleaning route, for example, the position of the turning point G on the penultimate cleaning route, may be adjusted, and the positions of the turning points on a plurality of cleaning routes may also be adjusted.
After the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is taken out, the robot is controlled to move along the wall by the right or the left by judging the position relation between the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located and the current position of the robot.
Specifically, as seen along the cleaning direction of the cleaning route where the robot is currently located, it is determined whether the position of the turning point on the cleaning route other than the cleaning route where the robot is currently located in the second list is located in the left side area or the right side area of the current position of the robot, wherein:
if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the left area of the current position of the robot, controlling the robot to move along the wall by the right;
if the position of the turning point on the cleaning route outside the cleaning route where the robot is currently located is located in the right side area of the current position of the robot, controlling the robot to move along the wall by the left side;
wherein controlling the robot to move along the wall by the right comprises: controlling the right side of the robot to approach the obstacle and to advance along the edge of the obstacle, controlling the robot to move along the wall to the left includes: the left side of the control robot approaches the obstacle and proceeds along the edge of the obstacle.
For ease of understanding, the robot can be thought of as a car comprising left and right vision mirrors on either side of the body, with the current direction of the head facing towards point F, and one or more of the positions "A, K, B, … …, G" being apparent to the right of the car on the side of the right vision mirror, i.e. the right region of the current position of the robot. After determining that one or more of the positions "A, K, B, … …, G" is in the right region of the current position of the robot, the left side of the robot (the right view mirror of the car) is controlled to approach the obstacle and follow the edge of the obstacle (the obstacle detouring direction of "obstacle 4" shown in fig. 3).
In step S3, during the running of the robot, the position of the robot is acquired in real time, and whether the robot bypasses an obstacle and returns to the current cleaning route or reaches an adjacent cleaning route is determined according to the position of the robot acquired in real time, wherein:
when the robot is detected to bypass the obstacle and return to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route where the robot is currently located;
when the robot is detected to reach the cleaning route adjacent to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route adjacent to the cleaning route where the robot is currently located.
Through the way of adjusting the heading of the robot provided by the embodiment of the invention, namely the way of adjusting the heading of the robot according to the cleaning direction of the cleaning route, the robot can clean according to the preset cleaning sequence, and cleaning omission does not exist.
Taking the "obstacle 4" of fig. 3 as an example, when the robot is detected to bypass the "obstacle 4" and return to the penultimate cleaning route, the heading of the robot is adjusted to be the same as the cleaning direction of the penultimate cleaning route, and the obstacle detouring is finished.
Preferably, in the embodiment of the present invention, the position of the turning point on the cleaning route other than the cleaning route where the robot is currently located is the position of the turning point on the cleaning route adjacent to the cleaning route where the robot is currently located. When the number of the positions of the turning points on the cleaning routes stored in the first list is not more than one, the positions of the turning points on the cleaning routes adjacent to the cleaning route where the robot is currently located are the positions of the last-to-last turning points in the second list. Taking the "obstacle 4" of fig. 3 as an example, when the sensor disposed on the robot detects the "obstacle 4", only the position of the penultimate turning point (i.e. the turning point G) in the second list is adjusted and taken out, and the robot is controlled to move along the wall to the right or along the wall to the left by judging the positional relationship between the position of the turning point G and the current position of the robot, and the specific process is referred to above and will not be repeated herein.
For the case of "obstacle 3" in fig. 3, please understand in conjunction with the above "obstacle 2" and "obstacle 4", and will not be described here again.
Therefore, according to the second mode, the positions of the turning points on the cleaning route are stored in the second list, and the robot is controlled to move along the wall to the right or to move along the wall to complete the obstacle-surrounding operation by judging the position relation between the positions of the turning points in the second list and the current position of the robot.
Furthermore, by combining the first mode and the second mode, the embodiment of the invention can realize automatic cleaning and automatic obstacle avoidance of all cleaning routes without human intervention.
Further, in the embodiment of the invention, the position relation between the position of the second turning point in the first list and the current position of the robot is preferably utilized in the first mode, and in the second mode, the position relation between the position of the last-to-last turning point in the second list and the current position of the robot is preferably utilized to control the robot to move along the wall to the right or move along the wall to complete the obstacle-surrounding operation, so that the position of the second turning point in the first list and the position of the last-to-last turning point in the second list are directly set and called when the program for calling the position of the turning point is compiled, the complex program is not required to be set, and the workload of a developer is reduced.
Correspondingly, the embodiment of the invention also provides a sweeping robot, which comprises:
a body; and
the robot cleaning obstacle detouring system comprises a body, a memory and a controller, wherein the memory and the controller are arranged on the body, executable codes are stored on the memory, and the executable codes can realize the robot cleaning obstacle detouring method when being executed by the processor.
In summary, the embodiment of the invention provides a robot cleaning obstacle-avoidance method and a sweeping robot, which control the robot to move along a wall to the right or along the wall to the left so as to complete the obstacle-avoidance operation by judging the position relationship between the current position of the robot and a turning point on a cleaning route, thereby realizing the cleaning obstacle-avoidance of the sweeping robot, improving the cleaning coverage rate of the sweeping robot, saving the time of obstacle-avoidance objects and ensuring the cleaning quality and efficiency.
In addition, compared with the prior art, the method for cleaning and obstacle-detouring by the robot and the sweeping robot provided by the embodiment of the invention have the following advantages or beneficial effects:
1) The position of the robot can be obtained in real time;
2) The method has the advantages that the positions of the turning points on the cleaning route are stored in the form of the list based on the cleaning sequence of the robot, so that when the position of a certain turning point is deleted or called, the designated item in the list can be accurately deleted or called, the deletion or calling error can not occur, and the robot can be ensured to clean according to the preset cleaning sequence, and cleaning omission can not occur;
3) The positions of the turning points on the cleaning route are stored in the first list, and the robot is controlled to move along the wall to the right or to the left so as to complete the obstacle-surrounding operation by judging the position relation between the positions of the turning points in the first list and the current position of the robot, so that the cleaning and obstacle avoidance of all the cleaning routes except the last cleaning route can be realized;
4) The positions of the turning points on the cleaning route are stored in the second list, and the robot is controlled to move along the wall to the right or to the left so as to complete the obstacle-surrounding operation by judging the position relation between the positions of the turning points in the second list and the current position of the robot, so that the cleaning and obstacle avoidance of the last cleaning route can be realized;
5) Through the steps 3) and 4), the automatic cleaning and the automatic obstacle avoidance of all cleaning routes can be realized, and no human intervention is required;
6) The course of the robot can be adjusted according to the cleaning direction of the cleaning route, so that the robot cleans according to the preset cleaning sequence, and cleaning omission does not exist;
7) The positions of the turning points reached by the robot and the positions of the turning points which are not reached and are arranged before the positions of the turning points reached by the robot in the first list are deleted in real time, the position relation between the position of the second turning point in the first list and the current position of the robot is utilized, or the position relation between the position of the last-to-last turning point in the second list and the current position of the robot is utilized, the robot is controlled to move along the wall to the right or move along the wall to complete the obstacle-surrounding operation, so that the position of the second turning point in the first list and the position of the last-to-last turning point in the second list are directly set and taken when a program for taking the positions of the turning points is written, the complicated program is not required, and the work load of a developer is reduced.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by computing devices, such that they may be stored in a memory device and executed by computing devices, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Although the embodiments of the present invention are disclosed above, the embodiments are only used for the convenience of understanding the present invention, and are not intended to limit the present invention. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the present disclosure as defined by the appended claims.
Claims (10)
1. A method of robotic cleaning of an obstacle detouring, comprising:
presetting a cleaning route of a robot and turning points on the cleaning route;
storing the positions of the turning points on the cleaning route into a first list and a second list according to the cleaning sequence of the robot;
when detecting that an obstacle exists in a cleaning route where the robot is currently located, acquiring the position of a turning point on the cleaning route outside the cleaning route where the robot is currently located from the stored positions of the turning points on the cleaning route;
recording the cleaning direction of a cleaning route where the robot is currently located;
determining the position relation between the current position of the robot and a turning point on a cleaning route outside the current cleaning route of the robot according to the cleaning direction of the current cleaning route of the robot;
when the number of the positions of the turning points on the cleaning route stored in the first list is not more than one, judging that the positions of the turning points on the cleaning route outside the current cleaning route of the robot in the second list are positioned in a left area or a right area of the current position of the robot when seen along the cleaning direction of the current cleaning route of the robot;
controlling the robot to perform obstacle detouring operation;
and when the robot is detected to bypass the obstacle and return to the current cleaning route of the robot or reach an adjacent cleaning route, ending the obstacle-bypassing operation.
2. The method according to claim 1, wherein the method further comprises:
when the robot reaches a turning point of the current cleaning route, the robot turns around to enter a cleaning route adjacent to the current cleaning route, and the turning point of the current cleaning route and the positions of the turning points, which are not reached by the robot and are arranged before the turning point of the current cleaning route, in the first list are deleted.
3. The method of claim 1, wherein determining a positional relationship between a current position of the robot and a turning point on a cleaning route other than the cleaning route in which the robot is currently located according to a cleaning direction of the cleaning route in which the robot is currently located, comprises:
when the number of the positions of the turning points on the cleaning route stored in the first list is larger than one, the positions of the turning points on the cleaning route outside the current cleaning route of the robot in the first list are judged to be located in the left area or the right area of the current position of the robot when seen along the cleaning direction of the current cleaning route of the robot.
4. The method of claim 3, wherein the step of,
if the position of the turning point on the cleaning route outside the current cleaning route of the robot is positioned in the left area of the current position of the robot, controlling the robot to move along the wall by the right;
wherein the robot moves right along the wall such that the right side of the robot approaches the obstacle and proceeds along the edge of the obstacle.
5. The method of claim 3, wherein the step of,
if the position of the turning point on the cleaning route outside the current cleaning route of the robot is positioned in the right area of the current position of the robot, controlling the robot to move along the wall by the left;
wherein the robot moves along the wall to control the left side of the robot to approach the obstacle and to advance along the edge of the obstacle.
6. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the current position of the robot is the position of the robot acquired in real time.
7. The method according to any one of claim 1 to 6, wherein,
seen along the cleaning direction of each cleaning route, only one turning point is arranged on each cleaning route;
the positions of the turning points on the cleaning routes except the current cleaning route of the robot are the positions of the turning points on the cleaning routes adjacent to the current cleaning route of the robot.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
when the number of the positions of the turning points on the cleaning route stored in the first list is greater than one, the position of the second turning point in the first list is the position of the turning point on the cleaning route adjacent to the current cleaning route;
when the number of the positions of the turning points on the cleaning route stored in the first list is not more than one, the position of the penultimate turning point in the second list is the position of the turning point on the cleaning route adjacent to the current cleaning route.
9. The method according to claim 1, wherein the method further comprises:
when the robot is detected to bypass an obstacle and return to the current cleaning route of the robot, the heading of the robot is adjusted to be the same as the cleaning direction of the current cleaning route of the robot;
when the robot is detected to reach a cleaning route adjacent to the cleaning route where the robot is currently located, the heading of the robot is adjusted to be the same as the cleaning direction of the cleaning route adjacent to the cleaning route where the robot is currently located.
10. A robot for sweeping floor, comprising:
a body; and
a memory and a processor disposed on the body, the memory having stored thereon executable code that when executed by the processor is capable of implementing the method of robotic clearing obstacle detouring according to any one of claims 1 to 9.
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