CN111419116A - Climbing control method and device for sweeping robot, storage medium and sweeping robot - Google Patents
Climbing control method and device for sweeping robot, storage medium and sweeping robot Download PDFInfo
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- CN111419116A CN111419116A CN201811583057.3A CN201811583057A CN111419116A CN 111419116 A CN111419116 A CN 111419116A CN 201811583057 A CN201811583057 A CN 201811583057A CN 111419116 A CN111419116 A CN 111419116A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000009194 climbing Effects 0.000 title claims abstract description 39
- 238000013459 approach Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000004018 waxing Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention provides a climbing control method and device for a sweeping robot, a storage medium and the sweeping robot, and belongs to the field of intelligent home furnishing. The method comprises the following steps: in the operation process of the sweeping robot, transmitting radar waves to the front of the operation direction; acquiring point cloud data in front according to a radar echo of a transmitted radar, wherein the point cloud data comprises three-dimensional point cloud data of a three-dimensional space; the method comprises the steps of classifying point clouds according to a preset data interval, determining that a slope exists in the front if a first plane determined according to the linear relation of the first part of point cloud data meets the slope of ground point cloud data and an included angle between a second plane determined according to the linear relation of the second part of point cloud data and the ground is a preset range when at least two parts of point cloud data are in linear relation, and through the technical scheme, the current operation environment of a book can be accurately identified, and the robot can be controlled to climb when the front side is a slope instead of being directly used as an obstacle to avoid.
Description
Technical Field
The invention relates to the field of smart home, in particular to a climbing control method of a sweeping robot, a climbing control device of the sweeping robot, a storage medium and the sweeping robot.
Background
Along with popularization and popularization of the sweeping robot, the sweeping robot is higher in the center of consumers by means of the practical performance and good use experience of intelligent planning, automatic cleaning and automatic obstacle avoidance, and becomes a necessary cleaning tool for most families.
However, the existing sweeping robot is still difficult to adapt to a complex environment, so that the use environment of the sweeping robot is limited and the sweeping robot is difficult to deal with in a home environment if a slope appears in front in the use process, and even is directly used as an obstacle to bypass.
Disclosure of Invention
In order to at least partially solve the problems in the prior art, the invention provides a climbing control method and a climbing control device of a sweeping robot, a storage medium and the sweeping robot. The specific technical scheme is as follows:
the climbing control method of the sweeping robot comprises the following steps of: in the operation process of the sweeping robot, transmitting radar waves to the front of the operation direction; acquiring point cloud data in front according to a radar echo of a transmitted radar, wherein the point cloud data comprises three-dimensional point cloud data of a three-dimensional space; classifying the acquired data of all point clouds in the three-dimensional point cloud data according to a preset data interval, and determining that a slope exists in the front when at least two parts of point cloud data are in a linear relation, a first plane determined according to the linear relation of the first part of point cloud data meets the slope of ground point cloud data, and an included angle between a second plane determined according to the linear relation of the second part of point cloud data and the ground is a preset range; when the number of the first part of point clouds is smaller and smaller in the running process of the sweeping robot, determining that the sweeping robot approaches the slope; determining the distance between the sweeping robot and the slope according to the point cloud number of the first part, determining the slope gradient according to the included angle between the second plane and the ground, controlling the climbing power of the sweeping robot according to the slope gradient, and controlling the sweeping robot not to climb when the slope gradient is larger than a preset threshold value.
Further, the preset threshold value is determined according to the maximum climbing power of the sweeping robot.
Further, the length of the second plane is determined according to the point cloud number of the second plane, when the slope gradient is close to 90 degrees and the length of the second plane meets a second preset range, it is determined that a new plane is higher than the current operation ground, and when it is determined that the new plane is higher than the current operation ground, the sweeping robot is controlled to cross the second plane to continue to operate.
Further, when the second plane is determined to be higher than the current working plane, the sweeping robot is controlled to sweep from the direction of the second plane running to the current working plane.
The utility model provides a robot of sweeping floor climbing controlling means, the robot of sweeping floor is provided with the radar, the device includes: the transmitting module is used for transmitting a radar to the front of the operation direction in the operation process of the sweeping robot; the system comprises a collecting module, a transmitting module and a processing module, wherein the collecting module is used for acquiring forward point cloud data according to a radar echo of a transmitted radar, and the point cloud data comprises point cloud data of a three-dimensional space; the classification module is used for classifying the data of all point clouds in the acquired point cloud data according to different data intervals, and when at least two parts of point cloud data are in a linear relation, the linear relation of the first part of point cloud data meets the slope of ground point cloud data, and the included angle between a second plane and the ground determined according to the linear relation of the second part of point cloud data is a preset range, the front plane and the slope are determined; the determining module is used for determining that the sweeping robot approaches the slope when the number of the first part of point clouds is smaller and smaller in the running process of the sweeping robot; and the control module is used for determining the distance between the sweeping robot and the slope according to the point cloud number of the first part, determining the slope gradient according to the included angle between the second plane and the ground, controlling the climbing power of the sweeping robot according to the slope gradient, and stopping climbing when the slope gradient is greater than a preset threshold value.
Further, the preset threshold value is determined according to the maximum climbing power of the sweeping robot.
Further, the control module is further configured to determine the length of the second plane according to the point cloud number of the second plane, determine that a new plane is higher than the current operation ground when the slope gradient is close to 90 degrees and the length of the second plane meets a second preset range, and control the sweeping robot to climb to the second plane to continue to operate when the new plane is determined to be higher than the current operation ground.
Further, the control module is also used for controlling the sweeping robot to sweep from the second plane to the direction of the current working plane when the second plane is determined to be higher than the current working plane.
A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the above described method of controlling climbing of a sweeping robot.
A sweeping robot, comprising: one or more processors; storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the climbing control method of the sweeping robot.
Above-mentioned technical scheme, through at robot operation in-process forward emission radar wave, accurate discernment according to the radar, point cloud data in the operation space of discernment that can be accurate, the point cloud in the place ahead can be confirmed according to point cloud data, according to the characteristics that the slope of ground and slope is different, can accurately discern whether the place ahead has the slope, and can accurately determine the distance on current robot and the slope of sweeping the floor, because point cloud data is more accurate, so can accurately determine the slope on slope, thereby provide suitable power for the robot of sweeping the floor with the sharing the robot of sweeping the floor climbs the slope, simultaneously, when robot power is not enough to climb the slope of sweeping the floor, stop control shows that the robot of sweeping the floor climbs the slope, thereby furthest's assurance robot's safety of sweeping the floor improves the operation effect simultaneously.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 exemplarily shows a climbing control method of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic view schematically illustrating a working method of the sweeping robot according to an embodiment of the present invention;
fig. 3 exemplarily shows a climbing control device of a sweeping robot according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
A first aspect of an embodiment of the present invention provides a sweeping robot climbing control method, where the sweeping robot is provided with a radar, the radar is at least used for collecting point cloud data in a vertical direction, and the radar is installed on an upper portion of a machine body of the sweeping robot, as shown in fig. 1, the sweeping robot climbing control method includes: 101, transmitting radar waves to the front of an operation direction in the operation process of the sweeping robot; the radar may be a millimeter wave radar for acquiring millimeter wave data, and thus may determine reflection data of a plurality of reflection points of a preceding object, thereby forming point cloud data. The vertical direction refers to a direction perpendicular to the ground. 102, acquiring forward point cloud data according to the radar echo of the emitted radar, wherein the point cloud data comprises three-dimensional point cloud data of a three-dimensional space. 103, classifying the acquired data of all point clouds in the three-dimensional point cloud data according to a preset data interval, and determining that a slope exists in the front when at least two parts of point cloud data are in a linear relation, a first plane determined according to the linear relation of the first part of point cloud data meets the slope of ground point cloud data, and an included angle between a second plane determined according to the linear relation of the second part of point cloud data and the ground is a preset range. And 104, when the number of the first part of point clouds is smaller and smaller in the running process of the sweeping robot, determining that the sweeping robot is approaching the slope. And 105, determining the distance between the sweeping robot and the slope according to the point cloud number of the first part, determining the slope of the slope according to the included angle between the second plane and the ground, controlling the climbing power of the sweeping robot according to the slope of the slope, and controlling the sweeping robot not to climb when the slope of the slope is greater than a preset threshold value.
As shown in fig. 2, a radar 22 is assembled above the sweeping robot 21, the radar 22 may be a millimeter wave radar 22, the millimeter wave radar may acquire forward radar data to generate forward three-dimensional point cloud data, each point cloud corresponds to a depth information, that is, a distance between an actual acquisition point of the point cloud and the radar, and according to the distances, a linear relationship of a point cloud set may be obtained by combining position information of the point clouds, and a specific method may be to calculate a slope between each two adjacent point clouds and determine two point clouds with similar slopes according to the slope relationship, that is, when the slope K1 of the first point cloud and the second point cloud is closer to the slope K2 of the second point cloud and the third point cloud, the first point cloud, the second point cloud, and the third point cloud are classified into one class. Therefore, at least one point cloud set can be obtained, the slope of the slope represented by the point cloud set can be fitted according to the depth information of each point cloud of the point cloud sets, and therefore a plurality of pieces of plane information in front of the sweeping robot can be analyzed, generally, the slope of the slope 23 meets a first threshold value, for example, the slope value is 0 to 0.5, the sweeping robot can operate, the slope of the plane can be generally marked as 0, and the slope can be obtained through a space conversion relation.
Preferably, the preset threshold is determined according to the maximum climbing power of the sweeping robot, for example, a maximum slope of the sweeping robot, which can only climb 30 degrees, is obtained according to the climbing power and the weight of the sweeping robot, and when the slope of the slope is greater than 30, the slope is also determined as an obstacle, so that the sweeping robot is prevented from being damaged.
Preferably, the length of the second plane is determined according to the point cloud number of the second plane, when the slope gradient is close to 90 degrees and the length of the second plane meets a second preset range, it is determined that a new plane is higher than the current working ground, and when it is determined that the new plane is higher than the current working ground, the sweeping robot is controlled to cross the second plane to continue working. Specifically, when the second plane in front is 90 degrees, it can be determined that the plane in front cannot climb, and is an obstacle.
Preferably, when the second plane is determined to be higher than the current working plane, the sweeping robot is controlled to sweep from the direction of the second plane running to the current working plane. By adopting the method, the clearance close to the plane can be cleaned, and the cleaning is ensured to be clean.
In a second aspect, the present invention further provides a climbing control device for a sweeping robot, where the sweeping robot is provided with a radar, and the device includes: the transmitting module 31 is used for transmitting a radar to the front of the operation direction in the operation process of the sweeping robot; a collection module 32, configured to obtain forward point cloud data according to a radar echo of a radar to be transmitted, where the point cloud data includes point cloud data of a three-dimensional space; the classification module 33 is used for classifying the data of all point clouds in the acquired point cloud data according to different data intervals, and when at least two parts of point cloud data are in a linear relationship, the linear relationship of the first part of point cloud data meets the slope of ground point cloud data, and the included angle between a second plane and the ground determined according to the linear relationship of the second part of point cloud data is a preset range, the front plane and the slope are determined; a determining module 34, configured to determine that the sweeping robot is approaching the slope when the number of the first part of point clouds is smaller and smaller during the operation of the sweeping robot; and the control module 35 is used for determining the distance between the sweeping robot and the slope according to the point cloud number of the first part, determining the slope gradient according to the included angle between the second plane and the ground, controlling the climbing power of the sweeping robot according to the slope gradient, and stopping climbing when the slope gradient is greater than a preset threshold value.
As shown in fig. 2, a radar 22 is assembled above the sweeping robot 21, the radar 22 may be a millimeter wave radar 22, the millimeter wave radar may acquire forward radar data to generate forward three-dimensional point cloud data, each point cloud corresponds to a depth information, that is, a distance between an actual acquisition point of the point cloud and the radar, and according to the distances, a linear relationship of a point cloud set may be obtained by combining position information of the point clouds, and a specific method may be to calculate a slope between each two adjacent point clouds and determine two point clouds with similar slopes according to the slope relationship, that is, when the slope K1 of the first point cloud and the second point cloud is closer to the slope K2 of the second point cloud and the third point cloud, the first point cloud, the second point cloud, and the third point cloud are classified into one class. Therefore, at least one point cloud set can be obtained, the slope of the slope represented by the point cloud set can be fitted according to the depth information of each point cloud of the point cloud sets, and therefore a plurality of pieces of plane information in front of the sweeping robot can be analyzed, generally, the slope of the slope 23 meets a first threshold value, for example, the slope value is 0 to 0.5, the sweeping robot can operate, the slope of the plane can be generally marked as 0, and the slope can be obtained through a space conversion relation.
Preferably, the preset threshold is determined according to the maximum climbing power of the sweeping robot. For example, the maximum slope of the sweeping robot which can only climb 30 degrees is obtained according to the climbing power and the weight of the sweeping robot, and when the slope gradient is greater than 30, the slope is also determined as the obstacle, so that the sweeping robot is prevented from being damaged.
Preferably, the control module is further configured to determine the length of the second plane according to the point cloud number of the second plane, determine that a new plane is higher than the current operation ground when the slope gradient is close to 90 degrees and the length of the second plane meets a second preset range, and control the sweeping robot to climb to the second plane to continue to operate when the new plane is higher than the current operation ground. Specifically, when the second plane in front is 90 degrees, it can be determined that the plane in front cannot climb, and is an obstacle.
Preferably, the control module is further configured to control the sweeping robot to sweep in a direction from the second plane to the current working plane when it is determined that the second plane is higher than the current working plane. Adopt this module, can guarantee to close on cleaning of planar space, guarantee to clean totally.
In a third aspect, the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the above-mentioned climbing control method for a sweeping robot.
In a fourth aspect, the present invention further provides a sweeping robot, including: one or more processors; storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the climbing control method of the sweeping robot. The sweeping robot is not limited to a dust collection robot, and can also be an indoor cleaning robot such as a mopping robot, a polishing robot, a waxing robot and the like.
According to the technical scheme, the radar waves are transmitted to the front in the robot operation process, accurate identification is carried out according to the radar, point cloud data in an operation space can be accurately identified, point cloud in the front can be determined according to the point cloud data, whether the slope exists in the front can be accurately identified according to the characteristics of the ground and the slope, the distance between the current sweeping robot and the slope can be accurately determined, the slope of the slope can be accurately determined due to the fact that the point cloud data are accurate, and therefore the sweeping robot provides suitable power to share the power, the sweeping robot climbs the slope, and meanwhile when the power of the sweeping robot is not enough to climb the slope, the sweeping robot stops being controlled to climb the slope, safety of the sweeping robot is guaranteed to the maximum extent, and meanwhile, operation effects are improved.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the embodiments provided in the present application, it should be understood that the disclosed system, 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.
Claims (10)
1. The climbing control method of the sweeping robot is characterized in that the sweeping robot is provided with a radar which is at least used for collecting point cloud data in the vertical direction, the radar is installed on the upper portion of the body of the sweeping robot, and the method comprises the following steps:
in the operation process of the sweeping robot, transmitting radar waves to the front of the operation direction;
acquiring point cloud data in front according to a radar echo of a transmitted radar, wherein the point cloud data comprises three-dimensional point cloud data of a three-dimensional space;
classifying the acquired data of all point clouds in the three-dimensional point cloud data according to a preset data interval, and determining that a slope exists in the front when at least two parts of point cloud data are in a linear relation, a first plane determined according to the linear relation of the first part of point cloud data meets the slope of ground point cloud data, and an included angle between a second plane determined according to the linear relation of the second part of point cloud data and the ground is a preset range;
when the number of the first part of point clouds is smaller and smaller in the running process of the sweeping robot, determining that the sweeping robot approaches the slope;
determining the distance between the sweeping robot and the slope according to the point cloud number of the first part, determining the slope gradient according to the included angle between the second plane and the ground, controlling the climbing power of the sweeping robot according to the slope gradient, and controlling the sweeping robot not to climb when the slope gradient is larger than a preset threshold value.
2. The method of claim 1, wherein the preset threshold is determined based on a maximum climbing power of the sweeping robot.
3. The method according to claim 1, wherein the length of the second plane is determined according to the point cloud number of the second plane, when the slope gradient is close to 90 degrees and the length of the second plane meets a second preset range, it is determined that a new plane is higher than the current working ground, and when it is determined that the new plane is higher than the current working ground, the sweeping robot is controlled to continuously work on the second plane across the field.
4. The method of claim 3, wherein when the second plane is determined to be higher than the current working plane, the sweeping robot is controlled to sweep in a direction from the second plane to the current working plane.
5. The utility model provides a robot of sweeping floor climbing controlling means which characterized in that, the robot of sweeping floor is provided with the radar, the device includes:
the transmitting module is used for transmitting a radar to the front of the operation direction in the operation process of the sweeping robot;
the system comprises a collecting module, a transmitting module and a processing module, wherein the collecting module is used for acquiring forward point cloud data according to a radar echo of a transmitted radar, and the point cloud data comprises point cloud data of a three-dimensional space;
the classification module is used for classifying the data of all point clouds in the acquired point cloud data according to different data intervals, and when at least two parts of point cloud data are in a linear relation, the linear relation of the first part of point cloud data meets the slope of ground point cloud data, and the included angle between a second plane and the ground determined according to the linear relation of the second part of point cloud data is a preset range, the front plane and the slope are determined;
the determining module is used for determining that the sweeping robot approaches the slope when the number of the first part of point clouds is smaller and smaller in the running process of the sweeping robot;
and the control module is used for determining the distance between the sweeping robot and the slope according to the point cloud number of the first part, determining the slope gradient according to the included angle between the second plane and the ground, controlling the climbing power of the sweeping robot according to the slope gradient, and stopping climbing when the slope gradient is greater than a preset threshold value.
6. The apparatus of claim 5, wherein the preset threshold is determined according to a maximum climbing power of the sweeping robot.
7. The device of claim 5, wherein the control module is further configured to determine the length of the second plane according to the number of point clouds of the second plane, determine that a new plane is higher than the current working ground when the slope gradient is close to 90 degrees and the length of the second plane meets a second preset range, and control the sweeping robot to climb onto the second plane to continue working when the new plane is determined to be higher than the current working ground.
8. The device of claim 5, wherein the control module is further configured to control the sweeping robot to sweep in a direction from the second plane to the current working plane when the second plane is determined to be higher than the current working plane.
9. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method of controlling climbing of a sweeping robot as claimed in any one of claims 1 to 4.
10. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the sweeping robot hill climbing control method of any one of claims 1-4.
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| CN201811583057.3A CN111419116B (en) | 2018-12-24 | 2018-12-24 | Climbing control method and device for sweeping robot, storage medium and sweeping robot |
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| CN201811583057.3A CN111419116B (en) | 2018-12-24 | 2018-12-24 | Climbing control method and device for sweeping robot, storage medium and sweeping robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112155486A (en) * | 2020-09-30 | 2021-01-01 | 王丽敏 | Control method and control device of sweeping robot |
| CN113910924A (en) * | 2021-12-10 | 2022-01-11 | 江苏邦邦智能科技有限公司 | Control method, control device, mobile device and medium |
| CN114042277A (en) * | 2021-10-09 | 2022-02-15 | 湖南中联重科应急装备有限公司 | Method for fire-fighting robot, controller and fire-fighting robot |
| WO2022037445A1 (en) * | 2020-08-17 | 2022-02-24 | 美智纵横科技有限责任公司 | Object-crossing method and apparatus, sweeping robot, and storage medium |
| WO2022117072A1 (en) * | 2020-12-03 | 2022-06-09 | 苏州宝时得电动工具有限公司 | Autonomous working device, and control method therefor |
| WO2022152263A1 (en) * | 2021-01-18 | 2022-07-21 | 深圳市普渡科技有限公司 | Slope sensing method and device, robot, and storage medium |
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| WO2022152263A1 (en) * | 2021-01-18 | 2022-07-21 | 深圳市普渡科技有限公司 | Slope sensing method and device, robot, and storage medium |
| CN114042277A (en) * | 2021-10-09 | 2022-02-15 | 湖南中联重科应急装备有限公司 | Method for fire-fighting robot, controller and fire-fighting robot |
| CN113910924A (en) * | 2021-12-10 | 2022-01-11 | 江苏邦邦智能科技有限公司 | Control method, control device, mobile device and medium |
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