CN112205929A - Robot cleaning method and device, robot and storage medium - Google Patents
Robot cleaning method and device, robot and storage medium Download PDFInfo
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- CN112205929A CN112205929A CN202010933274.1A CN202010933274A CN112205929A CN 112205929 A CN112205929 A CN 112205929A CN 202010933274 A CN202010933274 A CN 202010933274A CN 112205929 A CN112205929 A CN 112205929A
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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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- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application is applicable to the field of cleaning robots and provides a robot cleaning method, a device, a robot and a storage medium. In the embodiment of the application, when the curtain-shaped object is detected to exist in the front preset range, the height value between the curtain-shaped object and the ground is determined; selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value; and executing corresponding cleaning operation according to the cleaning strategy. Thereby improving the cleaning efficiency of the robot when facing a complex cleaning environment.
Description
Technical Field
The application belongs to the field of cleaning robots, and particularly relates to a robot cleaning method, a robot cleaning device, a robot and a storage medium.
Background
With the development of society, robots are more and more common in people's lives by virtue of intelligent performance and good user experience brought to people, and especially cleaning type robots are more and more popular with people and become necessary cleaning tools for most families.
However, the cleaning type robot is often limited when facing a complex cleaning environment during working, for example, sometimes the robot is wound by a curtain-like object in the complex cleaning environment or the curtain-like object blocks a sensor mounted on the robot body during cleaning, so that the robot cannot normally act and can only stay in place to wait for rescue, sometimes the robot is affected by the curtain-like object in the complex cleaning environment during cleaning, so that the spatial perception range of the cleaning robot in the complex cleaning environment is not matched with the actual cleaning environment range, and the like, and the cleaning efficiency of the robot facing the complex cleaning environment is low due to the existence of these affecting factors.
Disclosure of Invention
The embodiment of the application provides a robot cleaning method, a robot cleaning device, a robot and a storage medium, and can solve the problem that the robot is low in cleaning efficiency when facing a complex cleaning environment.
In a first aspect, an embodiment of the present application provides a robot cleaning method, including:
when detecting that a curtain-shaped object exists in a front preset range, determining a height value between the curtain-shaped object and the ground;
selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value;
and executing corresponding cleaning operation according to the cleaning strategy.
Optionally, the selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value includes:
when the height value is within a first preset height range, acquiring the current position of the robot and the position of the curtain-shaped object, and determining a distance value between the current position and the position of the curtain-shaped object;
selecting a turning cleaning strategy from the set of cleaning strategies when the distance value is within a first preset distance range.
Optionally, the performing the corresponding cleaning operation according to the cleaning strategy includes:
and after the steering action is executed according to the steering cleaning strategy, carrying out the edgewise cleaning operation on the curtain-shaped object by using an edgewise sensor.
Optionally, the executing the corresponding cleaning operation according to the cleaning strategy further includes:
when the existence of a passage going to the blocking area of the curtain-shaped object is detected, the operation of turning to enter the blocking area along the passage for cleaning is carried out according to the turning cleaning strategy.
Optionally, when the height value is within a first preset height range, a curtain-shaped object type is obtained, and a preset area including the curtain-shaped object is divided into forbidden areas according to the curtain-shaped object type.
Optionally, when the height value is within a first preset height range, acquiring a curtain-like object type, and performing a cleaning operation by passing through the curtain-like object according to the curtain-like object type.
Optionally, the selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value further includes:
and when the height value is out of a second preset height range, acquiring the type of the curtain-shaped object, and selecting a forward cleaning strategy or a steering cleaning strategy from the cleaning strategy set according to the type of the curtain-shaped object.
In a second aspect, embodiments of the present application provide a robotic cleaning device, including:
the detection module is used for determining a height value between a curtain-shaped object and the ground when the curtain-shaped object is detected to exist in a front preset range;
the selecting module is used for selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value;
and the execution module is used for executing corresponding cleaning operation according to the cleaning strategy.
In a third aspect, embodiments of the present application provide a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the robot cleaning methods when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of any one of the above-mentioned robot cleaning methods.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a robot, causes the robot to perform any one of the robot cleaning methods of the first aspect.
In the embodiment of the application, when the curtain-shaped object is detected to exist in the front preset range, the height value between the curtain-shaped object and the ground is determined; selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value; and executing corresponding cleaning operation according to the cleaning strategy. The cleaning strategy which is most suitable for the current condition of the robot is obtained in advance according to the height between the curtain-shaped object and the ground, and the robot executes corresponding cleaning operation according to the cleaning strategy, so that the cleaning efficiency of the robot in the complex cleaning environment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a first schematic flow chart of a robot cleaning method according to an embodiment of the present disclosure;
fig. 2 is a second schematic flow chart of a robot cleaning method according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a robot cleaning device provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Fig. 1 is a schematic flow chart of a robot cleaning method in an embodiment of the present application, where an execution subject of the method may be a robot, and as shown in fig. 1, the robot cleaning method may include the following steps:
step S101, when the curtain-shaped object is detected to exist in a front preset range, determining a height value between the curtain-shaped object and the ground.
In this embodiment, the robot is entangled with some curtain-shaped objects during the operation process, so that the robot can detect whether there is a curtain-shaped object in the detection range preset in the robot by using the optical sensor or the visual sensor during the operation process, so as to prevent the entanglement event caused by the presence of the curtain-shaped object in front of the operation path. When the robot detects that the curtain-shaped object exists in the front preset range of the robot, the height value of the curtain-shaped object existing in the front path to be cleaned of the robot from the ground can be determined through an optical sensor or a visual sensor, and whether the robot needs to take corresponding measures aiming at the curtain-shaped object to be faced or not is judged through the obtained height value. Wherein the curtain-like objects are soft hanging objects such as tea table cloth, bed sheets, curtains, door curtains and the like; the front preset range can set the distance range of the curtain-shaped object detected by the robot according to the requirements of the user; the height value is the vertical height distance between the curtain-shaped object and the ground.
And S102, selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value.
And step S103, executing corresponding cleaning operation according to the cleaning strategy.
In this embodiment, the robot may select the most suitable cleaning strategy for the curtain-shaped object to be faced by the current robot from the cleaning strategy set preset in the robot according to the obtained height value of the curtain-shaped object of the front cleaning path from the ground, and then the robot performs the cleaning operation according to the selected cleaning strategy according to the obtained cleaning strategy. The cleaning strategy is a cleaning strategy for cleaning the robot set based on some detected parameter conditions, so that the robot executes corresponding operation according to the cleaning strategy to improve the cleaning efficiency; the corresponding cleaning operation is a cleaning operation that complies with the selected cleaning strategy.
Optionally, the preset cleaning strategy set includes that when the height between the curtain-shaped object and the ground is within a first preset height range, a turning cleaning strategy can be selected, that is, turning is performed to clean the curtain-shaped object along the edge; when the height between the curtain-shaped object and the ground is within a first preset height range, after the curtain-shaped object is turned to be cleaned edgewise, whether the curtain-shaped object needs to enter a shielding area of the curtain-shaped object for cleaning can be further judged according to the current environment, for example, the curtain-shaped object passes through for cleaning operation, or the curtain-shaped object enters the shielding area of the curtain-shaped object from other paths, and if the current environment does not meet the corresponding conditions, the curtain-shaped object does not enter the shielding area; when the height between the curtain-shaped object and the ground is out of the second preset height range, the cleaning strategy is selected according to the type of the curtain-shaped object, for example, when the curtain-shaped object is an object like a tea table curtain, the cleaning strategy is turned to the edgewise cleaning of the curtain-shaped object, and the like, and how the specific strategy is performed can be implemented according to the following steps.
Optionally, the first preset height range may be set to [ -5cm, 30cm ]; the second predetermined height range may be set within the first predetermined height range with reference to the setting of the first predetermined height range.
Optionally, as shown in fig. 2, step S102 includes:
step S201, when the height value is within a first preset height range, acquiring the current position of the robot and the position of the curtain-shaped object, and determining a distance value between the current position and the position of the curtain-shaped object.
And S202, when the distance value is within a first preset distance range, selecting a turning cleaning strategy from the cleaning strategy set.
In this embodiment, if the robot forcibly performs the cleaning operation through the short curtain-shaped object, the robot may be entangled by the curtain-shaped object, so a height range may be set, such as the first preset height range mentioned above, when the height value of the curtain-shaped object of the path to be cleaned in front of the robot from the ground is smaller than or equal to the first preset height range mentioned above, which indicates that the robot cannot directly pass through the curtain-shaped object, so the robot may obtain its current position and the position of the curtain-shaped object through an optical sensor or a visual sensor, and calculate the distance value between the robot and the curtain-shaped object to be faced by the robot through the obtained two positions, so as to determine how far the robot will touch the curtain-shaped object, and in order to avoid the robot colliding with the curtain-shaped object, the robot may set the first preset height range and the first preset distance range in the cleaning strategy set, if the height value is in the set first preset height range, if a certain distance threshold condition is met, a steering cleaning strategy is performed, so that when the distance value between the robot and the curtain-shaped object to be faced by the robot is in the first preset distance range, the steering cleaning strategy can be selected from the cleaning strategy set. Wherein, the steering cleaning strategy is that the robot steers to perform cleaning operation.
Optionally, step S103 includes:
and S203, performing an edgewise cleaning operation on the curtain-shaped object by using an edgewise sensor after executing a steering action according to the steering cleaning strategy.
In this embodiment, after the robot selects the current steering cleaning strategy from the cleaning strategy set, since the robot may be too close to the curtain-shaped object, the robot may be set to have a certain distance from the curtain-shaped object during the cleaning process to perform the cleaning operation, the robot may be configured to use the edge sensor to measure the distance between the robot and the curtain-shaped object, and the robot may be configured to set the preset distance and maintain the set preset distance using the edge sensor to perform the edge cleaning operation around the curtain-shaped object. And after the robot determines that the currently selected cleaning strategy is a steering cleaning strategy, controlling the body of the robot to execute steering action according to the steering cleaning strategy, and after the steering action is finished, controlling the preset distance between the body of the robot and the curtain-shaped object by using the edge sensor and then performing edge cleaning operation around the curtain-shaped object. The edge cleaning operation is to perform the cleaning operation of the edge range of the curtain-shaped object along the preset distance of the edge of the curtain-shaped object.
Optionally, step S103 further includes:
and S204, when the existence of a passage going to the blocking area of the curtain-shaped object is detected, executing the operation of turning to enter the blocking area along the passage for cleaning according to the turning cleaning strategy.
In this embodiment, since there may be a large space in the area blocked by the curtain-like object, such as a tea table curtain, a door curtain, a bed sheet, etc., in order to improve the cleaning coverage of the robot, it is able to detect whether there is a current target path that can enter the blocked area of the curtain-like object without passing through the curtain-like object, i.e. the above-mentioned passage. Wherein, the robot can directly carry out cleaning operation to the blocking area of the curtain-shaped object along the passage; the curtain-like object can be cleaned along the edge, until the outer contour of the curtain-like object is cleaned, and then the cleaning operation is carried out along the passage to the blocking area of the curtain-like object.
Optionally, when the height value is within a first preset height range, a curtain-shaped object type is obtained, and a preset area including the curtain-shaped object is divided into forbidden areas according to the curtain-shaped object type.
In this embodiment, since the robot can clean the same area repeatedly in different periods of time in general, in order to avoid data processing for many times and to improve the working efficiency of the robot, the area corresponding to the curtain-like object that cannot pass through currently can be saved, and when the robot performs the cleaning operation next time, the area where the cleaning operation cannot be performed can be determined in advance. Therefore, when the height value of the curtain-shaped object from the ground is within the first preset height range, the type of the current curtain-shaped object is obtained, and the area blocked by the curtain-shaped object, namely the area which cannot be cleaned, is determined according to the type, namely the preset area containing the curtain-shaped object is divided into forbidden areas according to the type of the curtain-shaped object.
By way of specific example and not limitation, when the curtain-shaped object is a bed sheet or a tea table curtain, all areas surrounded by the curtain-shaped object need to be set as forbidden zones, and when the curtain-shaped object is a curtain, only the area in a certain range where the current curtain is located needs to be set as the forbidden zone, so that specific forbidden zone setting can be set according to the type of the curtain-shaped object.
Optionally, when the height value is within a first preset height range, acquiring a curtain-like object type, and performing a cleaning operation by passing through the curtain-like object according to the curtain-like object type.
In this embodiment, since the robot performs the cleaning operation through the curtain-shaped object when the curtain-shaped object is far from the ground, the operation of the robot is not affected, and therefore, when the curtain-shaped object is far from the ground, the robot may directly pass through the curtain-shaped object without considering the curtain-shaped object, so that a height range may be set, such as the first preset height range mentioned above, and when the height value of the curtain-shaped object of the front path to be cleaned, obtained by the robot, from the ground is within the first preset height range mentioned above, the robot may set, in the cleaning strategy set, the forward-moving cleaning strategy when the height value is within the first preset height range mentioned above. Therefore, when the height value of the robot and the curtain-like object to be faced by the robot is in the first preset height range, the forward-moving cleaning strategy can be selected from the cleaning strategy set without considering the influence of the curtain-like object.
Optionally, step S102 further includes:
and when the height value is out of a second preset height range, acquiring the type of the curtain-shaped object, and selecting a forward cleaning strategy or a steering cleaning strategy from the cleaning strategy set according to the type of the curtain-shaped object.
In this embodiment, since different curtain-shaped object types may have different cleaning strategies under the same condition, the curtain-shaped object type may be used as one of the factors for selecting a cleaning strategy, and a height range, that is, the second preset height range, is determined according to the curtain-shaped object type, and when the second preset height range satisfies a certain condition, the robot may select a cleaning strategy from the cleaning strategy set according to the curtain-shaped object type, that is, when the height value is outside the second preset height range, the cleaning strategy is selected according to the curtain-shaped object type.
By way of specific example and not limitation, when the curtain-shaped object is a door curtain, a sofa curtain, a bed sheet, a tea table curtain or the like, the height value of the curtain-shaped object to the ground is out of the second preset height range, and a forward cleaning strategy can be selected from the cleaning strategies.
By way of specific example and not limitation, when the curtain-shaped object is a curtain type and the height value of the curtain-shaped object relative to the ground is out of the second preset height range, the curtain cannot be directly ignored to execute the forward-moving cleaning strategy because the curtain is currently a curtain, and therefore the cleaning strategy can be selected from the cleaning strategies.
In the embodiment of the application, when the curtain-shaped object is detected to exist in the front preset range, the height value between the curtain-shaped object and the ground is determined; selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value; and executing corresponding cleaning operation according to the cleaning strategy. The cleaning strategy which is most suitable for the current condition of the robot is obtained in advance according to the height between the curtain-shaped object and the ground, and the robot executes corresponding cleaning operation according to the cleaning strategy, so that the cleaning efficiency of the robot in the complex cleaning environment is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 3 is a schematic structural diagram of a robot cleaning device according to an embodiment of the present disclosure, corresponding to the above-described robot cleaning method, and as shown in fig. 3, the robot cleaning device may include:
the detecting module 301 is configured to determine a height value between a curtain-shaped object and the ground when the curtain-shaped object is detected to exist within a preset range in front.
A selecting module 302, configured to select a corresponding cleaning strategy from a preset cleaning strategy set according to the height value.
And an executing module 303, configured to execute a corresponding cleaning operation according to the cleaning strategy.
Optionally, the selecting module 302 may include:
an obtaining unit 3021, configured to obtain a current position of the robot and a position of the curtain-like object when the height value is within a first preset height range, and determine a distance value between the current position and the position of the curtain-like object.
A first selecting unit 3022 configured to select a turning cleaning strategy from the set of cleaning strategies when the distance value is within a first preset distance range.
Optionally, the executing module 303 may include:
a first executing unit 3031, configured to perform an edgewise cleaning operation on the curtain-like object by using an edgewise sensor after performing a steering action according to the steering cleaning strategy.
Optionally, the executing module 303 may further include:
a second executing unit 3032, configured to, when it is detected that there is a passage leading to the blocking area of the curtain-like object, execute an operation of turning to enter the blocking area along the passage for cleaning according to the turning cleaning policy.
Optionally, the robot cleaning device may further include:
the dividing module is used for acquiring the type of the curtain-shaped object when the height value is within a first preset height range, and dividing a preset area containing the curtain-shaped object into forbidden areas according to the type of the curtain-shaped object.
Optionally, the robot cleaning device may further include:
and the cleaning module is used for acquiring the type of the curtain-shaped object when the height value is within a first preset height range, and cleaning the curtain-shaped object by passing through the curtain-shaped object according to the type of the curtain-shaped object.
Optionally, the selecting module 302 may further include:
a second selecting unit 3023, configured to acquire a curtain object type when the height value is outside a second preset height range, and select a forward cleaning strategy or a turning cleaning strategy from the cleaning strategy set according to the curtain object type.
In the embodiment of the application, when the curtain-shaped object is detected to exist in the front preset range, the height value between the curtain-shaped object and the ground is determined; selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value; and executing corresponding cleaning operation according to the cleaning strategy. The cleaning strategy which is most suitable for the current condition of the robot is obtained in advance according to the height between the curtain-shaped object and the ground, and the robot executes corresponding cleaning operation according to the cleaning strategy, so that the cleaning efficiency of the robot in the complex cleaning environment is improved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the module described above may refer to corresponding processes in the foregoing system embodiments and method embodiments, and are not described herein again.
Fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present application. For convenience of explanation, only portions related to the embodiments of the present application are shown.
As shown in fig. 4, the robot 4 of this embodiment includes: at least one processor 400 (only one is shown in fig. 4), a memory 401 connected to said processor 400, and a computer program 402, such as a robot cleaning program, stored in said memory 401 and executable on said at least one processor 400. The processor 400, when executing the computer program 402, implements the steps in the various robot cleaning method embodiments described above, such as the steps S101 to S103 shown in fig. 1. Alternatively, the processor 400, when executing the computer program 402, implements the functions of the modules in the above device embodiments, for example, the functions of the modules 301 to 303 shown in fig. 3.
Illustratively, the computer program 402 may be partitioned into one or more modules that are stored in the memory 401 and executed by the processor 400 to accomplish the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 402 in the robot 4. For example, the computer program 402 may be divided into the detection module 301, the selection module 302, and the execution module 303, and the specific functions of each module are as follows:
the detection module 301 is configured to determine a height value between a curtain-shaped object and the ground when the curtain-shaped object is detected to exist within a preset range in front;
a selecting module 302, configured to select a corresponding cleaning strategy from a preset cleaning strategy set according to the height value;
and an executing module 303, configured to execute a corresponding cleaning operation according to the cleaning strategy.
The robot 4 may include, but is not limited to, a processor 400, a memory 401. Those skilled in the art will appreciate that fig. 4 is merely an example of the robot 4 and does not constitute a limitation of the robot 4 and may include more or fewer components than those shown, or some components in combination, or different components, such as input and output devices, network access devices, buses, etc.
The Processor 400 may be a Central Processing Unit (CPU), and the Processor 400 may be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 401 may in some embodiments be an internal storage unit of the robot 4, such as a hard disk or a memory of the robot 4. The memory 401 may also be an external storage device of the robot 4 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 4. Further, the memory 401 may also include both an internal storage unit and an external storage device of the robot 4. The memory 401 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 401 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/robot, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier wave signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robotic cleaning method, comprising:
when detecting that a curtain-shaped object exists in a front preset range, determining a height value between the curtain-shaped object and the ground;
selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value;
and executing corresponding cleaning operation according to the cleaning strategy.
2. A robotic cleaning method as claimed in claim 1, wherein said selecting a corresponding cleaning strategy from a set of preset cleaning strategies in dependence on said height value comprises:
when the height value is within a first preset height range, acquiring the current position of the robot and the position of the curtain-shaped object, and determining a distance value between the current position and the position of the curtain-shaped object;
selecting a turning cleaning strategy from the set of cleaning strategies when the distance value is within a first preset distance range.
3. A robotic cleaning method as claimed in claim 2, wherein said performing a respective cleaning operation in accordance with said cleaning strategy comprises:
and after the steering action is executed according to the steering cleaning strategy, carrying out the edgewise cleaning operation on the curtain-shaped object by using an edgewise sensor.
4. A robotic cleaning method as claimed in claim 2 or 3, wherein said performing a respective cleaning operation in accordance with said cleaning strategy further comprises:
when the existence of a passage going to the blocking area of the curtain-shaped object is detected, the operation of turning to enter the blocking area along the passage for cleaning is carried out according to the turning cleaning strategy.
5. A robotic cleaning method as claimed in claim 1, comprising:
and when the height value is within a first preset height range, acquiring the type of the curtain-shaped object, and dividing a preset area containing the curtain-shaped object into forbidden zones according to the type of the curtain-shaped object.
6. A robotic cleaning method as claimed in claim 1, comprising:
and when the height value is within a first preset height range, acquiring the type of the curtain-shaped object, and performing cleaning operation by penetrating the curtain-shaped object according to the type of the curtain-shaped object.
7. A robotic cleaning method as claimed in claim 1, wherein said selecting a corresponding cleaning strategy from a set of preset cleaning strategies in dependence on said height value, further comprises:
and when the height value is out of a second preset height range, acquiring the type of the curtain-shaped object, and selecting a forward cleaning strategy or a steering cleaning strategy from the cleaning strategy set according to the type of the curtain-shaped object.
8. A robotic cleaning device, comprising:
the detection module is used for determining a height value between a curtain-shaped object and the ground when the curtain-shaped object is detected to exist in a front preset range;
the selecting module is used for selecting a corresponding cleaning strategy from a preset cleaning strategy set according to the height value;
and the execution module is used for executing corresponding cleaning operation according to the cleaning strategy.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of a robot cleaning method according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method for robotic cleaning as claimed in any one of claims 1 to 7.
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| CN202010933274.1A CN112205929A (en) | 2020-09-08 | 2020-09-08 | Robot cleaning method and device, robot and storage medium |
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| CN202010933274.1A CN112205929A (en) | 2020-09-08 | 2020-09-08 | Robot cleaning method and device, robot and storage medium |
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