CN112690722B - Cleaning robot and control method thereof - Google Patents
Cleaning robot and control method thereof Download PDFInfo
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- CN112690722B CN112690722B CN202011295311.7A CN202011295311A CN112690722B CN 112690722 B CN112690722 B CN 112690722B CN 202011295311 A CN202011295311 A CN 202011295311A CN 112690722 B CN112690722 B CN 112690722B
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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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
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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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Abstract
The utility model provides a cleaning robot and a control method thereof, wherein the cleaning robot is provided with an obstacle sensor and a wall-following sensor, the obstacle sensor is used for detecting whether an obstacle obstructs the cleaning robot to move, and the wall-following sensor is used for guiding the cleaning robot to carry out wall-following cleaning operation; the control method is characterized by comprising the following steps: acquiring an orientation of an obstacle that affects travel of the cleaning robot in response to the obstacle sensor detecting the obstacle; rotating the cleaning robot in response to the obstacle being in front of the cleaning robot; and determining whether the cleaning robot rotates to a position parallel to the surface of the obstacle according to the variation trend of the detection data of the wall-following sensor. According to the method, the cleaning robot can rotate to the position parallel to the surface of the obstacle smoothly at one time when encountering the obstacle.
Description
Technical Field
The disclosure belongs to the technical field of intelligent robot control, and particularly provides a cleaning robot and a control method thereof.
Background
With the advent of the smart home era, cleaning robots are widely used in daily home life as smart home cleaning products. Sweeping along a wall is an indispensable part of the cleaning robot in the cleaning process.
Currently, in order to realize the wall-following sweeping function of the cleaning robot, most cleaning robots are added with a wall-following sensor. However, when the existing cleaning robot collides with an obstacle, the included angle between the obstacle and the traveling direction of the obstacle cannot be determined by the wall-following sensor, and the cleaning robot cannot be guided to turn by the wall-following sensor. The existing cleaning robot needs to rotate repeatedly after turning to rotate to the posture parallel to the surface of the barrier, and the use sense experience of a user is poor.
Disclosure of Invention
The present disclosure is directed to a cleaning robot and a control method thereof, which enable the cleaning robot to determine whether the cleaning robot has rotated to a position parallel to a surface of an obstacle according to a wall sensor when the cleaning robot encounters the obstacle.
In a first aspect, the present disclosure provides a method for controlling a cleaning robot, the cleaning robot being provided with an obstacle sensor for detecting whether an obstacle obstructs the travel of the cleaning robot, and a wall sensor for guiding the cleaning robot to perform a wall-following cleaning operation; the control method is characterized by comprising the following steps:
acquiring the orientation of the obstacle in response to the obstacle sensor detecting the obstacle affecting the travel of the cleaning robot;
rotating the cleaning robot in response to the obstacle being in front of the cleaning robot;
and determining whether the cleaning robot rotates to a position parallel to the surface of the obstacle according to the variation trend of the detection data of the wall sensor.
Optionally, the determining whether the cleaning robot rotates to a position parallel to the surface of the obstacle according to the trend of the detected data of the wall sensor includes:
when the detection data of the wall sensor has a preset variation trend, determining that the cleaning robot rotates to a position parallel to the surface of the obstacle; or when the detection data of the wall sensor is detected to have a preset change trend, after the wall sensor continues to rotate for a preset angle/a preset time length along the original rotation direction, the cleaning robot is determined to rotate to a position parallel to the surface of the obstacle.
Alternatively, when there is an obstacle on the left/right side of the cleaning robot, the preset variation trend is a trend of first becoming smaller, then becoming larger, and then becoming smaller.
Alternatively, when there is no obstacle on the left/right side of the cleaning robot, the preset variation tendency is a tendency to become larger and smaller.
Optionally, the rotating the cleaning robot comprises:
if the wall-following sensor is arranged on the left side of the cleaning robot, the cleaning robot rotates to the right;
if the wall-following sensor is disposed at the right side of the cleaning robot, the cleaning robot rotates to the left.
Optionally, the wall sensor is an infrared wall sensor;
after determining that the cleaning robot has rotated to a position parallel to the surface of the obstacle, the control method further includes:
acquiring a current infrared signal value in response to the cleaning robot rotating to a position parallel to the surface of the obstacle;
and determining a new infrared signal threshold value according to the current infrared signal value, so that the infrared wall-following sensor guides the cleaning robot to carry out wall-following operation on the obstacle through the new infrared signal threshold value.
Optionally, an auxiliary wall-following sensor is further disposed in front of the cleaning robot, and the auxiliary wall-following sensor and the wall-following sensor are located on the same side of the cleaning robot, and the auxiliary wall-following sensor is configured to detect a wall-following object during a wall-following process of the cleaning robot to obtain a reference value;
the control method further comprises the following steps:
rotating the cleaning robot in response to the obstacle being located at a side of the cleaning robot to move the auxiliary wall sensor away from the obstacle;
and determining that the cleaning robot rotates to a position parallel to the surface of the obstacle in response to the cleaning robot rotating to the position where the detection data of the auxiliary wall sensor is smaller than a reference value and the detection data of the wall sensor is within a preset threshold range.
Optionally, the aforementioned reference value is obtained by:
detecting the wall-following process of the cleaning robot, and enabling the auxiliary wall-following sensor to detect the wall-following object;
obtaining a plurality of data detected by the auxiliary wall-following sensors;
and calculating the average value of a plurality of data to obtain the reference value.
Optionally, the obstacle sensor is a collision sensor, a laser radar, a camera, or an infrared distance measuring sensor.
Alternatively, the aforementioned obstacle sensor is a collision sensor,
after detecting an obstacle affecting travel of the cleaning robot and before rotating the cleaning robot, the control method further includes:
the cleaning robot is retreated by a preset distance.
In a second aspect, the present disclosure also provides a cleaning robot comprising a processor, a memory, and execution instructions stored on the memory, the execution instructions being arranged to, when executed by the processor, enable the cleaning robot to perform any of the control methods of the first aspect.
Based on the foregoing description, it can be understood by those skilled in the art that, in the foregoing technical solutions of the present disclosure, whether an obstacle obstructs the travel of the cleaning robot is detected by the obstacle sensor, and then it is determined whether the cleaning robot needs to turn. In the rotating process of the cleaning robot, whether the cleaning robot rotates to the position parallel to the surface of the obstacle or not is judged by monitoring the variation trend of the detection data of the wall-following sensor, so that the cleaning robot can guide the cleaning robot to turn when meeting the obstacle through the wall-following sensor and can rotate to the position parallel to the surface of the obstacle at one time, and the turning action of the cleaning robot is faster and smoother.
Further, the wall sensor is set to be an infrared wall sensor, after the cleaning robot is judged to rotate to the position parallel to the surface of the obstacle, the infrared wall sensor is used for acquiring the current infrared signal value, and then a new infrared signal threshold value is determined according to the current infrared signal value, so that the infrared wall sensor updates the infrared signal threshold value, and the problem that the cleaning robot changes the detection data of the infrared wall sensor due to the fact that the color of the adjacent surface of the obstacle changes, and further the wall distance is inaccurate is avoided. In other words, the cleaning robot of the present disclosure can perform the wall-following sweeping at the same wall-following distance before and after the turn regardless of whether the color of the surface adjacent to the obstacle has changed.
Drawings
Some embodiments of the disclosure are described below with reference to the accompanying drawings, in which:
fig. 1 is a schematic configuration diagram of a cleaning robot of the present disclosure;
fig. 2 is a flowchart of main steps of a control method of a cleaning robot in a first embodiment of the present disclosure;
fig. 3 is a flowchart of main steps of a control method of a cleaning robot in a second embodiment of the present disclosure;
FIG. 4a is a static schematic view of a cleaning robot at a rotational start position when the cleaning robot encounters an obstacle ahead during a wall cleaning process according to a second embodiment of the disclosure;
FIG. 4b is a static diagram illustrating the cleaning robot rotating to the valley of the wall-following sensor data when it encounters an obstacle ahead during the wall-following cleaning process according to the second embodiment of the present disclosure;
FIG. 4c is a static diagram of the cleaning robot rotating to the peak of the detected data of the wall-following sensor when it encounters an obstacle ahead during the wall-following cleaning process according to the second embodiment of the present disclosure;
FIG. 4d is a static schematic view of the cleaning robot rotating to a position parallel to the surface of an obstacle when encountering the obstacle ahead during a wall cleaning operation according to the second embodiment of the present disclosure;
FIG. 5 is a diagram of the trend of the detected data of the wall-following sensor when the cleaning robot encounters an obstacle ahead during the wall-following cleaning process according to the second embodiment of the disclosure;
FIG. 6a is a static diagram of a cleaning robot at a rotation start position when the cleaning robot encounters an obstacle in front during non-wall-following cleaning according to a second embodiment of the disclosure;
FIG. 6b is a static schematic diagram of the cleaning robot rotating to the peak of the along-the-wall sensor detection data when it encounters an obstacle ahead during non-along-the-wall cleaning according to the second embodiment of the present disclosure;
FIG. 6c is a static schematic view of the cleaning robot rotating to a position parallel to the surface of an obstacle when it encounters the obstacle during non-wall-following cleaning in the second embodiment of the present disclosure;
fig. 7 is a graph showing a variation trend of detection data of the wall-following sensor when the cleaning robot encounters an obstacle in front during non-wall-following cleaning according to the second embodiment of the present disclosure;
fig. 8a is a static schematic view of the cleaning robot encountering an obstacle at a side thereof in the second embodiment of the present disclosure;
fig. 8b is a static schematic diagram of the cleaning robot rotating to a preset reversal angle position when the side of the cleaning robot meets an obstacle according to the second embodiment of the disclosure;
fig. 8c is a static schematic diagram of the cleaning robot rotating to the peak of the detection data of the wall sensor when encountering an obstacle in the second embodiment of the present disclosure;
fig. 8d is a static schematic view of the cleaning robot rotating to a position parallel to the surface of the obstacle when encountering the obstacle in the second embodiment of the present disclosure;
fig. 9 is a graph showing a trend of change in detection data of the wall sensor when the cleaning robot encounters an obstacle on its side in the second embodiment of the present disclosure;
fig. 10 is a schematic configuration diagram of a cleaning robot in a third embodiment of the present disclosure;
fig. 11a is a flowchart of a part of the steps of a control method of a cleaning robot in a third embodiment of the present disclosure;
fig. 11b is a flowchart of the steps of the other half of the control method of the cleaning robot in the third embodiment of the present disclosure;
fig. 12a is a static schematic view of the cleaning robot before rotating when encountering an obstacle at the side of the cleaning robot in the third embodiment of the present disclosure;
fig. 12b is a static schematic view of the cleaning robot rotating to a position parallel to the surface of the obstacle when encountering the obstacle in the third embodiment of the present disclosure;
fig. 13 is a schematic structural view of a cleaning robot in a fourth embodiment of the present disclosure.
List of reference numerals:
1. a host; 2. an obstacle sensor; 3. a wall-following sensor; 4. an auxiliary wall-following sensor; 5. a first drive wheel; 6. a second drive wheel.
Detailed Description
It should be understood by those skilled in the art that the embodiments described below are only a part of the embodiments of the present disclosure, not all of the embodiments of the present disclosure, and the part of the embodiments are intended to explain the technical principles of the present disclosure and not to limit the scope of the present disclosure. All other embodiments that can be derived by one of ordinary skill in the art based on the embodiments provided in the disclosure without inventive faculty should still fall within the scope of the disclosure.
Furthermore, it should be noted that, in the description of the present disclosure, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through the communication between two elements. The specific meaning of the above terms in the present disclosure can be understood by those skilled in the art as appropriate.
As shown in fig. 1, the cleaning robot of the present disclosure includes a main body 1, an obstacle sensor 2 disposed on the main body 1, a wall sensor 3 disposed on the main body 1, and a first driving wheel 5 and a second driving wheel 6 disposed at the bottom of the main body 1. The cleaning robot detects whether an obstacle obstructs its travel by the obstacle sensor 2, performs a wall-following cleaning work by being guided by the wall-following sensor 3, and drives its travel by the first drive wheel 5 and the second drive wheel 6.
The control method of the cleaning robot of the present disclosure will be described in detail with reference to specific embodiments.
In a first embodiment of the present disclosure:
as shown in fig. 1 and 2, the control method of the cleaning robot of the present embodiment includes:
in step S101, in response to the obstacle sensor 2 detecting an obstacle affecting the travel of the cleaning robot, the orientation of the obstacle is acquired.
Alternatively, the obstacle sensor 2 may be any sensor having a function of detecting a distance, such as a collision sensor, a laser radar, a camera, an infrared distance sensor, or the like.
Preferably, the cleaning robot further includes a collision plate (not shown in the drawings), and the obstacle sensor 2 is a collision sensor disposed between the main body 1 and the collision plate. Further preferably, the obstacle sensor 2 is plural, and the plural obstacle sensors 2 are sequentially arranged between the main machine 1 and the collision plate along a circumferential direction of the cleaning robot. When the cleaning robot collides with an obstacle during traveling, the orientation of the obstacle can be determined according to the position of the triggered obstacle sensor 2.
The first situation is as follows: if a collision occurs in front of the cleaning robot, which will cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that an obstacle is located in front of the cleaning robot.
Specifically, as an example one, the cleaning robot collides forward during sweeping along the wall; as example two, the cleaning robot does not collide forward when sweeping along the wall.
Case two: if the side of the cleaning robot collides, which causes the obstacle sensor 2 provided at the side to be triggered, it is determined that the obstacle is located at the side of the cleaning robot.
Step S102, in response to the obstacle being positioned in front of the cleaning robot, rotating the cleaning robot.
Specifically, when it is detected that the obstacle sensor 2 in front of the cleaning robot is triggered, the cleaning robot is retreated by a preset distance (e.g., 1cm, 1.2cm, 1.7cm, 2cm, etc.) to separate the cleaning robot from the obstacle, so as to prevent the obstacle from obstructing the rotation of the cleaning robot, and then the cleaning robot starts to rotate.
As an example one, if the along-wall sensor 3 is disposed at the right side of the cleaning robot, the cleaning robot is rotated in the counterclockwise direction (rotated to the left).
As example two, if the along-wall sensor 3 is disposed at the left side of the cleaning robot, the cleaning robot is rotated in a clockwise direction (rotated to the right).
Step S103, determining whether the cleaning robot has rotated to a position parallel to the surface of the obstacle according to the trend of change of the detection data of the along-wall sensor 3.
Specifically, when it is detected that the detection data of the wall sensor 3 has a preset variation trend, after the cleaning robot continues to rotate for a preset angle/a preset time length along the original rotation direction, it is determined that the cleaning robot has rotated to a position parallel to the surface of the obstacle.
As an example, an included angle between the detection direction of the wall sensor 3 and the axis of the road wheel of the cleaning robot is determined and recorded as a preset angle. The preset angle may be any feasible angle, and preferably the preset angle is in the range of [0 °,30 ° ], such as 8 °, 12 °, 19 °, 25 °,30 °, and the like. Further, the variation tendency of the detected data along the wall sensor 3 is monitored in real time during the rotation of the cleaning robot to determine the peak value of the detected data. Since the distance between the wall sensor 3 and the target surface of the obstacle (the surface parallel to the cleaning robot after rotation) is first reduced and then increased (the corresponding preset variation trend is first increased and then reduced) during the rotation of the cleaning robot, when the distance value is minimum, the detection data of the wall sensor 3 is maximum, and the angle between the traveling direction of the cleaning robot and the target surface is just a preset angle. Accordingly, the cleaning robot is then rotated by the preset angle to be parallel to the surface of the obstacle.
As an example two, the time required for the cleaning robot to rotate from the alignment with the obstacle surface along the wall sensor 3 to the position parallel to the obstacle surface is obtained through experiments and recorded as the preset time. It will be appreciated by those skilled in the art that the preset time is related to how fast the cleaning robot is turning and the position along the wall sensor 3, and may be any feasible value, such as 50ms, 150ms, 300ms, etc. As described above, when the along-wall sensor 3 is aligned with the obstacle surface, the distance between the along-wall sensor 3 and the obstacle surface is minimum, and the detection data of the along-wall sensor 3 is maximum. Therefore, when the peak value of the detection data is determined according to the variation trend of the detection data of the wall sensor 3, the cleaning robot is rotated for the preset time, and the cleaning robot can be rotated to the position parallel to the surface of the obstacle smoothly at one time.
As can be seen from the foregoing description, the cleaning robot in the present embodiment detects whether there is an obstacle affecting the travel of the cleaning robot through the obstacle sensor 2, and thus realizes determination of whether the cleaning robot needs to turn; then, the triggered barrier sensor 2 realizes the function of acquiring the direction of the barrier; when the obstacle sensor 2 detects that an obstacle is positioned in front of the cleaning robot, the cleaning robot starts to rotate; in the rotating process of the cleaning robot, whether the cleaning robot rotates to the position parallel to the surface of the obstacle or not is judged by monitoring the variation trend of the detection data of the wall sensor 3, so that the cleaning robot can guide the cleaning robot to turn when encountering the obstacle through the wall sensor 3 and can rotate to the position parallel to the surface of the obstacle at one time, and the turning action of the cleaning robot is quicker and smoother.
In a second embodiment of the disclosure:
as shown in fig. 1 and 3, the control method of the cleaning robot of the present embodiment includes:
in step S201, the cleaning robot is caused to perform a cleaning operation.
In step S202, it is determined whether the obstacle sensor 2 detects an obstacle affecting the travel of the cleaning robot.
Alternatively, the obstacle sensor 2 may be any sensor having a function of detecting a distance, such as a collision sensor, a laser radar, a camera, an infrared distance sensor, or the like.
Preferably, the cleaning robot further includes a collision plate (not shown in the drawings), and the obstacle sensor 2 is an impact sensor provided between the main body 1 and the collision plate 2. It is further preferable that the obstacle sensor 2 is plural, and the plural obstacle sensors 2 are sequentially arranged between the main body 1 and the collision plate along the circumferential direction of the cleaning robot.
Step S203 acquires the orientation of the obstacle.
Specifically, when the cleaning robot collides with an obstacle during traveling, the orientation of the obstacle may be determined according to the position of the obstacle sensor 2 that is triggered.
The first situation is as follows: if a collision occurs in front of the cleaning robot, which will cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that an obstacle is located in front of the cleaning robot.
As an example one, if the cleaning robot collides forward during the wall-following cleaning process, which would cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that the obstacle is located in front of the cleaning robot.
As example two, if the cleaning robot collides forward during non-wall-following cleaning, which would cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that the obstacle is located in front of the cleaning robot.
Case two: if the side of the cleaning robot collides, which causes the obstacle sensor 2 provided at the side to be triggered, it is determined that the obstacle is located at the side of the cleaning robot.
Step S204, judging whether the obstacle is positioned in front of or at the side of the cleaning robot, and if the obstacle is positioned in front of the cleaning robot, executing step 205; if the obstacle is located at the side of the cleaning robot, step 206 is performed.
In step S205, the cleaning robot is rotated in the forward direction.
Specifically, when the obstacle is located in front of the cleaning robot, the cleaning robot is first retreated by a preset distance to be separated from the obstacle so as to prevent the obstacle from obstructing the rotation of the cleaning robot, and then the cleaning robot starts to rotate in the forward direction.
As an example one, if the in-wall sensor 3 is disposed at the right side of the cleaning robot, the forward rotation direction is counterclockwise (rightward rotation).
As example two, if the in-wall sensor 3 is disposed on the left side of the cleaning robot, the forward rotation direction is clockwise (leftward rotation).
Step S206, the cleaning robot rotates reversely by a preset reverse rotation angle and then rotates forwards.
Specifically, there are the following situations when the cleaning robot collides with an obstacle from the side: the wall sensor 3 is located in front of the obstacle, so that the detection data of the wall sensor 3 only tends to become smaller all the time in the forward rotation process of the cleaning robot, and whether the cleaning robot rotates to the posture parallel to the surface of the obstacle cannot be judged according to the trend. Therefore, the cleaning robot can rotate reversely by the preset reverse rotation angle, and then the cleaning robot rotates forwards, so that the detection data of the wall sensor 3 has a trend of increasing and then decreasing in the forward rotation process of the cleaning robot, and the cleaning robot can judge whether the cleaning robot rotates to the posture parallel to the surface of the obstacle according to the trend.
The preset turning angle value range is [30 degrees and 90 degrees ], such as 30 degrees, 47 degrees and 90 degrees.
As an example one, if the in-wall sensor 3 is disposed at the right side of the cleaning robot, the forward rotation direction is counterclockwise (right rotation) and the reverse rotation direction is clockwise (left rotation). That is, the cleaning robot is rotated first to the left and then to the right.
As example two, if the along-the-wall sensor 3 is disposed on the left side of the cleaning robot, the forward rotation direction is clockwise (leftward rotation), and the reverse rotation direction is counterclockwise (rightward rotation). That is, the cleaning robot is rotated to the right first and then to the left.
In step S207, the trend of the detected data along the wall sensor 3 is acquired.
Specifically, the wall sensor 3 is an infrared wall sensor, and the infrared wall sensor acquires a current infrared signal value in real time in the forward rotation process.
As shown in fig. 4a-4b and 5, when the cleaning robot collides in front during the cleaning along the wall, the rotation path of the cleaning robot is as shown in fig. 4a-4 b. Wherein the cleaning robot in fig. 4a is in a posture where it collides with the surface of the obstacle immediately in front; in fig. 4b the cleaning robot is in a position aligned along the wall sensor 3 with the corner of the wall; in fig. 4c the cleaning robot is in the attitude just closest to the surface of the obstacle along the wall sensor 3; the cleaning robot is in the attitude of fig. 4d parallel to the surface of the obstacle ahead along the wall sensor 3. The cleaning robot rotates forward (to the left) and sequentially goes through the postures shown in fig. 4a, 4b, 4c, and 4 d. The trend of the detected data of the wall sensor 3 in this process is shown in fig. 5, and the detected data of the wall sensor 3 tends to become smaller, larger and smaller. And the preset trend of change is a turning point from large to small, i.e., a peak point shown in fig. 5.
As shown in fig. 6a to 6c and fig. 7, when the cleaning robot collides in front during the regular sweeping, the rotation trace of the cleaning robot is as shown in fig. 6a to 6 c. Wherein the cleaning robot in fig. 6a is in a posture where it collides with the surface of the obstacle immediately in front; in fig. 6b the cleaning robot is in the attitude just closest to the surface of the obstacle along the wall sensor 3; the cleaning robot in fig. 6c is in a position parallel to the surface of the obstacle in front along the wall sensor 3. The cleaning robot is rotated in the forward direction (to the left) to sequentially go through the postures shown in fig. 6a, 6b, and 6 c. The trend of the detected data of the wall sensor 3 in this process is shown in fig. 7, and the detected data of the wall sensor 3 has a trend of becoming larger and then smaller. And the preset trend of change is a turning point from large to small, i.e., a peak point shown in fig. 7.
As shown in fig. 8a to 8d and fig. 9, when the side of the cleaning robot collides, the rotation locus of the cleaning robot is as shown in fig. 8a to 8 d. Wherein the cleaning robot in fig. 8a is in a posture just before colliding with the surface of the obstacle on the side and is located along the wall sensor 3 on the upper side of the chain line in fig. 8 a; the cleaning robot in fig. 8b is in a position where the wall sensor 3 is located at the lower side of the dotted line in fig. 8 b; in fig. 8c the cleaning robot is in the attitude just closest to the surface of the obstacle along the wall sensor 3; the cleaning robot is in the attitude of fig. 8d parallel to the surface of the obstacle ahead along the wall sensor 3. The cleaning robot first reverses (turns to the right) to sequentially go through the attitudes shown in fig. 8a and 8b, and then reverses (turns to the left) to go through the attitudes shown in fig. 4c and 4 d. The trend of the detected data of the wall sensor 3 in the forward rotation process is shown in fig. 9, and the detected data of the wall sensor 3 tends to become larger and smaller. And the preset trend of change is a turning point from large to small, i.e., a peak point shown in fig. 9.
In step S208, it is determined whether the cleaning robot has rotated to a position parallel to the surface of the obstacle.
Specifically, when it is detected that the detection data of the wall sensor 3 has a preset variation trend, after the cleaning robot continues to rotate for a preset angle/a preset time length along the original rotation direction, it is determined that the cleaning robot has rotated to a position parallel to the surface of the obstacle.
As an example, an included angle between the detection direction of the wall sensor 3 and the axis of the road wheel of the cleaning robot is determined and recorded as a preset angle. The preset angle may be any feasible angle, and preferably the preset angle is in the range of [0 °,30 ° ], such as 8 °, 12 °, 19 °, 25 °,30 °, and the like. Further, the variation tendency of the detected data of the wall sensor 3 is monitored in real time during the rotation of the cleaning robot to determine the peak value of the detected data. Since the distance between the wall sensor 3 and the target surface of the obstacle (the surface parallel to the cleaning robot after rotation) is first reduced and then increased (the corresponding preset variation trend is first increased and then reduced) during the rotation of the cleaning robot, when the distance value is minimum, the detection data of the wall sensor 3 is maximum, and the angle between the traveling direction of the cleaning robot and the target surface is just a preset angle. Accordingly, the cleaning robot is then rotated by the preset angle to be parallel to the surface of the obstacle.
As an example two, the time required for the cleaning robot to rotate from the alignment of the wall sensor 3 with the obstacle surface to the attitude parallel to the obstacle surface is obtained through experiments and is recorded as a preset time, and it can be understood by those skilled in the art that the preset time is related to the speed of rotation of the cleaning robot and the position of the wall sensor 3, and can be any feasible value, such as 50ms, 150ms, 300ms, and the like. As described above, when the along-wall sensor 3 is aligned with the obstacle surface, the distance between the along-wall sensor 3 and the obstacle surface is minimum, and the detection data of the along-wall sensor 3 is maximum. Therefore, when the peak value of the detection data is determined according to the variation trend of the detection data of the wall sensor 3, the cleaning robot is rotated for the preset time, and the cleaning robot can be smoothly rotated to the position parallel to the surface of the obstacle at one time.
Further, it is also possible for those skilled in the art to determine that the cleaning robot has rotated to a position parallel to the surface of the obstacle when the detected data of the wall sensor 3 has a preset tendency of variation, as necessary. Illustratively, the along-wall sensor 3 is disposed right on the left or right of the cleaning robot so that the along-wall sensor 3 is perpendicular to the surface of the obstacle when the cleaning robot is parallel to the surface of the obstacle. Then, by acquiring the change slope of the detected data, it is determined whether the cleaning robot has rotated to an attitude parallel to the surface of the obstacle (at this time, perpendicular to the surface of the obstacle along the wall sensor 3). As will be understood by those skilled in the art, since the wall sensor 3 is perpendicular to the surface of the obstacle when the cleaning robot is parallel to the surface of the obstacle, the slope of the change of the detection data acquired by the wall sensor 3 decreases with the rotation of the cleaning robot until it becomes zero or approaches zero, and the preset change trend is considered to be detected.
In step S209, the current infrared signal value is acquired by the wall sensor 3.
Step S210, determining a new infrared signal threshold according to the current infrared signal value.
Specifically, after the turning is completed through the above steps, since the surface color of the obstacle and/or the distance from the cleaning robot to the wall may be changed, the current infrared signal value detected by the wall sensor 3 is not necessarily the infrared signal value obtained when the cleaning robot is at the preset wall distance, and thus the infrared signal threshold value needs to be updated. Specifically, a calibrated infrared signal value is obtained through a current infrared signal value; the calibrated IR signals are then comparedNumber value and pre-stored minimum threshold value A min And determining a new infrared signal threshold.
Wherein, a minimum threshold value A is prestored min The data can be any feasible data, and the skilled person can select barriers of various materials and colors which can be used in the family; the distance between the cleaning robot and the obstacles is set as a preset wall-following distance, then the outer surface of each obstacle is respectively subjected to infrared detection to obtain a plurality of infrared signal values, and then the smallest infrared signal value is selected from all the infrared signal values to serve as a pre-stored minimum threshold value A min . The preset wall-following distance may be any feasible data, such as 1cm, 3cm, 4cm, and the like.
More specifically, after it is determined that the cleaning robot has rotated to a position parallel to the surface of the obstacle, a calibrated infrared signal value is obtained according to the formula a — K × C. Wherein A is the calibrated current infrared signal value; c is the current infrared signal value; k is a preset coefficient, and K can be any feasible data in the [0.5,1] interval, such as 0.5, 0.7, 1 and the like.
Still further, if the calibrated infrared signal value is greater than or equal to A min Replacing the original infrared signal threshold value with the calibrated infrared signal value serving as a new infrared signal threshold value and storing the new infrared signal threshold value; if the calibrated infrared signal value is less than the prestored A min Then A will be min And replacing the original infrared signal threshold value as a new infrared signal threshold value and storing the new infrared signal threshold value. By updating the infrared signal threshold, the problem that the wall-following distance is inaccurate due to the fact that the detection data of the infrared wall-following sensor is changed because the color of the adjacent surface of the obstacle of the cleaning robot is changed is solved; meanwhile, the problem that the distance between the cleaning robot and the barrier is reduced due to the fact that the cleaning robot does not wind the axis of the cleaning robot when the cleaning robot rotates, and then the detected infrared signal is larger than the signal of the cleaning robot when the infrared signal is normally along the wall distance is solved. In other words, the cleaning robot of the present disclosure can follow the same edge before and after turning regardless of whether the color of the surface adjacent to the obstacle changesThe wall distance is swept along the wall.
Further, the person skilled in the art may obtain a new infrared signal value by the following formula, where a ═ K × B, and obtain a calibrated infrared signal value, as necessary. Wherein A is the calibrated current infrared signal value; b is a peak value of data detected by the wall sensor 3 in the rotating process; k is a preset coefficient, and K can be any feasible data in the [0.5,1] interval, such as 0.5, 0.7, 1 and the like.
And step S211, the infrared wall-following sensor guides the cleaning robot to carry out wall-following operation on the obstacle through a new infrared signal threshold value.
As can be seen from the foregoing description, the cleaning robot in the present embodiment detects whether there is an obstacle affecting the travel of the cleaning robot through the obstacle sensor 2, and if there is an obstacle, acquires the orientation of the obstacle through the triggered obstacle sensor 2. And then judging whether the barrier is positioned in front of the cleaning robot, if so, enabling the cleaning robot to rotate forwards, otherwise, enabling the cleaning robot to rotate backwards firstly by a preset reverse rotation angle and then rotate forwards. No matter whether the obstacle is positioned in front of the cleaning robot or not, the cleaning robot can acquire the change trend of infrared signal data in real time along the wall sensor 3 in the forward rotation process, and then judge whether the cleaning robot rotates to the posture parallel to the surface of the obstacle or not according to the change trend of the infrared signal data, so that the cleaning robot can guide the cleaning robot to turn by the wall sensor 3 when encountering the obstacle, and rotate to the position parallel to the surface of the obstacle at one time, and the turning action of the cleaning robot is faster and smoother. After the rotation is completed, the wall sensor 3 updates the red line signal threshold value by acquiring the current infrared signal value, so that the problem that the wall distance is inaccurate due to the fact that the detection data of the infrared wall sensor is changed because the color of the adjacent surface of the barrier of the cleaning robot is changed is avoided, and the cleaning robot after the rotation can continue to operate in parallel along the wall.
In a third embodiment of the disclosure:
as shown in fig. 10, the cleaning robot of the present embodiment further includes an auxiliary along-wall sensor 4, wherein both the along-wall sensor 3 and the auxiliary along-wall sensor 4 are disposed at the left or right side of the cleaning robot, i.e., the along-wall sensor 3 and the auxiliary along-wall sensor 4 are located at the same side of the cleaning robot.
As shown in fig. 11a and 11b, the control method of the cleaning robot of the present embodiment includes:
in step S301, the cleaning robot is caused to perform a cleaning operation.
In step S302, it is determined whether the obstacle sensor 2 detects an obstacle affecting the travel of the cleaning robot.
Specifically, if the cleaning robot collides with an obstacle during traveling, the obstacle sensor 2 is triggered, and an obstacle affecting the traveling of the cleaning robot can be detected by the triggered obstacle sensor 2.
Alternatively, the obstacle sensor 2 may be any sensor having a function of detecting a distance, such as a collision sensor, a laser radar, a camera, an infrared distance sensor, or the like.
Preferably, the cleaning robot further includes a collision plate (not shown in the drawings), and the obstacle sensor 2 is an impact sensor provided between the main body 1 and the collision plate 2. Further preferably, the obstacle sensor 2 is plural, and the plural obstacle sensors 2 are sequentially arranged between the main machine 1 and the collision plate along a circumferential direction of the cleaning robot.
Step S303, the direction of the obstacle is acquired.
Specifically, when the cleaning robot collides with an obstacle during traveling, the orientation of the obstacle may be determined according to the position of the obstacle sensor 2 that is triggered.
The first situation is as follows: if a collision occurs in front of the cleaning robot, which will cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that an obstacle is located in front of the cleaning robot.
As an example one, if the cleaning robot collides forward during the wall-following cleaning process, which would cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that the obstacle is located in front of the cleaning robot.
As example two, if the cleaning robot collides forward during non-wall-following cleaning, which would cause the obstacle sensor 2 disposed in front of the main body 1 to be triggered, it is determined that the obstacle is located in front of the cleaning robot.
Case two: if the side of the cleaning robot collides, which causes the obstacle sensor 2 provided at the side to be triggered, it is determined that the obstacle is located at the side of the cleaning robot.
And step S304, responding to the obstacle positioned at the side of the cleaning robot, and enabling the cleaning robot to rotate.
Specifically, if the obstacle is located at the side of the cleaning robot, the cleaning robot starts to rotate, and step S305 is performed; otherwise, step S205 is executed.
As an example one, if the auxiliary along-the-wall sensor 4 is disposed at the right side of the cleaning robot, the rotation direction is counterclockwise.
As example two, if the auxiliary along-the-wall sensor 4 is disposed at the left side of the cleaning robot, the rotation direction is clockwise.
It should be understood by those skilled in the art that the obstacle is located at the side of the cleaning robot, and does not mean that there is no obstacle at all in front of the cleaning robot. In other words, when an obstacle exists at a side of the cleaning robot, the obstacle may or may not exist in front of the cleaning robot. And the obstacle in front does not affect the travel of the cleaning robot at this time.
In step S305, detection data of the auxiliary along-the-wall sensor 4 is acquired.
Specifically, the infrared signal value of the current rotational position is acquired in real time by the auxiliary wall-following sensor 4.
Alternatively, the auxiliary wall sensor 4 may be any sensor having a function of detecting an infrared signal, such as an infrared wall sensor, an infrared TOF wall sensor, an infrared triangulation wall sensor, or the like.
Preferably, the auxiliary along-wall sensor 4 is an infrared along-wall sensor, wherein the detection direction of the auxiliary along-wall sensor 4 is at an angle of more than 30 ° and less than 90 ° to the center line of the first and second drive wheels 5, 6.
Step S306, it is determined whether the detection data of the auxiliary along-the-wall sensor 4 detected by the cleaning robot is smaller than a reference value.
Specifically, the reference value is an average value of a plurality of infrared signal values detected by the auxiliary wall-following sensor 4 during a period of time during which the cleaning robot performs the wall-following cleaning work. If the cleaning robot rotates to the position where the detection data of the auxiliary wall-following sensor 4 is smaller than the reference value, step S307 is performed, otherwise step S305 is performed.
In step S307, it is determined whether the detection data of the wall sensor 3 is near a preset threshold.
Specifically, the preset threshold value is an average value of a plurality of infrared signal values detected by the wall-following sensor 3 during a period of time during which the cleaning robot performs the wall-following cleaning operation. If the detection data of the wall-following sensor 3 is in the vicinity of the preset threshold value, step S308 is executed, otherwise step S305 is executed.
In step S308, the cleaning robot rotates to a position parallel to the surface of the obstacle.
Specifically, if the detection data of the auxiliary along-wall sensor 4 of the cleaning robot at the current position is smaller than the reference value and the detection data of the along-wall sensor 3 is in the vicinity of the preset threshold value, it is determined that the cleaning robot has rotated to a position parallel to the surface of the obstacle.
In step S309, the current infrared signal value is acquired by the wall sensor 3.
Step S310, determining a new infrared signal threshold value according to the current infrared signal value.
Specifically, after the turning is completed through the above steps, since the surface color of the obstacle and/or the distance from the cleaning robot to the wall may be changed, the current infrared signal value detected by the wall sensor 3 is not necessarily the infrared signal value obtained when the cleaning robot is at the preset wall distance, and thus the infrared signal threshold value needs to be updated. Specifically, a calibration is obtained from the current infrared signal valueThe value of the latter infrared signal; then comparing the calibrated infrared signal value with a pre-stored minimum threshold value A min And determining a new infrared signal threshold.
Wherein, a minimum threshold value A is prestored min The data can be any feasible data, and the skilled person can select barriers of various materials and colors which can be used in the family; the distance between the cleaning robot and the obstacles is set as a preset wall-following distance, then the outer surface of each obstacle is respectively subjected to infrared detection to obtain a plurality of infrared signal values, and then the smallest infrared signal value is selected from all the infrared signal values to serve as a pre-stored minimum threshold value A min . The preset wall-following distance may be any feasible data, such as 1cm, 3cm, 4cm, and the like.
For example, after determining that the cleaning robot has rotated to a position parallel to the surface of the obstacle, a calibrated infrared signal value is obtained according to the formula a — K × C. Wherein A is the calibrated current infrared signal value; c is the current infrared signal value; k is a preset coefficient, and K can be any feasible data in the [0.5,1] interval, such as 0.5, 0.7, 1 and the like.
Further, if the calibrated infrared signal value is greater than or equal to A min Replacing the original infrared signal threshold value with the calibrated infrared signal value serving as a new infrared signal threshold value and storing the new infrared signal threshold value; if the calibrated infrared signal value is less than the pre-stored value A min Then A is added min And replacing the original infrared signal threshold value as a new infrared signal threshold value and storing the new infrared signal threshold value. By updating the infrared signal threshold, the problem that the wall-following distance is inaccurate due to the fact that the detection data of the infrared wall-following sensor is changed because the color of the adjacent surface of the obstacle of the cleaning robot is changed is solved; meanwhile, the problem that the distance between the cleaning robot and the barrier is reduced due to the fact that the cleaning robot does not wind the axis of the cleaning robot when the cleaning robot rotates, and then the detected infrared signal is larger than the signal of the cleaning robot when the infrared signal is normally along the wall distance is solved. In other words, the cleaning robot of the present disclosure regardless of whether the color of the adjacent surface of the obstacle is changed or notThe wall sweep can be performed at the same wall-following distance both before and after the turn.
And step S311, the infrared wall-following sensor guides the cleaning robot to carry out wall-following operation on the obstacle through a new infrared signal threshold value.
Based on the foregoing description, the cleaning robot in the embodiment can guide the turning of the cleaning robot by the auxiliary wall sensor 4 when the side of the cleaning robot meets an obstacle, and rotate to the attitude parallel to the surface of the obstacle at one time, so that the turning action of the cleaning robot is faster and smoother. After the rotation is finished, the wall-following sensor 3 updates the red signal threshold value by acquiring the current infrared signal value, so that the problem that the wall-following distance is inaccurate due to the fact that the detection data of the infrared wall-following sensor is changed because the color of the adjacent surface of the obstacle of the cleaning robot is changed is solved; and the cleaning robot after rotating can continue to work in parallel along the wall at the same distance.
In a fourth embodiment of the disclosure:
as shown in fig. 13, the present disclosure also provides a cleaning robot. The cleaning robot comprises a processor, optionally a memory and a bus on a hardware level, and furthermore allows the inclusion of hardware required for other services.
The memory is used for storing an execution instruction, and the execution instruction is a computer program capable of being executed. Further, the memory may include a memory and a non-volatile memory (non-volatile memory) and provide execution instructions and data to the processor. Illustratively, the Memory may be a high-speed Random-Access Memory (RAM), and the non-volatile Memory may be at least 1 disk Memory.
Wherein the bus is used to interconnect the processor, the memory, and the network interface. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 13, but this does not represent only one bus or one type of bus.
In a possible implementation manner of the control method, the processor may first read the corresponding execution instruction from the nonvolatile memory to the memory and then execute the execution instruction, or may first obtain the corresponding execution instruction from another device and then execute the execution instruction. The processor can implement the control method in any of the above control method embodiments of the present disclosure when executing the execution instructions stored in the memory.
It will be understood by those skilled in the art that the above control method can be applied to a processor, and can also be implemented by means of a processor. Illustratively, the processor is an integrated circuit chip having the capability to process signals. In the process of executing the control method by the processor, the steps of the control method can be completed by an integrated logic circuit in the form of hardware or instructions in the form of software in the processor. Further, the Processor may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, a microprocessor, or any other conventional Processor.
Those skilled in the art will also understand that the steps of the above-described control method embodiments of the present disclosure may be performed by a hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, eprom, registers, and other storage media that are well known in the art. The storage medium is located in the memory, and the processor reads the information in the memory and then completes the execution of the steps in the control method embodiment in combination with the hardware of the processor.
So far, the technical solutions of the present disclosure have been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the scope of the present disclosure is not limited to only these specific embodiments. The technical solutions in the above embodiments can be split and combined, and equivalent changes or substitutions can be made on related technical features by those skilled in the art without departing from the technical principles of the present disclosure, and any changes, equivalents, improvements, and the like made within the technical concept and/or technical principles of the present disclosure will fall within the protection scope of the present disclosure.
Claims (9)
1. A control method of a cleaning robot is characterized in that an obstacle sensor and a wall-following sensor are arranged on the cleaning robot, the obstacle sensor is used for detecting whether an obstacle obstructs the cleaning robot to travel, and the wall-following sensor is used for guiding the cleaning robot to carry out wall-following cleaning operation; the control method is characterized by comprising the following steps:
acquiring an orientation of an obstacle that affects travel of the cleaning robot in response to the obstacle sensor detecting the obstacle;
rotating the cleaning robot in response to the obstacle being in front of the cleaning robot;
determining whether the cleaning robot rotates to a position parallel to the surface of the obstacle according to a variation trend of the detection data of the along-the-wall sensor;
the determining whether the cleaning robot rotates to a position parallel to the surface of the obstacle according to the trend of the detection data of the wall sensor includes:
when the detection data of the wall sensor has a preset variation trend, determining that the cleaning robot rotates to a position parallel to the surface of the obstacle; or when the detection data of the wall-following sensor is detected to have a preset variation trend, after the wall-following sensor continues to rotate for a preset angle/preset time along the original rotation direction, the cleaning robot is determined to rotate to a position parallel to the surface of the obstacle.
2. The control method according to claim 1, wherein the preset variation tendency is a tendency of becoming smaller, then becoming larger, and then becoming smaller when an obstacle exists on the left/right sides of the cleaning robot.
3. The control method according to claim 1, wherein the preset variation tendency is a tendency to become larger and then smaller when no obstacle is present on the left/right sides of the cleaning robot.
4. The control method according to any one of claims 1 to 3, wherein the rotating the cleaning robot includes:
if the wall-following sensor is disposed at the left side of the cleaning robot, the cleaning robot rotates to the right;
if the wall-following sensor is disposed at the right side of the cleaning robot, the cleaning robot rotates to the left.
5. The control method according to any one of claims 1 to 3, wherein the wall sensor is an infrared wall sensor;
after determining that the cleaning robot rotates to a position parallel to the surface of the obstacle, the control method further includes:
acquiring a current infrared signal value in response to the cleaning robot rotating to a position parallel to the surface of the obstacle;
and determining a new infrared signal threshold value according to the current infrared signal value, so that the infrared wall-following sensor guides the cleaning robot to carry out wall-following operation on the obstacle through the new infrared signal threshold value.
6. The control method according to any one of claims 1 to 3, wherein an auxiliary wall-following sensor is further provided in front of the cleaning robot on the same side of the cleaning robot as the wall-following sensor, the auxiliary wall-following sensor being configured to detect a wall-following object during a wall-following process of the cleaning robot to obtain a reference value;
the control method further comprises the following steps:
in response to the obstacle being located to a side of the cleaning robot, rotating the cleaning robot to move the auxiliary wall-following sensor away from the obstacle;
determining that the cleaning robot is rotated to a position parallel to the surface of the obstacle in response to the cleaning robot being rotated to a position where the detection data of the auxiliary wall sensor is less than a reference value and the detection data of the wall sensor is within a preset threshold range.
7. The control method according to claim 6, characterized in that the reference value is obtained by:
detecting during the wall-following process of the cleaning robot, and enabling the auxiliary wall-following sensor to detect the wall-following object;
obtaining a plurality of data detected by the auxiliary wall-following sensors;
calculating an average value of a plurality of the data to obtain the reference value.
8. The control method according to any one of claims 1 to 3, characterized in that the obstacle sensor is a collision sensor,
after detecting an obstacle affecting travel of the cleaning robot and before rotating the cleaning robot, the control method further includes:
and enabling the cleaning robot to retreat for a preset distance.
9. A cleaning robot comprising a processor, a memory and execution instructions stored on the memory, the execution instructions being arranged, when executed by the processor, to enable the cleaning robot to perform the control method of any one of claims 1 to 8.
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| CN113433935A (en) * | 2021-05-31 | 2021-09-24 | 惠州市宇林源科技有限公司 | Automatic robot path finding method, robot, equipment and medium |
| CN113287991B (en) * | 2021-06-23 | 2022-06-07 | 深圳乐动机器人有限公司 | Control method and control device for cleaning robot |
| CN113681564A (en) * | 2021-09-06 | 2021-11-23 | 广州科语机器人有限公司 | Robot, distance measurement control method for robot, storage medium, and device |
| CN113813575A (en) * | 2021-09-06 | 2021-12-21 | 国网浙江宁波市奉化区供电有限公司 | Be applied to intelligence of electric power construction usefulness and step on lever apparatus |
| CN114137969B (en) * | 2021-11-24 | 2023-11-24 | 珠海格力电器股份有限公司 | Control method and device for working robot, electronic equipment and storage medium |
| CN114847809B (en) * | 2022-07-07 | 2022-09-20 | 深圳市云鼠科技开发有限公司 | Environment exploration method and device for cleaning robot, cleaning robot and medium |
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| KR940007727B1 (en) * | 1992-03-09 | 1994-08-24 | 주식회사 금성사 | Automatic driver of vacuum cleaner |
| KR100500839B1 (en) * | 2002-11-05 | 2005-07-12 | 삼성광주전자 주식회사 | Robot cleaner having wall following function and method for following wall |
| CN102039595B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
| CN108378781A (en) * | 2018-02-09 | 2018-08-10 | 广东雷洋智能科技股份有限公司 | Clean robot is along wall cleaning method |
| CN110279352B (en) * | 2019-06-28 | 2021-09-17 | 苏州瑞久智能科技有限公司 | Sweeping robot wall-following walking method based on double PSD sensors |
| CN110680243B (en) * | 2019-09-30 | 2021-04-06 | 湖南格兰博智能科技有限责任公司 | Wall-following cleaning control algorithm for floor-sweeping robot |
| CN111067440A (en) * | 2019-12-31 | 2020-04-28 | 深圳飞科机器人有限公司 | Cleaning robot control method and cleaning robot |
| CN111329395B (en) * | 2020-04-09 | 2021-07-13 | 湖南格兰博智能科技有限责任公司 | Sweeping robot edgewise sweeping method based on inertial navigation |
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