CN113208511B - Cleaning control method and device, cleaning robot and computer storage medium - Google Patents
Cleaning control method and device, cleaning robot and computer storage medium Download PDFInfo
- Publication number
- CN113208511B CN113208511B CN202110604274.1A CN202110604274A CN113208511B CN 113208511 B CN113208511 B CN 113208511B CN 202110604274 A CN202110604274 A CN 202110604274A CN 113208511 B CN113208511 B CN 113208511B
- Authority
- CN
- China
- Prior art keywords
- cleaning
- cleaning robot
- self
- robot
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
The invention relates to the technical field of robots, and discloses a cleaning control method, a cleaning robot and a computer storage medium. The cleaning control method is applied to a cleaning robot, and the cleaning robot comprises a robot main body and at least one cleaning component arranged on the robot main body; the cleaning control method includes: and controlling the cleaning robot to perform self-rotation in the cleaning operation process of the cleaning robot. In the embodiment of the invention, the cleaning robot can perform self-rotation around the rotation center of the cleaning robot in the cleaning operation process, and the cleaning component can be driven by the cleaning robot to rotate in the self-rotation process, so that the moving track of the cleaning component is enlarged, the coverage area of the cleaning component on the area to be cleaned is increased finally, and the cleaning effect is improved.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning control method and device, a cleaning robot and a computer storage medium.
Background
With the rapid development of intelligent equipment technology, cleaning robots with automatic cleaning functions are increasingly popular; and with the acceleration of the life rhythm of people, the role played by the cleaning robot in family life is more and more important. The cleaning robot can automatically perform a cleaning operation in a waiting cleaning space of a home space or a large-sized place to clean the space to be cleaned, thereby saving a large amount of cleaning time for a user.
A cleaning assembly and a driving device are arranged on a robot main body of the cleaning robot. The cleaning robot moves according to a preset cleaning path under the driving of the driving device, and cleans the floor through the cleaning assembly.
However, due to the limitation of the size and the installation position of the cleaning components or the influence of factors such as the installation gap between the adjacent cleaning components, when the cleaning robot performs cleaning tasks in various scenes, the coverage area of the cleaning components is limited, and the problem of cleaning leakage is easy to occur.
Disclosure of Invention
The invention aims to provide a cleaning control method, a cleaning control device, a cleaning robot and a computer storage medium, which are used for solving the problem that the cleaning robot is difficult to cover a large area to be cleaned due to the limitation of the installation position and the size of a cleaning assembly and improving the cleaning effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cleaning control method applied to a cleaning robot includes:
and controlling the cleaning robot to perform self-rotation in the cleaning operation process of the cleaning robot.
Optionally, the method for controlling the cleaning robot to perform self-rotation includes:
and controlling the cleaning robot to continuously rotate in a clockwise direction or a counterclockwise direction.
Optionally, in the process of performing the cleaning operation by the cleaning robot, controlling the cleaning robot to continuously self-rotate in a clockwise direction or a counterclockwise direction includes:
acquiring a course angle of the cleaning robot in a world coordinate system, a current position of the cleaning robot and a local target point of the cleaning robot, wherein the local target point is the next position of the cleaning robot on a cleaning path from the current position;
calculating a two-dimensional vector Euler angle according to the current position of the cleaning robot and a local target point of the cleaning robot;
determining a cosine value of an angle difference between a course angle of the cleaning robot in a world coordinate system and the Euler angle of the two-dimensional vector, and taking the cosine value of the angle difference as the linear velocity;
acquiring an angular velocity;
and controlling the cleaning robot to move according to the linear speed and the angular speed.
Optionally, the cleaning robot includes a cleaning assembly, and in the process of controlling the cleaning robot to perform self-rotation, the method further includes:
when the cleaning robot cleans along a target object, if the cleaning assembly rotates to a position far away from the target object and the relative position relation between the cleaning assembly and the target object meets a first preset condition, controlling the cleaning robot to increase the self-rotation speed;
and controlling the cleaning robot to return to the original self-rotating speed until the cleaning assembly is close to the target object and the relative position relation between the cleaning assembly and the target object meets a second preset condition.
Optionally, the method for controlling the cleaning robot to perform self-rotation includes:
and controlling the cleaning robot to alternately perform self-rotation of a preset angle in a clockwise direction and a counterclockwise direction, wherein the preset angle is smaller than 360 degrees.
Optionally, the method for controlling the cleaning robot to perform self-rotation further includes:
and controlling the movement track of the cleaning assembly to be positioned between the rotation center of the cleaning robot and the target object while controlling the cleaning robot to rotate by a preset angle.
Optionally, the cleaning control method includes: the cleaning area of each self-rotation of the cleaning component is partially coincided with or closely adjacent to the cleaning area of the previous self-rotation;
if the cleaning robot continuously rotates in a clockwise direction or a counterclockwise direction, the cleaning robot rotates 360 degrees in the clockwise direction or the counterclockwise direction to be regarded as one self-rotation;
and if the cleaning robot alternately carries out self-rotation of a preset angle in the clockwise direction and the anticlockwise direction, and the preset angle is smaller than 360 degrees, the cleaning robot is regarded as self-rotation for one time along the clockwise direction or the anticlockwise direction.
Optionally, the cleaning control method further includes:
measuring a real-time distance from a current position of the cleaning robot to a target object in real time in a process that the cleaning robot performs a cleaning operation along the target object;
when the real-time distance enters a preset distance range, controlling the cleaning robot to start self-rotation or increasing the self-rotation speed, or reducing the linear speed of the cleaning robot; and when the real-time distance exceeds the preset distance range, controlling the cleaning robot to stop self-rotating or reduce the self-rotating speed, or improving the linear speed of the cleaning robot.
A cleaning control device applied to a cleaning robot, the cleaning control device comprising:
and the control module is used for controlling the cleaning robot to perform self-rotation in the cleaning operation process of the cleaning robot.
A cleaning robot comprising a memory and a processor;
the memory to store instructions;
the processor is configured to execute the instructions in the memory to perform the cleaning control method described in any one of the above.
A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the cleaning control method of any one of the above.
Compared with the prior art, the invention has the beneficial effects that:
in the embodiment of the invention, the cleaning robot can perform self-rotation around any rotation center of the cleaning robot in the cleaning operation process. At the in-process of autogyration, clean subassembly can rotate under the drive of robot main part, has enlarged the removal orbit of clean subassembly, has finally increased the coverage area that clean subassembly was treated clean area, has promoted clean effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a diagram of the cleaning effect of a conventional floor cleaning robot during cleaning along a wall.
Fig. 2 is a diagram illustrating a cleaning effect of the sweeping robot according to the embodiment of the present invention rotating 360 degrees while moving forward along a wall.
Fig. 3 is a diagram illustrating a cleaning effect of the cleaning robot according to the embodiment of the present invention rotating 180 degrees in a forward and reverse direction while moving forward along a wall.
Fig. 4 is a flowchart of a cleaning control method according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a method for controlling a self-rotation speed of a mopping robot during cleaning along an obstacle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the invention provides a cleaning control method, which is applied to a cleaning robot.
The cleaning robot can control the cleaning robot to perform self-rotation when cleaning an area to be cleaned along a planned cleaning path.
The area to be cleaned may be any area to be cleaned, such as a home space, a room unit of a home space, a part area of a room unit, a large site or a part area of a large site. From another perspective, the area to be cleaned may refer to a larger area that is cleaned for the first time, such as an entire room unit; it may also refer to areas that require a missed repair after a first cleaning of a larger area, such as a wall area in a room unit, or an obstacle area.
The cleaning path may be planned based on the characteristics of the area to be cleaned. For example, for an area near a wall, a cleaning path moving along the edge can be planned; for an obstacle area, a cleaning path may be planned that moves along the obstacle contour or in a tangential direction.
The cleaning assembly is used for cleaning the ground. In different types of cleaning robots, both the type and the number of cleaning components may differ. For the sweeping robot, the type of the cleaning assembly is one or more than one sweeping part, and in a possible implementation manner, the sweeping part can be further divided into side brushes arranged at the left front part and/or the right front part of the bottom of the robot main body and rolling brushes arranged at the middle position of the bottom of the robot. For mopping robots, the cleaning assemblies are of the type of mop, generally one or two in number, and are typically disposed in front of the bottom of the robot body. For the multifunctional robot, the cleaning assembly can simultaneously comprise two types of a sweeping part and a mopping part, the sweeping part and the mopping part can also be replaced by the sweeping part and the mopping part, the sweeping part can further comprise a side brush and a rolling brush, and the cleaning assembly of the corresponding type can be started according to different requirements when a sweeping task is executed. In another embodiment, the cleaning member may be disposed on a peripheral side of the robot body, and the cleaning member disposed on the peripheral side of the robot body may clean the wall skirting line.
In general, in any type of cleaning robot, the size and the arrangement position of the cleaning unit on the robot main body are relatively fixed, and therefore, if the head orientation of the cleaning robot is always the same as the moving direction of the cleaning robot along the cleaning path while the cleaning robot moves along the predetermined cleaning path, the range of the cleaning area that can be covered by the cleaning unit is limited. For example, in the case of a sweeping robot that arranges a side brush at the right front, the side brush always covers the area a of the cleaning robot in fig. 1 after the cleaning robot moves forward a distance, and the area between the area a and the wall cannot be effectively cleaned because the side brush cannot cover the area a, as shown in fig. 1.
Therefore, the invention provides a cleaning control method, which comprises the following steps: and controlling the cleaning robot to perform self-rotation during the cleaning operation of the cleaning robot along the cleaning path.
The spin may be performed by: performing a self-rotation operation while the cleaning robot moves along the cleaning path, that is, controlling the cleaning robot to move along a predetermined cleaning path and to self-rotate around a rotation center (usually, a center position of the robot main body, but may be at another position) of the cleaning robot; or the cleaning robot stops when moving to a certain position along the cleaning path, the cleaning robot is controlled to rotate, and then the cleaning robot is controlled to continue to move to the next position along the cleaning path.
Thus, the cleaning robot can perform self-rotation around its own rotation center during the cleaning operation. In the self-rotating process, the cleaning assembly can be driven by the robot main body to rotate, the moving track of the cleaning assembly is enlarged, the coverage area of the cleaning assembly on a to-be-cleaned area is finally increased, and the cleaning effect is improved.
Further, the method of controlling the cleaning robot to perform self-rotation may include: and controlling the cleaning robot to continuously rotate in a clockwise direction or a counterclockwise direction.
By adopting a continuous self-rotating mode along the clockwise/anticlockwise direction, the moving track of the cleaning assembly can be enlarged to the maximum extent on the premise that the robot main body advances along the set path, the coverage area of the cleaning assembly is effectively increased, and the self-rotating robot is suitable for various cleaning scenes. Taking the sweeping robot with the side brush arranged in the front right to sweep along the wall as an example, if the cleaning robot moves along the cleaning path and continuously rotates along the counterclockwise direction, after moving for a certain distance, as shown in fig. 2, the coverage area of the side brush is an area B in fig. 2, and compared with the area a in fig. 1, the obvious area B is larger than the area a, that is, the cleaning area covered by the side brush is increased.
Optionally, during the cleaning operation of the cleaning robot, controlling the cleaning robot to continuously self-rotate in a clockwise direction or a counterclockwise direction may include the following steps: acquiring a course angle of the robot in a world coordinate system, a current position of the robot and a local target point of the robot, wherein the local target point is the next position of the cleaning robot on a cleaning path from the current position; calculating a two-dimensional vector Euler angle according to the current position of the cleaning robot and a local target point of the robot; determining a cosine value of an angle difference between a course angle of the cleaning robot in a world coordinate system and the Euler angle of the two-dimensional vector, and taking the cosine value of the angle difference as the linear velocity; acquiring an angular velocity; and controlling the cleaning robot to move according to the linear velocity and the angular velocity.
In particular, the cleaning path planned by the cleaning robot may comprise a plurality of path points, P = { P = } 1 ，p 2 ，...，p n In which (p) i I =1, \8230;, n) are waypoints. To move the cleaning robot along the path P while continuously rotating in the counterclockwise direction from the rotation center, the course angle θ of the cleaning robot in the world coordinate system, the current position P of the cleaning robot, and the like are obtained r Local target point p of cleaning robot i (ii) a According to the current position p of the cleaning robot r And a local target point p of the cleaning robot i Calculating a two-dimensional vector Euler angle phi; determining a cosine value of an angle difference between a course angle theta of the cleaning robot in a world coordinate system and the Euler angle phi of the two-dimensional vector, and taking the cosine value of the angle difference as the linear velocity u; acquiring an angular velocity w; controlling the cleaning robot to move according to the linear velocity u and the angular velocity w; wherein the angular velocity may be a preset fixed value.
In another possible embodiment, a method of controlling a cleaning robot to perform self-rotation may include: and controlling the cleaning robot to perform self-rotation of a preset angle in a clockwise direction and a counterclockwise direction alternately, wherein the preset angle is less than 360 degrees (for example, 180 degrees). Assuming that the clockwise direction is a positive direction and the counterclockwise direction is a negative direction, in other words, the method adopts a rotation mode that the positive direction and the negative direction are alternately rotated and the unidirectional rotation angle is less than 360 degrees.
Compared with the traditional mode of only moving along the cleaning path without self-rotation, the forward and reverse alternate rotation mode of the embodiment of the invention can expand the moving track of the cleaning assembly to a certain extent, increase the coverage area of the cleaning assembly and improve the cleaning effect.
Compared with the continuous self-rotation mode along the clockwise/counterclockwise direction, the forward and reverse alternate rotation mode of the embodiment of the invention has the advantages that the moving track of the cleaning component is relatively reduced, but the cleaning component is concentrated in a certain angle (for example, 180 degrees) area around the rotation center, so that the cleaning component is limited in the angle area to repeatedly rotate back and forth, and the cleaning component is prevented from rotating to other areas, therefore, on the premise of the same self-rotation speed, the back and forth movement frequency of the cleaning component in the angle area is improved, the cleaning effect of the cleaning component on the angle area can be improved, and the cleaning efficiency can be effectively improved.
Continuing with the example of sweeping along the wall by the sweeping robot with the side brush arranged at the right front, when the forward and reverse alternate rotation mode is adopted, after the cleaning robot advances for a certain distance, as shown in fig. 3, the coverage area of the side brush is area C in fig. 3, and compared with area a in fig. 1 and area B in fig. 2, the apparent area C is smaller than area B but larger than area a.
It is understood that when the forward and reverse rotation mode is adopted, the self-rotation angle of the cleaning robot can be arbitrarily specified. The larger the self-rotation angle, the larger the cleaning area that can be covered by the cleaning assembly; the smaller the self-rotation angle, the smaller the cleaning area that can be covered by the cleaning element, but at the same self-rotation speed, the higher the frequency of the cleaning element moving back and forth within the covered area, and thus the more efficient the cleaning of the covered area.
In addition, in order to avoid the phenomenon that the cleaning area which rotates twice in the adjacent self-rotation mode has a gap to cause the missing scanning, the cleaning area which rotates in each self-rotation mode of the cleaning component can be controlled to be partially coincided with or closely adjacent to the cleaning area which rotates in the previous self-rotation mode. Therefore, if the cleaning robot continuously rotates in a clockwise direction or a counterclockwise direction, the cleaning robot rotates 360 degrees in the clockwise direction or the counterclockwise direction to be regarded as one-time self-rotation; if the cleaning robot alternately carries out self-rotation of the preset angle in the clockwise direction and the anticlockwise direction, and the preset angle is smaller than 360 degrees, the cleaning robot is regarded as one-time self-rotation along the clockwise direction or the anticlockwise direction self-rotation preset angle.
Optionally, the method of controlling the cleaning robot to perform self-rotation further includes:
and controlling the cleaning assembly to move between the rotation center of the cleaning robot and the target object while controlling the cleaning robot to rotate by a preset angle.
The cleaning assembly is controlled to move between the rotating center of the cleaning robot and the target, so that the cleaning area of the cleaning assembly is closer to the target, and the edge of the target is prevented from being missed. The object may be an obstacle, which may include a wall, etc.
Fig. 4 is a schematic flowchart of a cleaning control method of a cleaning robot according to an embodiment of the present invention, the cleaning control method of the cleaning robot includes:
In the case where the cleaning robot provides one cleaning component in number, the cleaning component may be directly selected as a target component. In case the number of cleaning components provided by the cleaning robot exceeds one, the target component may be selected in a default manner; the user can also randomly select the user in a random selection mode so as to meet the personalized use requirements of the user; the cleaning agent can be selected according to a certain rule to match the current cleaning requirement, so that the cleaning effect is improved to a greater extent.
Illustratively, for a multifunctional robot, cleaning components arranged on a robot main body of the multifunctional robot comprise two types, namely a sweeping component and a mopping component; the method of selecting at least one cleaning member from all cleaning members as a target member at this time includes:
first, the current cleaning mode is determined. Generally, for a multi-function robot, there are several cleaning modes that can be selected: one is a single sweeping mode, i.e. the sweeping part performs the cleaning task independently, and the mopping part does not perform the cleaning task; the other mode is an independent mopping mode, namely, the mopping piece independently executes the cleaning task, and the sweeping piece does not execute the cleaning task; yet another is a hybrid cleaning mode, i.e. the cleaning task is performed by at least one of the sweeping and mopping members.
Then, if the cleaning mode is the independent cleaning mode, selecting the sweeping part as a target assembly; if the cleaning mode is the single mopping mode, selecting a mopping piece as a target component; and if the cleaning mode is a mixed cleaning mode, selecting the sweeping piece and/or the mopping piece as the target assembly.
In addition, the target component may be determined before or during the cleaning task performed on the area to be cleaned. In some application scenarios, for example, when the multifunctional robot is switched from the floor sweeping mode to the floor mopping mode, a situation that the target assembly needs to be switched in the cleaning process exists, the current target assembly can be switched to other types of cleaning assemblies at any time according to actual application requirements, and corresponding adjustment can be performed in subsequent steps.
And 102, in the process of cleaning operation of the cleaning robot along the cleaning path, controlling the cleaning robot to alternately perform self-rotation of a preset angle (less than 360 degrees) in a clockwise direction and a counterclockwise direction, and simultaneously controlling the moving track of the target assembly to be positioned between the rotating center of the cleaning robot and the target object.
The execution time of this step may include three, which are respectively:
first, the cleaning robot performs the entire cleaning process of the cleaning operation along the cleaning path.
For various types of areas to be cleaned, the execution timing may be the entire cleaning process. At this time, the target assembly can perform a rotation cleaning in a certain angle in the middle area between the rotation center and the target at each position in the cleaning path.
And the second method comprises the following steps: a certain cleaning period of the whole cleaning process.
The cleaning time period can be selected from a cleaning time period for the easily-missed-scanning area in the cleaning process. For example, in the case where the area to be cleaned includes a wall area and an open area, the execution of this step may be an edgewise cleaning session for the wall area in which the moving trajectory of the target member is defined in an intermediate area between the rotation center and the target object, so that the target member can be controlled to perform swing-type cleaning in the intermediate area, improving the cleaning efficiency while improving the cleaning effect on the wall area.
And the third is that: at a cleaning time during the entire cleaning process.
In the case that the area to be cleaned includes the inner corner area, the execution machine can perform swing type cleaning on the target assembly towards the inner corner area at the moment when the cleaning robot reaches the moment close to the inner corner area, so that the coverage area of the target assembly in the inner corner area can be enlarged in a targeted mode, the cleaning effect on the inner corner area is improved, and meanwhile the cleaning efficiency is improved.
The target object of the area to be cleaned is set based on the area to be cleaned, and can be a specific object inside or at the edge of the area to be cleaned or a specific object outside the area to be cleaned, which is convenient to identify; from another perspective, the target object may be an actual reference object or a virtual reference object; the object may be specifically a point or a line (i.e., a set of a plurality of points). In practical applications, the target object may be selected according to the type, shape and size of the area to be cleaned, and the embodiment of the present invention is not limited in particular.
In one possible embodiment, in order to increase the coverage area of the target assembly on the area to be cleaned as much as possible to improve the cleaning effect, and at the same time facilitate the identification, the target may be selected as an actual reference object located at the edge of the area to be cleaned. For example, for a wall-bound area, the target may take the edge of a wall; for the obstacle area, the target may take the edge or tangent of the outer contour of the obstacle.
It should be noted that the corresponding target object may be different at different positions on the cleaning path. In one possible application scenario, the target object may remain unchanged during the movement of the cleaning robot along the cleaning path, for example: for a circular obstacle, the target may always be the center of the circle of the obstacle. In another possible application scenario, during the movement of the cleaning robot along the cleaning path, the target object needs to be adjusted accordingly in real time, for example, for a wall area, when cleaning along the edge to the current position, the target object may be the edge of the wall closest to the current position; for another example, when a different obstacle is encountered, the target object needs to be switched as the obstacle changes.
In this step, in order to limit the moving trajectory of the target assembly between the rotation center of the cleaning robot and the target object in the region to be cleaned, the target object needs to be identified in the moving process of the cleaning robot, so as to control the cleaning robot to rotate by a proper angle. In the embodiment of the invention, the identification modes of the target object include the following two modes:
first, whether the target object is a virtual reference object or an actual reference object, the cleaning robot may obtain a clean space map of an area to be cleaned in advance, and then identify one or more target objects as reference bases in the clean space map in advance. On this basis, when the step 102 is executed, the cleaning robot may perform corresponding self-rotation control on the cleaning robot according to the current position and the corresponding target object in the cleaning space map to achieve the desired effect.
The clean space map can be obtained from the outside (a server, a user terminal and the like), or can be obtained by detecting the area to be cleaned through a laser radar which is installed, or can be obtained according to the clean track of the edge part after the area to be cleaned is cleaned along the edge part, or can be obtained by detecting through a visual sensor, or can be obtained by detecting the area to be cleaned through an inertial measurement unit and a collision sensor.
Secondly, under the condition that the target object is designated as an actual reference object (specifically, the contour edge or the tangent line of the obstacle), the cleaning robot can directly detect the actual reference object through a laser radar or a vision sensor and the like in the process of executing a cleaning task, and then perform corresponding self-rotation control on the cleaning robot according to the current position of the cleaning robot and the position of the actual reference object so as to achieve the required effect.
The number of the cleaning components included in the target component may be one or more than one, and the number of the cleaning components is not limited by the embodiment of the present invention. In fact, the unidirectional self-rotation angle of the cleaning robot may be designed according to the number of cleaning components included in the target component, the size of the shape of the area to be cleaned, and the like.
In one possible embodiment, the cleaning control method may further include: measuring the real-time distance from the current position of the cleaning robot to a target object in an area to be cleaned in real time in the process of cleaning operation of the cleaning robot along the cleaning path; when the real-time distance enters a preset distance range, controlling the cleaning robot to start self-rotating or increasing the self-rotating speed; and when the real-time distance exceeds the preset distance range, controlling the cleaning robot to stop performing self-rotation or reducing the self-rotation speed.
The method actually starts self-rotation or increases the self-rotation speed when the cleaning robot is close to a target object, and stops the self-rotation or reduces the self-rotation speed when the cleaning robot is far away from the target object. Aiming at the areas to be cleaned comprising multiple types of subareas, wherein some subareas (such as wall edge areas) need to be rotated by self to reduce the cleaning leakage area, and some subareas (such as open areas) can ensure that a good cleaning effect can be obtained without rotating by self, so that the invalid self-rotation time length can be reduced, the power consumption can be reduced, and the standby time length of the cleaning robot can be prolonged.
In another possible embodiment, the cleaning control method may further include: measuring the real-time distance from the current position of the cleaning robot to a target object in an area to be cleaned in real time in the process of cleaning operation of the cleaning robot along the cleaning path; when the real-time distance enters a preset distance range, the linear speed of the cleaning robot is reduced; and when the real-time distance exceeds the preset distance range, the linear speed of the cleaning robot is improved.
The method actually reduces the moving speed when the cleaning robot is close to the target object and increases the moving speed when the cleaning robot is far away from the target object. By the limiting mode, the cleaning time of the cleaning robot in the designated area can be properly prolonged, the cleaning effect of the cleaning assembly on the designated area is improved, and the designated area can be an obstacle edge area.
It is understood that the above-mentioned self-rotation timing control method and linear velocity control method can be used alternatively or in combination.
Optionally, the cleaning robot includes a cleaning assembly, and in the process of controlling the cleaning robot to perform self-rotation, the cleaning control method may further include: when the cleaning robot cleans along the target object, if the cleaning assembly rotates to a position far away from the target object and the relative position relationship between the cleaning assembly and the target object meets a first preset condition, controlling the cleaning robot to increase the self-rotation speed; and controlling the cleaning robot to return to the original self-rotating speed until the cleaning assembly is close to the target object and the relative position relation between the cleaning assembly and the target object meets a second preset condition.
Wherein, the first preset condition may include: the distance between the cleaning assembly and the target object exceeds a first distance threshold; and/or the included angle between the connecting line of the cleaning assembly and the target point on the target object and the target object contour or the tangent of the target object contour is in a preset angle range.
Wherein, on the target connecting line between the cleaning component and the target point on the target object, the target point can be the point on the target object nearest to the rotation center of the cleaning robot, or the target point can also be the point on the target object nearest to the edge of the robot main body.
The second preset condition may include: the distance between the cleaning assembly and the target object is smaller than a second distance threshold value; and/or the included angle between a target connecting line of the cleaning assembly and a target point on the target object and the target object contour or the tangent of the target object contour is not in a preset angle range.
For example, when the distance between the cleaning assembly and the target exceeds a first distance threshold, and/or the included angle between the target connecting line and the target profile or the tangent of the target profile is between 60 ° and 120 °, it can be determined that the relative position relationship between the cleaning assembly and the target meets a first preset condition; when the distance between the cleaning assembly and the target object is smaller than the first distance threshold value and/or the included angle between the target connecting line and the target object contour or the tangent line between the target object contour and the tangent line between the target object contour is not between 60 degrees and 120 degrees, the relative position relationship between the cleaning assembly and the target object can be determined to meet a second preset condition.
This is because, when the cleaning assembly rotates to a certain range far from the target object along with the cleaning robot, the longer the rotation time of the cleaning robot, the more the missed cleaning area close to the target object may be generated, so that the self-rotation speed is increased when the cleaning assembly is far from the target object, the cleaning assembly can be rapidly rotated back to the area close to the target object, and the missed cleaning area close to the target object is effectively reduced.
For example, as shown in fig. 5, the floor mopping robot has two mops arranged at the rear of the robot body and an obstacle at the right side of the robot body; when the two mops rotate to positions far away from the edge of the obstacle, whether a first preset condition is met or not can be determined through the position relation between the two mops and the edge of the obstacle, so that when the mops are far away from the edge of the obstacle, the self-rotating speed is improved, and after the robot is close to the edge of the obstacle, whether a second preset condition is met or not is determined to recover the restoring speed.
In conclusion, in the process that the cleaning robot performs the cleaning operation along the cleaning path, the cleaning robot is controlled to perform self-rotation, so that the area of the cleaning area covered by the cleaning component on the cleaning robot can be effectively increased, and the cleaning effect is improved.
Based on the same conception, the embodiment of the invention provides a cleaning control device, which is applied to a cleaning robot, and comprises the following components: and the control module is used for controlling the cleaning robot to perform self-rotation in the cleaning operation process of the cleaning robot.
Based on the same concept, embodiments of the present invention provide a cleaning robot, which includes a robot main body and at least one cleaning assembly disposed on the robot main body, and further includes a memory and a processor. At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the cleaning control method provided by the embodiment of the invention.
Based on the same conception, the embodiment of the invention provides a computer-readable storage medium, wherein at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to realize the cleaning control method provided by the embodiment of the invention.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A cleaning control method applied to a cleaning robot, the cleaning control method comprising:
controlling the cleaning robot to perform self-rotation in the process of performing cleaning operation by the cleaning robot;
the cleaning robot includes a cleaning assembly, and in controlling the cleaning robot to perform self-rotation, the method further includes: when the cleaning robot cleans along a target object, if the cleaning assembly rotates to a position far away from the target object and the relative position relation between the cleaning assembly and the target object meets a first preset condition, controlling the cleaning robot to increase the self-rotation speed; until the cleaning assembly approaches the target object and the relative position relation between the cleaning assembly and the target object meets a second preset condition, controlling the cleaning robot to return to the original self-rotating speed;
alternatively, the cleaning control method further includes: measuring a real-time distance from a current position of the cleaning robot to a target object in real time in a process that the cleaning robot performs a cleaning operation along the target object; when the real-time distance enters a preset distance range, controlling the cleaning robot to start self-rotation or increasing the self-rotation speed, or reducing the linear speed of the cleaning robot; and when the real-time distance exceeds the preset distance range, controlling the cleaning robot to stop self-rotating or reduce the self-rotating speed, or improving the linear speed of the cleaning robot.
2. The cleaning control method according to claim 1, wherein the method of controlling the cleaning robot to make a self-rotation includes:
and controlling the cleaning robot to continuously rotate in a clockwise direction or a counterclockwise direction.
3. The cleaning control method according to claim 2, wherein controlling the cleaning robot to continuously self-rotate in a clockwise direction or a counterclockwise direction during the cleaning operation by the cleaning robot includes:
acquiring a course angle of the cleaning robot in a world coordinate system, a current position of the cleaning robot and a local target point of the cleaning robot, wherein the local target point is the next position of the cleaning robot on a cleaning path from the current position;
calculating a two-dimensional vector Euler angle according to the current position of the cleaning robot and a local target point of the cleaning robot;
determining a cosine value of an angle difference between a course angle of the cleaning robot in a world coordinate system and the Euler angle of the two-dimensional vector, and taking the cosine value of the angle difference as a linear speed;
acquiring an angular velocity;
and controlling the cleaning robot to move according to the linear velocity and the angular velocity.
4. The cleaning control method according to claim 1, wherein the method of controlling the cleaning robot to make a self-rotation includes:
and controlling the cleaning robot to alternately perform self-rotation of a preset angle in a clockwise direction and a counterclockwise direction, wherein the preset angle is smaller than 360 degrees.
5. The cleaning control method according to claim 4, wherein the method of controlling the cleaning robot to make a self-rotation further comprises:
and controlling the cleaning assembly to move between the rotation center of the cleaning robot and the target object while controlling the cleaning robot to rotate by a preset angle.
6. The cleaning control method according to any one of claims 1 to 5, characterized by further comprising: the cleaning area of each self-rotation of the cleaning component is partially coincided with or closely adjacent to the cleaning area of the previous self-rotation;
if the cleaning robot continuously rotates in a clockwise direction or a counterclockwise direction, the cleaning robot rotates 360 degrees in the clockwise direction or the counterclockwise direction to be regarded as one-time self-rotation;
and if the cleaning robot alternately carries out self-rotation of a preset angle in the clockwise direction and the anticlockwise direction, and the preset angle is smaller than 360 degrees, the cleaning robot is regarded as one self-rotation by the self-rotation preset angle in the clockwise direction or the anticlockwise direction.
7. A cleaning control apparatus applied to a cleaning robot, comprising:
the control module is used for controlling the cleaning robot to perform self-rotation in the cleaning operation process of the cleaning robot;
the cleaning robot comprises a cleaning assembly, and the control module is used for controlling the cleaning robot to perform self-rotation and is also used for: when the cleaning robot cleans along a target object, if the cleaning assembly rotates to a position far away from the target object and the relative position relation between the cleaning assembly and the target object meets a first preset condition, controlling the cleaning robot to increase the self-rotation speed; until the cleaning assembly approaches the target object and the relative position relation between the cleaning assembly and the target object meets a second preset condition, controlling the cleaning robot to return to the original self-rotating speed;
or, the control module is further configured to: measuring a real-time distance from a current position of the cleaning robot to a target object in real time in a process that the cleaning robot performs a cleaning operation along the target object; when the real-time distance enters a preset distance range, controlling the cleaning robot to start self-rotation or increasing the self-rotation speed, or reducing the linear speed of the cleaning robot; and when the real-time distance exceeds the preset distance range, controlling the cleaning robot to stop self-rotating or reduce the self-rotating speed, or improving the linear speed of the cleaning robot.
8. A cleaning robot comprising a memory and a processor;
the memory to store instructions;
the processor is configured to execute the instructions in the memory to implement the cleaning control method according to any one of claims 1 to 6.
9. A computer-readable storage medium, comprising instructions which, when executed on a computer, cause the computer to perform the cleaning control method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110604274.1A CN113208511B (en) | 2021-05-31 | 2021-05-31 | Cleaning control method and device, cleaning robot and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110604274.1A CN113208511B (en) | 2021-05-31 | 2021-05-31 | Cleaning control method and device, cleaning robot and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113208511A CN113208511A (en) | 2021-08-06 |
| CN113208511B true CN113208511B (en) | 2022-11-11 |
Family
ID=77081965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110604274.1A Active CN113208511B (en) | 2021-05-31 | 2021-05-31 | Cleaning control method and device, cleaning robot and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113208511B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114869171A (en) * | 2022-04-21 | 2022-08-09 | 美智纵横科技有限责任公司 | Cleaning robot, control method and device thereof, and readable storage medium |
| CN117270517A (en) * | 2022-06-14 | 2023-12-22 | 速感科技（北京）有限公司 | Autonomous mobile apparatus, operating method, and storage medium |
| CN115390552A (en) * | 2022-07-28 | 2022-11-25 | 云鲸智能(深圳)有限公司 | Path planning method, device, cleaning system and storage medium |
| CN117122246A (en) * | 2022-07-29 | 2023-11-28 | 云鲸智能(深圳)有限公司 | Control method, device and system of cleaning robot and storage medium |
| CN115429172B (en) * | 2022-08-30 | 2023-09-29 | 云鲸智能(深圳)有限公司 | Floor mopping method of cleaning robot, cleaning robot and storage medium |
| CN115500737B (en) * | 2022-09-28 | 2023-10-17 | 云鲸智能(深圳)有限公司 | Ground medium detection method and device and cleaning equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101925965B1 (en) * | 2016-07-14 | 2019-02-26 | 엘지전자 주식회사 | a Robot cleaner and a maintenance device for the same |
| CN106970625A (en) * | 2017-04-27 | 2017-07-21 | 牛立庚 | Drive device and method |
| CN108703714A (en) * | 2018-05-31 | 2018-10-26 | 芜湖聚网信息技术有限公司 | Sweeping robot |
| CN108903814A (en) * | 2018-06-19 | 2018-11-30 | 叶乃萍 | New Sweeping Floor Machine device people |
| CN210697504U (en) * | 2019-08-07 | 2020-06-09 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
-
2021
- 2021-05-31 CN CN202110604274.1A patent/CN113208511B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113208511A (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113208511B (en) | Cleaning control method and device, cleaning robot and computer storage medium | |
| CA3126170C (en) | Method, device, and apparatus for controlling mopping robot, and storage medium | |
| KR102649384B1 (en) | Control methods, devices, equipment and storage media of mopping robots | |
| US20110226282A1 (en) | Cleaning method using cleaning robot | |
| WO2019144867A1 (en) | Method for improving corner coverage rate of moving robot | |
| CN110786783B (en) | Cleaning method of cleaning robot and cleaning robot | |
| WO2014135008A1 (en) | Edge-to-center cleaning method used by robot cleaner | |
| CN113229748B (en) | Cleaning control method and device, cleaning robot and computer storage medium | |
| CN112806912B (en) | Robot cleaning control method and device and robot | |
| CN111588319A (en) | Mopping control method, mopping control device, mopping control medium and mopping control equipment | |
| KR20220082762A (en) | Cleaning method, cleaning robot and computer-readable storage medium | |
| CN106774359A (en) | A kind of vehicle body attitude method of adjustment of sweeping robot | |
| CN106774302A (en) | A kind of method of sweeping robot avoiding barrier | |
| WO2024022360A1 (en) | Method, device, and system for controlling cleaning robot, and storage medium | |
| CN115500737B (en) | Ground medium detection method and device and cleaning equipment | |
| CN110967703A (en) | Indoor navigation method and indoor navigation device using laser radar and camera | |
| CN106707843A (en) | Hardware system of floor mopping robot | |
| CN112471988B (en) | Sweeping robot control method and sweeping robot | |
| CN112932367A (en) | Fixed-point sweeping method of cleaning equipment and cleaning equipment | |
| CN115462709B (en) | Cleaning method, cleaning robot and cleaning system | |
| US11889971B2 (en) | Cleaning robot, bristle control method and device, and computer storage medium | |
| WO2023098384A1 (en) | Sweeping control method and apparatus, robot, storage medium, and electronic apparatus | |
| CN117170388A (en) | Method for controlling operation of pool robot, pool robot and storage medium | |
| CN116439606A (en) | Control method and device of automatic cleaning equipment, cleaning equipment and storage medium | |
| WO2022228671A1 (en) | Cleaning method of a robotic cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 unit 02, 2 / F, West Tower, baidu international building, 8 Haitian 1st Road, Binhai community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Address before: 518000 unit 02, 2 / F, West Tower, baidu international building, 8 Haitian 1st Road, Binhai community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |