CN113455965B - Cleaning robot control method, cleaning robot control device, medium and cleaning robot - Google Patents
Cleaning robot control method, cleaning robot control device, medium and cleaning robot Download PDFInfo
- Publication number
- CN113455965B CN113455965B CN202110741851.1A CN202110741851A CN113455965B CN 113455965 B CN113455965 B CN 113455965B CN 202110741851 A CN202110741851 A CN 202110741851A CN 113455965 B CN113455965 B CN 113455965B
- Authority
- CN
- China
- Prior art keywords
- cleaning
- cleaning robot
- grid
- target grid
- position information
- 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
- 238000004140 cleaning Methods 0.000 title claims abstract description 385
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 238000010408 sweeping Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a cleaning robot control method, a cleaning robot control device, a cleaning robot control medium and a cleaning robot, which are applied to a cleaning robot without a gyroscope. The method comprises the following steps: when a cleaning starting instruction is received, constructing a target grid map; acquiring position information of the cleaning robot according to a predetermined period; performing coordinate conversion on the position information according to the target grid map to obtain a corresponding grid coordinate; and generating a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates, so that the next-step cleaning instruction of the cleaning robot is sent more efficiently by taking the coordinates and the cleaning times of the grid map as a basis, and the cleaning efficiency and the cleaning coverage rate are improved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a cleaning robot control method, a cleaning robot control device, a cleaning robot control medium and a cleaning robot.
Background
With the progress of control technology and automation technology, various cleaning robots having functions of sweeping, sucking, mopping, washing, etc. are rapidly entering into people's home life. Cleaning robots generally use suction openings or a combination of suction openings and rolling brushes to suck floor waste into dust boxes provided on a machine body, thereby completing cleaning operations.
In the sales market, there is a class of cleaning robots without gyroscopes that are sold around the world because of their low cost. However, for such cleaning robots, due to the lack of gyroscopes, the self pose of the robot cannot be determined in the walking process, and the environment cannot be mapped and autonomously navigated, and the cleaning is usually performed by adopting a random cleaning mode, which often causes the problems of missed cleaning and repeated cleaning, resulting in low cleaning coverage and affecting cleaning efficiency.
Disclosure of Invention
The invention provides a cleaning robot control method, a cleaning robot control device, a cleaning robot control medium and a cleaning robot, and solves the technical problem of low cleaning efficiency caused by the fact that an existing cleaning robot without a gyroscope adopts a random sweeping method to perform missing sweeping or re-sweeping.
The invention provides a cleaning robot control method, which is applied to a cleaning robot without a gyroscope, and comprises the following steps:
when a cleaning starting instruction is received, constructing a target grid map;
acquiring position information of the cleaning robot according to a predetermined period;
performing coordinate conversion on the position information according to the target grid map to obtain a corresponding grid coordinate;
and generating a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates.
Optionally, the step of constructing the target grid map includes:
acquiring the current position of the cleaning robot as an initial coordinate;
establishing an initial grid map with a preset specification by taking the initial coordinates as a central point;
and respectively distributing a cleaning frequency counter for each grid contained in the initial grid map to obtain a target grid map.
Optionally, the step of acquiring the position information of the cleaning robot at a predetermined cycle includes:
measuring the wheel speed corresponding to the driving wheel of the cleaning robot according to a preset period;
calculating the current angle and the current world coordinate of the cleaning robot according to the number of the gratings corresponding to the wheel speed, the wheel spacing between the driving wheels and a preset grating pulse travel factor;
and adopting the current angle and the current world coordinate as the position information of the cleaning robot.
Optionally, the step of generating a cleaning instruction of the cleaning robot according to the number of times of cleaning corresponding to the grid coordinate includes:
determining a target grid region from within the target grid map centered on the grid coordinates;
reading a cleaning frequency counter corresponding to the target grid area to obtain a plurality of cleaning frequencies;
carrying out weighted average calculation by adopting the plurality of cleaning times to generate a cleaning average value;
and comparing the cleaning average value with a preset cleaning threshold value, and generating a cleaning instruction of the cleaning robot according to a comparison result.
Optionally, the target grid region comprises a first target grid and a second target grid, and the number of sweeps comprises a first number of sweeps and a second number of sweeps; the step of reading a cleaning frequency counter corresponding to the target grid area to obtain a plurality of cleaning frequencies includes:
determining the grid where the grid coordinate is located as the first target grid;
determining a plurality of grids adjacent to the first target grid as the second target grid;
reading a cleaning frequency counter related to the first target grid to obtain the first cleaning frequency;
and respectively reading the cleaning frequency counters associated with the second target grids to obtain a plurality of second cleaning frequencies.
Optionally, the step of comparing the average value with a preset sweeping threshold value and generating a sweeping instruction of the cleaning robot according to the comparison result includes:
comparing the cleaning average value with a preset cleaning threshold value;
if the cleaning average value is larger than the preset cleaning threshold value, generating a cleaning instruction that the cleaning robot is separated from the target grid area;
and if the cleaning average value is smaller than or equal to the preset cleaning threshold value, skipping to execute the step of acquiring the position information of the cleaning robot according to the preset period.
Optionally, the method further comprises:
when the cleaning robot detects an obstacle or a falling position, acquiring obstacle world coordinates corresponding to the obstacle or the falling position;
determining a corresponding obstacle grid from within the target grid map based on the obstacle world coordinates;
and setting an obstacle mark on the obstacle grid to update the target grid map.
The second aspect of the present invention also provides a cleaning robot control apparatus, the cleaning robot having no gyroscope, the apparatus comprising:
the grid map building module is used for building a target grid map when a cleaning starting instruction is received;
a position information acquisition module for acquiring position information of the cleaning robot according to a predetermined cycle;
the coordinate conversion module is used for carrying out coordinate conversion on the position information according to the target grid map to obtain a corresponding grid coordinate;
and the cleaning instruction generating module is used for generating a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates.
The third aspect of the present invention further provides a cleaning robot comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the cleaning robot control method according to any one of the first aspect of the present invention.
The fourth aspect of the present invention also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the cleaning robot control method according to any one of the first aspects of the present invention.
According to the technical scheme, the invention has the following advantages:
when a control unit in the cleaning robot receives a cleaning starting instruction, a target grid map is built according to the current initial position of the cleaning robot, meanwhile, position information of the cleaning robot is obtained according to a preset period, coordinate conversion is carried out on the position information according to the built target grid map so as to obtain a corresponding grid coordinate, and finally, the cleaning condition of the area where the cleaning robot is located is judged according to the cleaning times corresponding to the grid coordinate, so that a cleaning instruction for controlling the next operation of the cleaning robot is generated. The position of the cleaning robot is obtained through the grid map, the coordinates of the grid map and the cleaning times are used as the basis, the next cleaning instruction of the cleaning robot is sent out more efficiently, the cleaning efficiency and the cleaning coverage rate are further improved, and the problem that the cleaning efficiency is reduced due to the fact that the cleaning robot without the gyroscope is subjected to missing cleaning and re-cleaning in a random cleaning mode is solved.
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, and 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 these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of a method for controlling a cleaning robot according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a control method for a cleaning robot according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a target grid map according to a second embodiment of the present invention;
FIG. 4 is a schematic view of reading the number of cleaning times according to the second embodiment of the present invention;
FIG. 5 is a schematic diagram of a cleaning robot according to a second embodiment of the present invention;
fig. 6 is a block diagram of a cleaning robot control device according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a cleaning robot control method, a cleaning robot control device, a cleaning robot control medium and a cleaning robot, which are used for solving the technical problem that cleaning efficiency is reduced due to the fact that an existing cleaning robot without a gyroscope is lack of a gyroscope and a random sweeping method is adopted for missing sweeping or re-sweeping.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for controlling a cleaning robot according to an embodiment of the present invention.
The invention provides a control method of a cleaning robot, wherein the cleaning robot is not provided with a gyroscope, and the method comprises the following steps:
in the embodiment of the invention, the cleaning robot does not have a gyroscope, so that the self pose of the cleaning robot cannot be known in the cleaning motion process. For this, when a processor or a control unit in the cleaning robot receives a cleaning start instruction, the cleaning robot is controlled to start cleaning, and simultaneously, a target grid map is constructed according to the current initial position of the cleaning robot, so that the cleaning condition of the cleaning robot in each area can be determined subsequently.
102, acquiring position information of the cleaning robot according to a preset period;
because the cleaning robot needs a certain time when cleaning a certain area, after the construction of the target grid map is completed, the position information of the cleaning robot can be acquired according to a preset period to save the consumption of data resources and electric quantity, and a data basis is provided for the determination of the subsequent grid coordinate.
It is understood that the location information herein may include, but is not limited to: the world coordinate of the world coordinate system constructed with the current initial position of the cleaning robot, and the facing angle of the built-in suction port of the cleaning robot.
after the position information of the cleaning robot is obtained, coordinate conversion can be performed on the position information according to the mapping relation between the target grid map and the world coordinate system where the position information is located, so that grid coordinates corresponding to the position information are obtained.
And 104, generating a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates.
In a specific implementation, after the grid coordinate corresponding to the position information is obtained, whether the cleaning robot needs to continue cleaning in the grid coordinate can be determined based on the cleaning times associated with the grid coordinate, so as to generate a corresponding cleaning instruction and control the next operation of the cleaning robot.
In the embodiment of the invention, when a control unit in the cleaning robot receives a cleaning starting instruction, a target grid map is constructed according to the current initial position of the cleaning robot, meanwhile, the position information of the cleaning robot is obtained according to a preset period, then, the position information is subjected to coordinate conversion according to the constructed target grid map so as to obtain a corresponding grid coordinate, and finally, the cleaning condition of the area where the cleaning robot is located is judged according to the cleaning times corresponding to the grid coordinate, so that a cleaning instruction for controlling the next operation of the cleaning robot is generated. The position of the cleaning robot is obtained through the grid map, the coordinates of the grid map and the cleaning times are used as the basis, the next cleaning instruction of the cleaning robot is sent out more efficiently, the cleaning efficiency and the cleaning coverage rate are further improved, and the problem that the cleaning efficiency is reduced due to the fact that the cleaning robot without the gyroscope is subjected to missing cleaning and re-cleaning in a random cleaning mode is solved.
Referring to fig. 2, fig. 2 is a flowchart illustrating a control method of a cleaning robot according to a second embodiment of the present invention.
The invention provides a control method of a cleaning robot, wherein the cleaning robot is not provided with a gyroscope, and the method comprises the following steps:
optionally, the "build target grid map" process in step 201 may include the following sub-steps:
acquiring the current position of the cleaning robot as an initial coordinate;
taking the initial coordinates as a central point, and creating an initial grid map with a preset specification;
and respectively distributing a cleaning frequency counter for each grid contained in the initial grid map to obtain a target grid map.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a target grid map according to an embodiment of the invention.
In the embodiment of the present invention, when the control unit in the cleaning robot receives the cleaning start command, it indicates that cleaning of the current area needs to be started at this time. At this time, the current position of the cleaning robot may be acquired as an initial coordinate a (0, 0), and an initial grid map of a predetermined specification may be created with the initial coordinate as a center point of the grid map, while a number-of-sweeps counter may be respectively assigned to each grid therein to obtain a target grid map.
The number-of-cleanings counter is used for accumulating the number of cleanings when the cleaning robot moves to any one of the grids associated therewith.
The angle of the initial coordinate of the cleaning robot may also be taken as zero degrees, so as to facilitate the pose determination of the subsequent cleaning robot, each grid in the initial grid map has the same size, for example, 40cm by 40cm, and the specific size is not limited in the embodiment of the present invention.
Further, in order to update the target grid map in real time and reduce the unexpected risk of cleaning the robot, the embodiment of the invention may further include the following steps:
when the cleaning robot detects an obstacle or a falling position, acquiring obstacle world coordinates corresponding to the obstacle or the falling position;
determining a corresponding obstacle grid from within the target grid map based on the obstacle world coordinates;
and setting an obstacle mark on the obstacle grid to update the target grid map.
In an example of the present invention, when the cleaning robot detects that there is an obstacle or a falling position on a moving path during a cleaning process, obstacle world coordinates corresponding to the obstacle or the falling position may be acquired, a corresponding obstacle grid may be determined based on a grid position of the obstacle world coordinates within the target grid map, an obstacle flag may be set on the obstacle grid, and the target grid map may be updated.
For example, the obstacle world coordinate corresponding to the position of the obstacle or the falling position can be calculated by combining the world coordinate of the position of the cleaning robot according to the distance between the cleaning robot and the obstacle; after obtaining the obstacle world coordinates, the obstacle world coordinates may be substituted into the target grid map to determine an obstacle grid where the obstacle world coordinates are located, set an obstacle mark on the obstacle grid, update the target grid map, and then acquire the position information of the cleaning robot at a predetermined cycle.
optionally, step 202 may include the following sub-steps:
measuring the wheel speed corresponding to the driving wheel of the cleaning robot according to a preset period;
calculating the current angle and the current world coordinate of the cleaning robot according to the number of the gratings corresponding to the wheel speed, the wheel spacing between the driving wheels and a preset grating pulse travel factor;
and adopting the current angle and the current world coordinate as the position information of the cleaning robot.
In the embodiment of the present invention, the wheel speeds of the driving wheels set in the cleaning robot may be measured according to a predetermined period, and then the current angle and the current world coordinate of the cleaning robot are calculated based on the wheel speeds and the wheel distances between the driving wheels to obtain the position information of the cleaning robot, where a specific current angle calculation process may be as follows:
wherein alpha is the camber value of the current angle, S1Raster number, S, corresponding to wheel speed for the left drive wheel of the cleaning robot2The number of raster pulses corresponding to the wheel speed of the right driving wheel of the cleaning robot is d, the wheel interval is d, and F is a raster pulse travel factor.
It should be noted that the grating pulse stroke factor can be calculated by combining the rotation speed ratio of the gear and the number of pulses of the grating speed measurement code wheel when the motor rotates for one turn through the diameter of the driving wheel, and the specific calculation mode is as follows: the grating pulse stroke factor is (diameter of driving wheel. x pi)/number of pulses/gear rotation speed ratio.
Current world coordinate (W)x，Wy) The specific calculation process may be as follows:
D＝d*sin(α/2)*2
Wx＝D*V*sinα
Wy＝D*V*cosα
wherein D is the movement distance of the driving wheel.
In specific implementation, the wheel speed can be measured by a grating speed sensor, the displacement is measured by using the principle of grating overlapping stripes, and the wheel speed at the current moment is calculated by combining with the measurement time.
It is understood that the predetermined period may be 30s, 1s, or the like, and the time length of the specific period is not limited in this embodiment of the present invention.
in the embodiment of the invention, after the position information is obtained, the current world coordinate and the current angle in the position information can be subjected to coordinate conversion according to the target grid map so as to determine the grid coordinate of the cleaning robot in the target grid map.
The specific coordinate transformation process may be as follows:
wherein (G)x，Gy) Is the grid coordinate, G is the side length of the grid, MxThe total grid length, M, of the target grid map in the horizontal directionyThe total grid length in the vertical direction of the target grid map is taken as the target grid map.
in the embodiment of the present invention, an area having a plurality of grids centered on grid coordinates may be selected from the target grid map as a target grid area to acquire the number of times of sweeping of the cleaning robot within the target grid area.
optionally, the target grid zone comprises a first target grid and a second target grid, the number of sweeps comprises a first number of sweeps and a second number of sweeps, and step 205 may comprise the sub-steps of:
determining the grid where the grid coordinate is located as the first target grid;
determining a plurality of grids adjacent to the first target grid as a second target grid;
reading a cleaning frequency counter related to the first target grid to obtain the first cleaning frequency;
and respectively reading the cleaning frequency counters associated with the second target grids to obtain a plurality of second cleaning frequencies.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a sweeping time reading according to an embodiment of the invention.
In the embodiment of the invention, a grid in which grid coordinates are located is taken as a first target grid, a plurality of grids adjacent to the first target grid are determined as second target grids, and a cleaning frequency counter related to the first target grid is read so as to obtain a first cleaning frequency of the cleaning robot in the first target grid; meanwhile, the cleaning frequency counter associated with each second target grid can be read respectively, so as to obtain the second cleaning frequency corresponding to each second target grid.
As shown in FIG. 4, the first number of sweeps may be X1The second target grid may be 8 grids adjacent to the first target grid, and the second number of times of cleaning is X2-X9。
in the embodiment of the invention, a plurality of cleaning times X are obtained1-X9Then, it may be used to perform a weighted average calculation to obtain a cleaning average of the cleaning robot in the cleaning area.
The process of calculating the sweeping average B by weighted averaging may be as follows:
B＝(Y1X1+Y2X2+Y3X3+Y4X4+Y5X5+Y6X6+Y7X7+Y8X8+Y9X9)/9
wherein, Y1Is the weight corresponding to the first target grid, Y2～Y9The weights corresponding to the respective second target grids may be set empirically, for example: can be respectively set as: 2. 4, 3, 4.
And step 207, comparing the cleaning average value with a preset cleaning threshold value, and generating a cleaning instruction of the cleaning robot according to a comparison result.
In an alternative embodiment of the present invention, step 207 may comprise the following sub-steps:
comparing the cleaning average value with a preset cleaning threshold value;
if the cleaning average value is larger than the preset cleaning threshold value, generating a cleaning instruction that the cleaning robot is separated from the first target grid and the plurality of second target grids;
and if the cleaning average value is smaller than or equal to the preset cleaning threshold value, skipping to execute the step of acquiring the position information of the cleaning robot according to the preset period.
In the embodiment of the present invention, after the average cleaning value of the cleaning area is obtained through calculation, the average cleaning value may be further compared with a preset cleaning threshold, and if the average cleaning value is greater than the preset cleaning threshold, it indicates that the cleaning process of the target grid area may be ended, and the cleaning robot may move to a next area for cleaning, and at this time, a cleaning instruction that the cleaning robot leaves the target grid area may be generated.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a movement of a cleaning robot according to an embodiment of the invention.
When the calculated cleaning average value is larger than the preset cleaning threshold value, a cleaning instruction that the cleaning robot moves towards the 90-degree direction to be separated from the target grid area can be generated, so that the cleaning robot is controlled to move to an area outside the target grid area to continue cleaning.
It will be appreciated that the sweeping instructions may include movement instructions to move to any angle.
If the cleaning average value is less than or equal to the preset cleaning threshold value, it indicates that the cleaning process of the target grid area is not finished at this time, the step 202 may be skipped, and the position information of the cleaning robot is obtained according to the preset period in the process of continuing cleaning, so as to facilitate the judgment and update of the subsequent cleaning instruction.
In the embodiment of the invention, when a control unit in the cleaning robot receives a cleaning starting instruction, a target grid map is constructed according to the current initial position of the cleaning robot, meanwhile, the position information of the cleaning robot is obtained according to a preset period, then, the position information is subjected to coordinate conversion according to the constructed target grid map so as to obtain a corresponding grid coordinate, and finally, the cleaning condition of the area where the cleaning robot is located is judged according to the cleaning times corresponding to the grid coordinate, so that a cleaning instruction for controlling the next operation of the cleaning robot is generated. The position of the cleaning robot is obtained through the grid map, the coordinates of the grid map and the cleaning times are used as the basis, the next cleaning instruction of the cleaning robot is sent out more efficiently, the cleaning efficiency and the cleaning coverage rate are further improved, and the problem that the cleaning efficiency is reduced due to the fact that the cleaning robot without the gyroscope is subjected to missing cleaning and re-cleaning in a random cleaning mode is solved.
Referring to fig. 6, fig. 6 is a block diagram of a cleaning robot control device according to a third embodiment of the present invention.
An embodiment of the present invention provides a cleaning robot control apparatus, the cleaning robot having no gyroscope, the apparatus including:
the grid map building module 601 is configured to build a target grid map when a cleaning start instruction is received;
a position information acquiring module 602 for acquiring position information of the cleaning robot according to a predetermined cycle;
a coordinate conversion module 603, configured to perform coordinate conversion on the location information according to the target grid map, so as to obtain a corresponding grid coordinate;
and a cleaning instruction generating module 604, configured to generate a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates.
Optionally, the grid map building module 601 includes:
an initial coordinate obtaining submodule for obtaining a current position of the cleaning robot as an initial coordinate when a cleaning start instruction is received;
the initial grid map creating submodule is used for creating an initial grid map with a preset specification by taking the initial coordinates as a central point;
and the grid map optimization submodule is used for respectively distributing a cleaning frequency counter for each grid contained in the initial grid map to obtain a target grid map.
Optionally, the location information obtaining module 602 includes:
the wheel speed measuring submodule is used for measuring the wheel speed corresponding to the driving wheel of the cleaning robot according to a preset period;
the angle and coordinate determination submodule is used for calculating the current angle and the current world coordinate of the cleaning robot according to the number of the gratings corresponding to the wheel speed, the wheel spacing between the driving wheels and a preset grating pulse stroke factor;
a position information determination submodule for adopting the current angle and the current world coordinate as position information of the cleaning robot.
Optionally, the cleaning instruction generating module 604 includes:
a target grid region determining submodule for determining a target grid region centered on the grid coordinates from within the target grid map;
the cleaning frequency reading submodule is used for reading a cleaning frequency counter corresponding to the target grid area to obtain a plurality of cleaning frequencies;
the cleaning average value calculation submodule is used for performing weighted average calculation by adopting the plurality of cleaning times to generate a cleaning average value;
and the cleaning instruction generation submodule is used for comparing the cleaning average value with a preset cleaning threshold value and generating a cleaning instruction of the cleaning robot according to a comparison result.
Optionally, the target grid region comprises a first target grid and a second target grid, and the number of sweeps comprises a first number of sweeps and a second number of sweeps; the sweeping frequency reading submodule is specifically configured to:
determining the grid where the grid coordinate is located as the first target grid;
determining a plurality of grids adjacent to the first target grid as the second target grid;
reading a cleaning frequency counter related to the first target grid to obtain the first cleaning frequency;
and respectively reading the cleaning frequency counters associated with the second target grids to obtain a plurality of second cleaning frequencies.
Optionally, the cleaning instruction generation submodule is specifically configured to:
comparing the cleaning average value with a preset cleaning threshold value;
if the cleaning average value is larger than the preset cleaning threshold value, generating a cleaning instruction that the cleaning robot is separated from the target grid area;
and if the cleaning average value is smaller than or equal to the preset cleaning threshold value, skipping to execute the step of acquiring the position information of the cleaning robot according to the preset period.
Optionally, the apparatus further comprises:
the obstacle world coordinate acquisition module is used for acquiring obstacle world coordinates corresponding to an obstacle or a falling position when the cleaning robot detects the obstacle or the falling position;
an obstacle grid determination module for determining a corresponding obstacle grid from within the target grid map based on the obstacle world coordinates;
and the grid map updating module is used for setting an obstacle mark on the obstacle grid so as to update the target grid map.
An embodiment of the present invention further provides a cleaning robot, including a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the control method of the cleaning robot according to any embodiment of the present invention.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a cleaning robot control method according to any of the embodiments of the present invention.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, modules and sub-modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
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 robot control method applied to a cleaning robot without a gyroscope, the method comprising:
when a cleaning starting instruction is received, constructing a target grid map;
acquiring position information of the cleaning robot according to a predetermined period;
performing coordinate conversion on the position information according to the target grid map to obtain a corresponding grid coordinate;
generating a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates;
the step of acquiring the position information of the cleaning robot according to a predetermined cycle includes:
measuring the wheel speed corresponding to the driving wheel of the cleaning robot according to a preset period;
calculating the current angle and the current world coordinate of the cleaning robot according to the number of the gratings corresponding to the wheel speed, the wheel spacing between the driving wheels and a preset grating pulse travel factor;
adopting the current angle and the current world coordinate as position information of the cleaning robot;
wherein, the calculation process of the current angle is as follows:
wherein alpha is the camber value of the current angle, S1Number of rasters, S, corresponding to wheel speed of left driving wheel of cleaning robot2The number of the gratings corresponding to the wheel speed of the right driving wheel of the cleaning robot is d, the wheel interval is d, and F is the grating pulse stroke factor.
2. The method of claim 1, wherein the step of constructing a target grid map comprises:
acquiring the current position of the cleaning robot as an initial coordinate;
establishing an initial grid map with a preset specification by taking the initial coordinates as a central point;
and respectively distributing a cleaning frequency counter for each grid contained in the initial grid map to obtain a target grid map.
3. The method of claim 2, wherein the step of generating the cleaning command for the cleaning robot based on the number of cleanings corresponding to the grid coordinate comprises:
determining a target grid region from within the target grid map centered on the grid coordinates;
reading a cleaning frequency counter corresponding to the target grid area to obtain a plurality of cleaning frequencies;
carrying out weighted average calculation by adopting the plurality of cleaning times to generate a cleaning average value;
and comparing the cleaning average value with a preset cleaning threshold value, and generating a cleaning instruction of the cleaning robot according to a comparison result.
4. The method of claim 3, wherein the target grid area comprises a first target grid and a second target grid, and the number of sweeps comprises a first number of sweeps and a second number of sweeps; the step of reading a cleaning frequency counter corresponding to the target grid area to obtain a plurality of cleaning frequencies includes:
determining the grid where the grid coordinate is located as the first target grid;
determining a plurality of grids adjacent to the first target grid as the second target grid;
reading a cleaning frequency counter related to the first target grid to obtain the first cleaning frequency;
and respectively reading the cleaning frequency counters associated with the second target grids to obtain a plurality of second cleaning frequencies.
5. The method of claim 3, wherein the step of comparing the average value with a preset sweeping threshold value and generating a sweeping instruction of the cleaning robot according to the comparison result comprises:
comparing the cleaning average value with a preset cleaning threshold value;
if the cleaning average value is larger than the preset cleaning threshold value, generating a cleaning instruction that the cleaning robot is separated from the target grid area;
and if the cleaning average value is smaller than or equal to the preset cleaning threshold value, skipping to execute the step of acquiring the position information of the cleaning robot according to the preset period.
6. The method of claim 1, further comprising:
when the cleaning robot detects an obstacle or a falling position, acquiring obstacle world coordinates corresponding to the obstacle or the falling position;
determining a corresponding obstacle grid from within the target grid map based on the obstacle world coordinates;
and setting an obstacle mark on the obstacle grid to update the target grid map.
7. A cleaning robot control apparatus, characterized in that the apparatus comprises:
the grid map building module is used for building a target grid map when a cleaning starting instruction is received;
a position information acquisition module for acquiring position information of the cleaning robot according to a predetermined cycle;
the coordinate conversion module is used for carrying out coordinate conversion on the position information according to the target grid map to obtain a corresponding grid coordinate;
the cleaning instruction generating module is used for generating a cleaning instruction of the cleaning robot according to the cleaning times corresponding to the grid coordinates;
the position information acquisition module includes:
the wheel speed measuring submodule is used for measuring the wheel speed corresponding to the driving wheel of the cleaning robot according to a preset period;
the angle and coordinate determination submodule is used for calculating the current angle and the current world coordinate of the cleaning robot according to the number of the gratings corresponding to the wheel speed, the wheel spacing between the driving wheels and a preset grating pulse stroke factor;
a position information determination submodule for adopting the current angle and the current world coordinate as position information of the cleaning robot;
wherein, the calculation process of the current angle is as follows:
wherein alpha is the camber value of the current angle, S1Number of rasters, S, corresponding to wheel speed of left driving wheel of cleaning robot2The number of the gratings corresponding to the wheel speed of the right driving wheel of the cleaning robot is d, the wheel interval is d, and F is the grating pulse stroke factor.
8. A cleaning robot comprising a memory and a processor, wherein a computer program is stored in the memory, and when executed by the processor, the computer program causes the processor to perform the steps of the cleaning robot control method as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing a cleaning robot control method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741851.1A CN113455965B (en) | 2021-06-30 | 2021-06-30 | Cleaning robot control method, cleaning robot control device, medium and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741851.1A CN113455965B (en) | 2021-06-30 | 2021-06-30 | Cleaning robot control method, cleaning robot control device, medium and cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113455965A CN113455965A (en) | 2021-10-01 |
| CN113455965B true CN113455965B (en) | 2022-05-27 |
Family
ID=77877104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110741851.1A Active CN113455965B (en) | 2021-06-30 | 2021-06-30 | Cleaning robot control method, cleaning robot control device, medium and cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113455965B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114593696A (en) * | 2022-01-27 | 2022-06-07 | 深圳市无限动力发展有限公司 | Sweeping coverage rate measuring method, device, equipment and medium |
| CN114545939B (en) * | 2022-02-18 | 2022-09-23 | 智橙动力(北京)科技有限公司 | Driving control method and device for swimming pool cleaning robot and electronic equipment |
| CN114427310B (en) * | 2022-02-18 | 2024-08-02 | 智橙动力(苏州)科技有限公司 | Swimming pool edge cleaning method and device, electronic equipment and computer storage medium |
| CN114711668B (en) * | 2022-03-31 | 2024-05-14 | 苏州三六零机器人科技有限公司 | Cleaning method, cleaning device, sweeper and computer readable storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843228A (en) * | 2016-04-13 | 2016-08-10 | 上海物景智能科技有限公司 | Map sharing method and system of cleaning robot |
| CN111449571A (en) * | 2020-03-09 | 2020-07-28 | 珠海格力电器股份有限公司 | Cleaning method, device and equipment based on positioning system and computer readable medium |
| CN112237403A (en) * | 2020-09-07 | 2021-01-19 | 安克创新科技股份有限公司 | Covering path generation method for cleaning device and cleaning device |
| CN112711249A (en) * | 2019-10-24 | 2021-04-27 | 科沃斯商用机器人有限公司 | Robot positioning method and device, intelligent robot and storage medium |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112179361B (en) * | 2019-07-02 | 2022-12-06 | 华为技术有限公司 | Method, device and storage medium for updating work map of mobile robot |
| CN110703747B (en) * | 2019-10-09 | 2021-08-03 | 武汉大学 | Robot autonomous exploration method based on simplified generalized Voronoi diagram |
| CN111728535B (en) * | 2020-06-22 | 2021-12-28 | 上海高仙自动化科技发展有限公司 | Method and device for generating cleaning path, electronic equipment and storage medium |
-
2021
- 2021-06-30 CN CN202110741851.1A patent/CN113455965B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843228A (en) * | 2016-04-13 | 2016-08-10 | 上海物景智能科技有限公司 | Map sharing method and system of cleaning robot |
| CN112711249A (en) * | 2019-10-24 | 2021-04-27 | 科沃斯商用机器人有限公司 | Robot positioning method and device, intelligent robot and storage medium |
| CN111449571A (en) * | 2020-03-09 | 2020-07-28 | 珠海格力电器股份有限公司 | Cleaning method, device and equipment based on positioning system and computer readable medium |
| CN112237403A (en) * | 2020-09-07 | 2021-01-19 | 安克创新科技股份有限公司 | Covering path generation method for cleaning device and cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113455965A (en) | 2021-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113455965B (en) | Cleaning robot control method, cleaning robot control device, medium and cleaning robot | |
| CN110091326B (en) | Mobile robot and control method for mobile robot | |
| CN108507578B (en) | Navigation method of robot | |
| AU2017228620B2 (en) | Autonomous coverage robot | |
| EP2540203B1 (en) | Robot cleaner and control method thereof | |
| CN110786783A (en) | Cleaning method of cleaning robot and cleaning robot | |
| EP3611590B1 (en) | Method for creating grid map of intelligent robot | |
| CN109946715A (en) | Detection method, device, mobile robot and storage medium | |
| CN109528101A (en) | Turning method, mobile robot and the storage medium of mobile robot | |
| CN113475977B (en) | Robot path planning method and device and robot | |
| CN112308033B (en) | Obstacle collision warning method based on depth data and visual chip | |
| CN106647755A (en) | Sweeping robot capable of intelligently building sweeping map in real time | |
| CN112526985A (en) | Walking forbidden zone planning method and device and self-moving robot | |
| CN115344034A (en) | Intelligent cleaning robot path planning method and intelligent cleaning device | |
| CN112515556A (en) | Environment map processing method and device and electronic equipment | |
| CN116687275A (en) | Cleaning path planning method, cleaning robot and storage medium | |
| CN112515565B (en) | Cleaning partition adjacent judgment method and cleaning robot | |
| CN112433522A (en) | Robot walking control method and robot | |
| CN116859951A (en) | Water surface map building method, storage medium and pool robot | |
| CN112783147A (en) | Trajectory planning method and device, robot and storage medium | |
| CN118550305B (en) | Control method for robot edge cleaning, robot and storage medium | |
| CN115268470B (en) | Obstacle position marking method, device and medium for cleaning robot | |
| CN117330091A (en) | Method for constructing grid map, storage medium and pool robot | |
| JP2012141662A (en) | Method for estimating self-position of robot | |
| WO2023241404A1 (en) | Autonomous mobile apparatus, operation method, and storage medium |
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 | ||
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20230320 Granted publication date: 20220527 |