CN114343503B - Sweeping robot, moving method and device thereof and storage medium - Google Patents
Sweeping robot, moving method and device thereof and storage medium Download PDFInfo
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- CN114343503B CN114343503B CN202210074338.6A CN202210074338A CN114343503B CN 114343503 B CN114343503 B CN 114343503B CN 202210074338 A CN202210074338 A CN 202210074338A CN 114343503 B CN114343503 B CN 114343503B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 303
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 239000000463 material Substances 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 239000000428 dust Substances 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000011065 in-situ storage Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000003993 interaction Effects 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
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a sweeping robot, a moving method and a moving device thereof and a storage medium, wherein the moving method of the sweeping robot comprises the following steps: responding to the homing instruction, and controlling the sweeping robot to move to a first preset position; the method comprises the steps that when the sweeping robot is determined to move to a first preset position, the sweeping robot is controlled to rotate by a preset angle based on a slope, and the first preset position is located on the slope; and controlling the sweeping robot to move to a second preset position. The moving method of the sweeping robot can enable the sweeping robot to smoothly move to the corresponding position to execute work, ensure that the sweeping robot can achieve a good cleaning effect, and improve user experience and bidding capability of products.
Description
Technical Field
The present invention relates to the field of robot control, and more particularly, to a method for moving a sweeping robot, a device for moving a sweeping robot, and a computer readable storage medium.
Background
With market development, the robot with the sweeping and mopping functions is more and more favored by consumers, and the sweeping and mopping integrated machine is characterized in that a mop which is horizontal to the ground is arranged behind the existing sweeping robot. When the sweeping and mopping integrated machine is charged in a return mode or is self-cleaned, the mop direction needs to be adjusted on the horizontal ground, and then the mop enters the base station in a retreating mode, so that the functional part at the rear end of the robot is aligned with the corresponding matching position of the base station, and the base station can clean the mop. However, be provided with the slope before the basic station holding chamber, sweep to drag the machine and need pass through this slope when getting into the basic station, so sweep to drag the machine and need climb earlier and get into the basic station again after adjusting the mop orientation, sweep to drag in the integrative robot, the mop all is provided with certain pressure in order to realize better cleaning performance, and then lead to the robot to produce the extrusion with the slope when entering the station mop for the robot is difficult to get into the basic station holding intracavity smoothly, and the user has to operate by hand, greatly reduced user's use experience.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide a method for moving a sweeping robot, which can make the sweeping robot smoothly move to a corresponding position to perform work, ensure that the sweeping robot can achieve a better cleaning effect, and improve user experience and bidding capability of products.
A second object of the present invention is to provide a mobile device of a sweeping robot.
A third object of the present invention is to provide a floor sweeping robot.
A fourth object of the present invention is to propose a computer readable storage medium.
In order to achieve the above object, the present invention provides a moving method of a sweeping robot, the moving method comprising: responding to the homing instruction, and controlling the sweeping robot to move to a first preset position; controlling the sweeping robot to rotate by a preset angle based on a slope when the sweeping robot is determined to move to the first preset position, wherein the first preset position is positioned on the slope; and controlling the sweeping robot to move to a second preset position.
The moving method of the sweeping robot can be executed on the controller, firstly, the response to the response homing instruction is responded, then the sweeping robot is controlled to move to the first preset position, wherein the first preset position is located on a slope, when the sweeping robot is determined to move to the first preset position, the sweeping robot is controlled to rotate by a preset angle based on the slope, and after the sweeping robot finishes rotating by the preset angle, the sweeping robot is controlled to move to the second preset position, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot can achieve better cleaning effect, and user experience and bidding capability of products are improved.
In some embodiments of the present invention, determining that the sweeping robot moves to the first preset position includes: after the sweeping robot is determined to be in the preset position area, and the distance between the sweeping robot and the first preset position meets the preset distance range, the sweeping robot is determined to move to the first preset position.
In some embodiments of the present invention, before the controlling the sweeping robot to rotate by a preset angle based on a slope, the method further includes: determining that the front-back inclination angles of the sweeping robot are all in a first angle range and continuously preset time is kept unchanged; and/or determining that the distance between the left side and the right side of the sweeping robot and the ground is the same; and/or determining that the material of the ground where the sweeping robot is currently located meets the preset material condition.
In some embodiments of the present invention, the controlling the sweeping robot to rotate a preset angle based on a slope further includes: detecting collision of the sweeping robot, and controlling the sweeping robot to move in a direction away from the first preset position.
In some embodiments of the present invention, before the controlling the sweeping robot to move to the second preset position, the method further includes: and adjusting the left and right inclination angles of the sweeping robot so that the left and right inclination angles of the sweeping robot after adjustment are the same as the left and right inclination angles of the sweeping robot before rotation.
In some embodiments of the invention, the predetermined location area includes an area where the first signal area and the second signal area overlap.
In some embodiments of the present invention, the homing instruction is generated according to at least one of a water tank water shortage signal, a dust box full signal and a water shortage signal, and/or the homing instruction is obtained based on a preset terminal device.
To achieve the above object, a second aspect of the present invention provides a mobile device of a sweeping robot, where the slope homing device includes a receiving module for receiving a homing instruction; the control module is used for controlling the sweeping robot to move to a first preset position in the direction of the base station according to the homing instruction, determining that the sweeping robot moves to the first preset position, controlling the sweeping robot to rotate by a preset angle based on a slope, wherein the first preset position is located on the slope, and controlling the sweeping robot to move to a second preset position.
The mobile device of the sweeping robot comprises a receiving module and a control module, wherein after the receiving module receives a homing instruction, the control module can control the sweeping robot according to the homing instruction so as to enable the sweeping robot to move to a first preset position, the first preset position is located on a slope, when the sweeping robot is determined to be located on the slope, namely, the first preset position, the sweeping robot is controlled to rotate by a preset angle based on the slope, and after the sweeping robot finishes rotating by the preset angle, the sweeping robot is controlled to move to a corresponding position, so that the sweeping robot can smoothly move to the corresponding position to execute work, good cleaning effect can be achieved, and user experience and bidding capability of products are improved.
To achieve the above object, an embodiment of a third aspect of the present invention provides a sweeping robot, which includes a memory, a processor, and a moving program of the sweeping robot stored on the memory and capable of running on the processor, wherein the moving method of the sweeping robot according to the above embodiment is implemented when the processor executes the moving program of the sweeping robot.
The sweeping robot comprises the memory and the processor, and the processor executes the moving program of the sweeping robot stored in the memory, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot can achieve better cleaning effect, and user experience and bidding capability of products are improved.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a moving program of a sweeping robot, which when executed by a processor, implements the moving method of the sweeping robot according to the above embodiment.
According to the computer readable storage medium, the processor executes the moving program of the sweeping robot stored on the computer readable storage medium, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot is ensured to realize a better cleaning effect, and the user experience and the bidding capability of products are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flow chart of a moving method of a sweeping robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a turn-around position of a sweeping robot according to the related art;
FIG. 3 is a schematic view of movement of a sweeping robot according to one embodiment of the invention;
fig. 4 is a movement schematic view of a sweeping robot according to another embodiment of the present invention;
fig. 5 is a block diagram of a mobile device of the sweeping robot according to an embodiment of the present invention;
fig. 6 is a block diagram of a structure of a sweeping robot according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a sweeping robot, a slope homing method and device thereof and a storage medium according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flow chart of a moving method of a sweeping robot according to an embodiment of the present invention.
As shown in fig. 1, the present invention provides a moving method of a sweeping robot, which includes the following steps:
s10, responding to the homing instruction, and controlling the sweeping robot to move to a first preset position.
It should be noted that, the main body of the moving method of the sweeping robot according to the embodiment of the present invention may be a control device provided on the body of the sweeping robot, or may be a control device provided on a base station and wirelessly connected to the sweeping robot, or may be another control device other than the above two, and the embodiment does not limit the installation position of the control device.
After the control device responds to the homing instruction of the sweeping robot, the sweeping robot can be controlled to move to the first preset position to carry out homing operation.
The homing instruction can be sent by the sweeping robot according to the state condition of the sweeping robot, or can be sent by a user, and if the user needs to occupy the ground, the sweeping robot can be controlled to home through the remote controller, so that the sweeping, mopping and other works are not performed temporarily.
In this embodiment, the homing instruction of the sweeping robot is generated according to at least one of a water shortage signal of the water tank, a full signal of the dust box and a shortage signal, and/or the homing instruction is obtained based on a preset terminal device.
Specifically, the sweeping robot can be a sweeping and mopping integrated machine, so that a water tank can be designed on the body of the sweeping robot for cleaning a mop, and when the water tank lacks water, the sweeping robot can automatically send a homing instruction to a control device, so that the control device responds to and controls the sweeping robot after receiving the homing instruction. It can be understood that the dust box in the sweeping robot can send a homing instruction when full storage is achieved, or can send a homing instruction when the sweeping robot is out of electricity, so that the control device can control the sweeping robot to return to the base station to conduct water changing, dust box cleaning and charging operations to conduct state replenishment. In this embodiment, the homing instruction may also be obtained based on a preset terminal device, for example, by operating a remote controller, a mobile phone, an iPad, or a recharging button on a base station, so as to issue the homing instruction.
Alternatively, when the control device controls the sweeping robot to move towards the base station, the sweeping robot can select a route closest to the base station to move, without considering the situation of the floor which is cleaned or not cleaned.
S20, if the sweeping robot is determined to move to the first preset position, the sweeping robot is controlled to rotate by a preset angle based on the slope.
The first preset position may be on any slope, and in some examples, a slope is provided in front of the base station (charging station, dust collecting station, clean/sewage station of the sweeping robot), the first preset position is located on the slope, and in the embodiment of the present application, the moving method of the present invention is described by taking the slope of the first preset position in front of the base station as an example.
When the sweeping robot moves to the slope position of the base station, the sweeping robot is controlled to rotate by a preset angle based on the slope, namely, the sweeping robot rotates by the preset angle on the slope, the preset angle can be any angle, the fine adjustment angle of the sweeping robot can be realized, and the steering of the sweeping robot can be realized. The sweeping robot can rotate by taking an axis which is projected on the slope surface and is perpendicular to the slope surface as a shaft, the position of the axis is obtained specifically according to the position of a driving wheel of the sweeping robot, and taking two driving wheels as an example, if the connecting line of the two driving wheels is positioned on the central axis of the sweeping robot, the sweeping robot can realize in-situ steering; if the connection line of the two driving wheels is not located on the central axis of the sweeping robot, the sweeping robot can realize steering anyway, but the position of the sweeping robot before and after steering in the example moves, so that the in-situ steering cannot be realized.
It can be understood that the robot turns to be based on the driving wheel, when the driving wheels of the robot travel in the clockwise or anticlockwise direction, the robot turns to be in place, of course, the turning angle is based on the path condition that the driving wheels travel around the connecting line center of the driving wheels, for example, when the robot has two driving wheels, the robot turns around in place can be realized when the two driving wheels travel 180 degrees, and when the robot has three driving wheels, the robot turns around in place can be realized when the three driving wheels travel 120 degrees around the connecting line center of the three driving wheels.
The preset angle in step S20 may be any angle, that is, the sweeping robot may implement deflection in different directions and angles, alternatively, for the dual driving wheels, the preset angle may be 180 degrees, that is, the sweeping robot is controlled to turn around in situ. That is, the robot is controlled to turn around after moving to the slope, and in the related art, the mop is turned around first to climb the slope, so that the climbing of the robot is very influenced, even the phenomenon that the robot cannot climb the slope or the robot turns sideways due to the fact that the mop blocks the lines on the slope can be caused, and the problem can be solved by directly controlling the robot to turn around on the slope in situ.
More specifically, referring to fig. 2, the related art turns around before the robot 10 has not climbed the slope, so that the mop 11 directly faces the base station 20 and climbs the slope. In this embodiment, the sweeping robot 10 is controlled to travel on the slope 21 normally, and then turns around the slope 21, and the side provided with the mop 11 faces the base station 20 to travel into the base station 20.
In this embodiment, determining whether the sweeping robot moves to the first preset position, i.e., the slope position in front of the base station, may include: determining that the sweeping robot is in a preset position area, and determining that the distance between the sweeping robot and the first preset position meets a preset distance range, wherein the sweeping robot moves to the first preset position.
Specifically, as shown in fig. 3, an identification unit 12 may be disposed on the sweeping robot 10, in the embodiment shown in fig. 3, the sweeping robot 10 may be circular, the identification unit 12 is disposed at a central position of the sweeping robot 10, whether the current sweeping robot 10 enters a preset position area, which may be an effective identification area of the base station 20, may be identified through the identification unit 12, if it is determined that the sweeping robot 10 enters the preset position area, it is further determined whether a distance between the current sweeping robot 10 and the first preset position satisfies a preset distance range, that is, whether a distance between the current sweeping robot 10 and the base station 20 is within the preset distance range, and if so, it may be determined that the current sweeping robot 10 has moved to the first preset position, that is, above the slope 21 shown in fig. 2.
It should be noted that, in this embodiment, the preset distance range is determined according to the distance between the identification unit 12 and the base station 20 provided on the sweeping robot 10 and the distance between the sweeping robot 10 and the slope 21, and the preset distance range needs to ensure that the sweeping robot 10 does not cross the slope 21, and the distance between the identification unit 12 and the base station 20 is less than or equal to L. In this embodiment, L is greater than L in advance, so as to ensure that when the sweeping robot 10 is located in the preset position area, the distance between the sweeping robot 10 and the base station 20 can be equal to or less than L in advance, that is, it can be ensured that the sweeping robot 10 is identified to be located on a slope position in front of the base station 20.
Alternatively, L in this embodiment is equal to twice L null, and the specific value may be determined according to the size of the base station slope and the length L base and width H base of the base station.
In this embodiment, as shown in fig. 3, the base station 20 is provided with a first signal transmitter 22 and a second signal transmitter 23, and an overlapping area formed by signals emitted from the first signal transmitter 22 and the second signal transmitter 23 is taken as a preset position area.
Specifically, as shown in fig. 3, the base station 20 is provided with a first signal transmitter 22 and a second signal transmitter 23, wherein the first signal transmitter 22 and the second signal transmitter 23 are disposed in parallel on the base station 20 and emit signals in the same direction. The first signal emitter 22 and the second signal emitter 23 may be infrared emitters, and emit infrared signals having a certain area outwards, respectively, wherein the angles of the light beams emitted by the first signal emitter 22 and the second signal emitter 23 may be the same or different. In the area formed by the signals from the two signal transmitters, the overlapping area is taken as a preset position area, namely a hatched portion in fig. 3. When the signal transmitter 22 is an infrared transmitter, the identification unit 12 disposed on the robot 10 may be an infrared receiving module, and the identification unit 12 may determine whether the robot 10 is currently located in a preset location area through the intensity of the received infrared, and it is understood that the intensity of the infrared identified by the identification unit 12 in the preset location area is higher than that of other areas.
Alternatively, as shown in fig. 3, the preset position area in the present embodiment is a sector area with an angle of 8 °, and the sweeping robot 10 is within the preset position area in the inside or on the edge line of the sector area.
In other embodiments, the identification unit disposed on the sweeping robot may be a radar laser range finder, an intelligent camera, or the like, and determine whether the sweeping robot is at a first preset position, that is, on the slope of the base station, by identifying the distance between the sweeping robot and the base station.
S30, controlling the sweeping robot to move to a second preset position.
Specifically, after the sweeping robot finishes rotating, the sweeping robot is in a state of being on a slope of the base station and the mop faces the base station, and in the state, the sweeping robot can be controlled to move to a second preset position so as to finish homing control of the sweeping robot. In this embodiment of the present application, the second preset position is a position of the sweeping robot in the base station, where the sweeping robot may implement charging in some examples, may implement discharging dirt in the dust box into the base station in some examples, and may implement supplementary sweeping, sewage draining, and the like in other examples.
In some embodiments of the present invention, before controlling the sweeping robot to rotate a preset angle based on the slope, the method further includes: determining that the front-back inclination angles of the sweeping robot are all in a first angle range and continuously preset time is kept unchanged; and/or determining that the distance between the left side and the right side of the sweeping robot and the ground is the same; and/or determining that the material of the ground where the sweeping robot is currently located meets the preset material condition.
Specifically, in this embodiment, when the sweeping robot is at the first preset position and has not rotated, it may be further determined and confirmed whether the sweeping robot is currently at the first preset position, that is, on the slope of the base station, if so, a rotation operation may be performed, and if not, the sweeping robot may be controlled to exit the slope and execute the homing instruction again.
In the first mode, whether the front-back inclination angles of the sweeping robot are in a first angle range or not is judged, and the front-back inclination angles are kept unchanged for a preset time continuously.
Specifically, the sweeping robot in this embodiment may be provided with an angle sensor, such as a gyroscope, and then the front-rear inclination angle of the current sweeping robot is detected by the angle sensor, and when the sweeping robot is climbing a slope, the front-rear inclination angle of the sweeping robot detected by the angle sensor is always changed, and when the sweeping robot is climbing a slope on a base station, the front-rear inclination angle is in a stable state and ideally fixed within a first angle range, so that in the case that the front-rear inclination angle of the angle sensor is within the first angle range while the front-rear inclination angle is continuously preset for a constant time, it can be determined that the current sweeping robot is on the slope. Alternatively, the first angle range may be determined according to the inclination angle of the slope, for example, may be a range obtained by adding or subtracting 3 degrees to the inclination angle of the slope, and the preset time may be empirically set, for example, may be set to 3 seconds.
In the second mode, whether the distance between the left side and the right side of the sweeping robot and the ground is the same is judged.
Specifically, the robot for sweeping floor in this embodiment may be provided with cliff sensors, such as infrared sensors, and then the distance from the left and right sides of the robot for sweeping floor is the same through the cliff sensors, and specifically, one cliff sensor may be provided on each of the left and right sides of the robot for sweeping floor, so as to detect the distance from the left and right sides of the robot for sweeping floor, and when detecting that the distance from the left and right sides of the robot for sweeping floor is not equal, it may be determined that there is a possibility that the current robot for sweeping floor is inclined left and right, and if the robot is rotated directly, it may be turned on one's side, so that an alarm may be issued to alert the user. And if it is determined that the distances between the left and right sides of the sweeping robot and the ground are the same, the rotation may be directly performed. Alternatively, the cliff sensor may also be an ultrasonic sensor. In addition, in the present embodiment, the installation heights of the left and right cliff sensors may be the same or different, and when the installation heights of the left and right cliff sensors are the same, the height signals detected by the left and right cliff sensors may be directly compared, and when the installation heights of the left and right cliff sensors are different, the height signals detected by the left and right cliff sensors may be compared with the respective preset signals.
In a third mode, whether the material of the ground where the sweeping robot is currently located meets the preset material condition is judged.
Specifically, in this embodiment, the material adopted by the slope of the base station is different from the material of the ground, for example, an ultrasonic sensor may be set on the sweeping robot, and then the material at the position below the sweeping robot is detected by the material identifying sensor to be a preset material (for example, plastic, wood), or the material of the ground at present has a certain texture (for example, a plurality of stripes, a plurality of protrusions, etc.), so as to further determine whether the sweeping robot is located above the slope.
It can be understood that whether the sweeping robot is located at the first preset position or not is further judged in the three modes, namely, above the slope of the base station, the position of the sweeping robot and the state of the current sweeping robot can be judged more accurately, and then the sweeping robot is controlled better.
In some embodiments of the invention, before controlling the sweeping robot to move to the second preset position, the method further comprises: the left and right inclination angles of the sweeping robot are adjusted so that the left and right inclination angles of the sweeping robot after adjustment are the same as the left and right inclination angles of the sweeping robot before rotation.
Specifically, after the sweeping robot completes rotation on the slope, the sweeping robot may be further controlled to move to a second preset position, and it may be understood that in this embodiment, the second preset position may be to move the sweeping robot into the base station. Before the sweeping robot is controlled to move to the second preset position, the left and right inclination angles of the sweeping robot are adjusted, specifically, the left and right inclination angles of the sweeping robot can be detected through an angle sensor arranged on the sweeping robot body, such as a gyroscope, and then the position of the sweeping robot is adjusted according to the detected left and right inclination angles of the sweeping robot by controlling a driving wheel. Specifically, the position of the sweeping robot before rotation is used as a reference position, and then the position after rotation is adjusted.
In some embodiments of the present invention, the method for controlling the sweeping robot to rotate a preset angle based on the slope further comprises: if collision of the robot cleaner is detected, the robot cleaner is controlled to move in a direction away from the first preset position.
Specifically, in this embodiment, when the sweeping robot has been determined to be on a slope, it is possible to further control the sweeping robot to rotate and detect whether the sweeping robot collides during the rotation. Specifically, a collision sensor is arranged on the body of the sweeping robot, if the collision sensor is triggered in the rotating process of the sweeping robot, the current position is proved to be unsuitable for rotating operation, or the current sweeping robot is not matched with the base station in size, so that the sweeping robot is controlled to move in a direction away from the first preset position to exit from the slope position, and the homing instruction is re-executed. Optionally, the sweeping robot may also alarm when a collision occurs to inform the user of the current condition of the sweeping robot.
In order to ensure that the sweeping robot performs the rotation operation on the slope with as few collisions as possible, the present embodiment also defines the radius of the sweeping robot, and as shown in fig. 3, assuming that the shape of the sweeping robot 10 in this embodiment is circular, the radius of the sweeping robot 10 must be less than or equal to the general length of the base station, i.e., L base/2, to ensure that the sweeping robot 10 can smoothly enter the base station. Also, as shown in fig. 3, this embodiment further defines that when the sweeping robot 10 is at the edge of the preset position area, the closest distance M between the identifying unit 12 and the base station 20 is still greater than the radius of the sweeping robot, and in the embodiment shown in fig. 3, the calculation formula of the distance M is:
wherein,,θ is the angle of the sector-shaped preset position area. Setting the radius of the sweeping robot to be smaller than the distance M can ensure that the in-situ turning can be smoothly performed on a slope when the sweeping robot is at the maximum deviated position (i.e., the recognition unit 21 is at the edge of the preset position area). It should be noted that, in some embodiments, as shown in fig. 4, the identification unit 21 may be not disposed at the center of the sweeping robot 10, that is, disposed at other positions away from the center of the sweeping robot 10, and then the calculation formula of the distance M is:
wherein,,θ is the angle of the sector-shaped preset position area.
In summary, the moving method of the sweeping robot can enable the sweeping robot to smoothly move to the corresponding position to execute work, ensure that the sweeping robot can achieve a better cleaning effect, and improve user experience and bidding capability of products.
Fig. 5 is a block diagram of a mobile device of the sweeping robot according to an embodiment of the present invention.
Further, as shown in fig. 5, the present invention proposes a mobile device 100 of a sweeping robot, the mobile device 100 comprising a receiving module 101 and a control module 102.
The receiving module 101 is configured to receive a homing instruction; the control module 102 is configured to control the sweeping robot to move to a first preset position according to the homing instruction, determine that the sweeping robot moves to the first preset position, and then control the sweeping robot to rotate by a preset angle based on a slope, where the first preset position is located on the slope, and control the sweeping robot to move to a second preset position.
In some embodiments of the present invention, the control module 102 is further configured to determine that the sweeping robot is in a preset position area, and that the distance between the sweeping robot and the first preset position satisfies a preset distance range, and determine that the sweeping robot moves to the first preset position.
In some embodiments of the present invention, before controlling the sweeping robot to rotate by a preset angle based on the slope, the control module 102 is further configured to determine that the front-back inclination angles of the sweeping robot are all within the first angle range and the front-back inclination angles are continuously maintained for a preset time; and/or determining that the distance between the left side and the right side of the sweeping robot and the ground is the same; and/or determining that the material of the ground where the sweeping robot is currently located meets the preset material condition.
In some embodiments of the present invention, when the sweeping robot is controlled to rotate by a preset angle based on the slope, the control module 102 is further configured to control the sweeping robot to move in a direction away from the first preset position if the sweeping robot is detected to collide.
In some embodiments of the present invention, the control module 102 is further configured to adjust the left-right tilt angle of the sweeping robot so that the left-right tilt angle of the sweeping robot after adjustment is the same as the left-right tilt angle of the sweeping robot before rotation, before controlling the sweeping robot to move to the second preset position.
In some embodiments of the invention, the predetermined location area includes an area where the first signal area and the second signal area overlap.
In some embodiments of the invention, the homing instruction is generated from at least one of a water tank water shortage signal, a dust box full signal, and a water shortage signal; and/or the homing instruction is obtained based on the preset terminal equipment.
It should be noted that, the specific implementation of the moving device of the sweeping robot in the embodiment of the present invention may refer to the specific implementation of the moving method of the sweeping robot in the above embodiment, which is not described herein again.
In summary, the moving device of the sweeping robot can enable the sweeping robot to smoothly move to the corresponding position to execute work, so that the sweeping robot can achieve a good cleaning effect, and user experience and bidding capability of products are improved.
Fig. 6 is a block diagram of a structure of a sweeping robot according to an embodiment of the present invention.
Further, as shown in fig. 6, the present invention proposes a sweeping robot 200, and the sweeping robot 200 includes a memory 201, a processor 202, and a moving program of the sweeping robot stored in the memory 201 and capable of running on the processor 202, and when the processor 202 executes the moving program of the sweeping robot, the moving method of the sweeping robot according to the above embodiment is implemented.
The sweeping robot comprises the memory and the processor, and the processor executes the moving program of the sweeping robot stored in the memory, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot can achieve better cleaning effect, and user experience and bidding capability of products are improved.
Further, the present invention proposes a computer-readable storage medium having stored thereon a moving program of a sweeping robot, which when executed by a processor, implements the moving method of the sweeping robot according to the above-described embodiments.
According to the computer readable storage medium, the processor executes the moving program of the sweeping robot stored on the computer readable storage medium, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot is ensured to realize a better cleaning effect, and the user experience and the bidding capability of products are improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.
In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. A moving method of a sweeping robot, comprising:
responding to a homing instruction, and controlling the sweeping robot to move to a first preset position, wherein the first preset position is positioned on a slope;
controlling the sweeping robot to rotate by a preset angle based on the slope when the sweeping robot is determined to move to the first preset position;
controlling the sweeping robot to move to a second preset position;
wherein, before the controlling the sweeping robot rotates a preset angle based on the slope, the method further comprises: determining that the front-back inclination angles of the sweeping robot are all in a first angle range and continuously preset time is kept unchanged;
the method further comprises the following steps of:
if the collision of the sweeping robot is detected, controlling the sweeping robot to move in a direction away from the first preset position;
before the sweeping robot is controlled to move to the second preset position, the method further comprises the following steps:
and adjusting the left and right inclination angles of the sweeping robot so that the left and right inclination angles of the sweeping robot after adjustment are the same as the left and right inclination angles of the sweeping robot before rotation.
2. The movement method of claim 1, wherein determining that the sweeping robot is moved to the first preset position comprises:
determining that the sweeping robot is in a preset position area, and determining that the distance between the sweeping robot and the first preset position meets a preset distance range, wherein the sweeping robot is moved to the first preset position.
3. The moving method of the sweeping robot of claim 2, wherein the preset position region includes a region where the first signal region and the second signal region overlap.
4. The moving method according to claim 1, wherein before the controlling the sweeping robot to rotate a preset angle based on the slope, the method further comprises:
determining that the distance between the left side and the right side of the sweeping robot and the ground is the same; and/or
And determining that the material of the ground where the sweeping robot is currently located meets the preset material condition.
5. The moving method of the robot cleaner according to any one of claims 1 to 4, wherein the homing instruction is generated according to at least one of a water shortage signal of the water tank, a full storage signal of the dust box, and an electric shortage signal;
and/or the homing instruction is obtained based on preset terminal equipment.
6. A mobile device of a sweeping robot, comprising:
the receiving module is used for receiving the homing instruction;
the control module is used for controlling the sweeping robot to move to a first preset position according to the homing instruction, the first preset position is located on a slope, the sweeping robot is determined to move to the first preset position, then the sweeping robot is controlled to rotate by a preset angle based on the slope, the first preset position is located on the slope, the sweeping robot is controlled to move to a second preset position, and before the sweeping robot is controlled to rotate by the preset angle based on the slope, the control module is further used for: determining that the front-back inclination angles of the sweeping robot are all in a first angle range and continuously preset time is kept unchanged; the control module is also used for controlling the sweeping robot to rotate by a preset angle based on the slope at the same time: if the collision of the sweeping robot is detected, controlling the sweeping robot to move in a direction away from the first preset position; before controlling the sweeping robot to move to the second preset position, the control module is further configured to: and adjusting the left and right inclination angles of the sweeping robot so that the left and right inclination angles of the sweeping robot after adjustment are the same as the left and right inclination angles of the sweeping robot before rotation.
7. A sweeping robot comprising a memory, a processor and a moving program of the sweeping robot stored on the memory and operable on the processor, wherein the processor implements the moving method of the sweeping robot according to any one of claims 1 to 5 when executing the moving program of the sweeping robot.
8. A computer-readable storage medium, characterized in that a movement program of a sweeping robot is stored thereon, which when executed by a processor implements the movement method of the sweeping robot according to any one of claims 1 to 5.
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| CN116132922A (en) * | 2023-01-19 | 2023-05-16 | 海尔机器人科技(青岛)有限公司 | Base station moving method and device of sweeping robot, base station and storage medium |
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| CN107405031A (en) * | 2014-12-24 | 2017-11-28 | 美国 iRobot 公司 | Emptying station |
| WO2020224542A1 (en) * | 2019-05-05 | 2020-11-12 | 苏州宝时得电动工具有限公司 | Base station, and robot cleaning system and control method therefor |
| CN215305492U (en) * | 2021-04-13 | 2021-12-28 | 尚科宁家(中国)科技有限公司 | Base station for cleaning robot |
| CN113892868A (en) * | 2021-10-20 | 2022-01-07 | 尚科宁家(中国)科技有限公司 | Cleaning system capable of automatically walking |
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| CN205697515U (en) * | 2016-04-08 | 2016-11-23 | 科沃斯机器人股份有限公司 | Absorption robot |
| US10737395B2 (en) * | 2017-12-29 | 2020-08-11 | Irobot Corporation | Mobile robot docking systems and methods |
| US11179850B2 (en) * | 2019-04-24 | 2021-11-23 | Intrinsic Innovation Llc | Robot motion planning |
| CN212465876U (en) * | 2020-08-28 | 2021-02-05 | 深圳市杉川机器人有限公司 | Automatic rotary table system and base station |
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| CN107405031A (en) * | 2014-12-24 | 2017-11-28 | 美国 iRobot 公司 | Emptying station |
| WO2020224542A1 (en) * | 2019-05-05 | 2020-11-12 | 苏州宝时得电动工具有限公司 | Base station, and robot cleaning system and control method therefor |
| CN215305492U (en) * | 2021-04-13 | 2021-12-28 | 尚科宁家(中国)科技有限公司 | Base station for cleaning robot |
| CN113892868A (en) * | 2021-10-20 | 2022-01-07 | 尚科宁家(中国)科技有限公司 | Cleaning system capable of automatically walking |
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