CN114794972A - Cleaning robot and control method thereof - Google Patents
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- CN114794972A CN114794972A CN202110128212.8A CN202110128212A CN114794972A CN 114794972 A CN114794972 A CN 114794972A CN 202110128212 A CN202110128212 A CN 202110128212A CN 114794972 A CN114794972 A CN 114794972A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 308
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000007717 exclusion Effects 0.000 claims abstract description 35
- 230000004044 response Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 abstract 2
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000010408 sweeping Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The present disclosure relates to a cleaning robot and a control method thereof, the control method including: determining an orientation of an obstacle in response to the cleaning robot being trapped by the obstacle; generating a cleaning exclusion zone in a direction from the cleaning robot to the obstacle according to the orientation of the obstacle. The method and the device have the advantages that the recognition of the cleaning robot to the short barrier is realized, and the situation that the cleaning robot moves into the cleaning forbidden zone again and is trapped by the barrier in the cleaning forbidden zone again is avoided.
Description
Technical Field
The disclosure relates to the technical field of cleaning equipment, in particular to a cleaning robot and a control method thereof.
Background
The cleaning robot is intelligent equipment capable of assisting a user in cleaning a home environment, and mainly comprises a floor sweeping robot, a floor mopping robot, a sweeping and sucking integrated robot and the like.
An existing cleaning robot generally has a function of building an environment map, so that the cleaning robot can perform cleaning operation on a home environment according to the built environment map. However, when an environment map is constructed by the existing cleaning robot, short obstacles such as an electronic scale, a table leg beam, a threshold and the like on the ground cannot be recognized, and further the existing cleaning robot cannot bypass the short obstacles, so that the cleaning robot is often trapped by the short obstacles in the cleaning operation process and cannot continue to move.
Disclosure of Invention
The present disclosure provides a cleaning robot and a control method thereof, for solving the following technical problems in the prior art: the problem that the existing cleaning robot cannot bypass the short obstacle due to the fact that the existing cleaning robot cannot recognize the short obstacle is solved.
In a first aspect, the present disclosure provides a control method of a cleaning robot, the control method including:
determining the orientation of the obstacle in response to the cleaning robot being trapped by the obstacle;
and generating a cleaning forbidden zone along the direction from the cleaning robot to the obstacle according to the direction of the obstacle.
Optionally, the determining the orientation of the obstacle comprises:
determining the posture of the cleaning robot;
and determining the direction of the obstacle according to the attitude.
Optionally, the determining the orientation of the obstacle according to the posture comprises: determining that the obstacle is located in front of the cleaning robot if the cleaning robot is in a posture inclined forward and backward.
Optionally, the generating of the cleaning forbidden zone along the direction from the cleaning robot to the obstacle includes:
determining the starting edge of the cleaning forbidden zone according to the axis of the driving wheel of the cleaning robot; the distance between the starting edge and the axis is smaller than or equal to a first preset distance;
the cleaning forbidden zone is generated from the starting edge to the front of the cleaning robot.
Optionally, the determining the orientation of the obstacle according to the posture comprises: determining that the obstacle is located on a side of the cleaning robot that is elevated in a left-right direction if the cleaning robot has a left-right inclined posture.
Optionally, the generating of the cleaning forbidden zone along the direction from the cleaning robot to the obstacle includes:
determining a starting edge of the cleaning forbidden zone according to a central axis in the front-back direction of the cleaning robot; the distance between the starting edge and the central axis is less than or equal to a second preset distance;
the cleaning forbidden zone is generated from the starting edge to the side which is raised in the left-right direction of the cleaning robot.
Optionally, the cleaning forbidden zone is square; and/or the side length of the cleaning forbidden zone is not less than the width of the cleaning robot.
Optionally, after the generating of the cleaning forbidden zone along the direction from the cleaning robot to the obstacle, the control method further includes:
updating the known cleaning forbidden zone stored by the cleaning robot;
determining a target area according to the known cleaning forbidden zone, wherein the target area is an area which cannot be reached by the cleaning robot due to the obstruction of the known cleaning forbidden zone;
and determining the target area as a cleaning forbidden zone, and updating the known cleaning forbidden zone again.
Optionally, after the cleaning forbidden zone is generated in a direction from the cleaning robot to the obstacle, the control method further includes: and the cleaning robot sends alarm information to remind a user to move the cleaning robot out of the cleaning forbidden zone, so that the cleaning robot continues to perform cleaning operation.
In a second aspect, the present disclosure provides a cleaning robot comprising a processor, a memory, and execution instructions stored on the memory, the execution instructions being configured to, when executed by the processor, cause the cleaning robot to perform the control method of any one of the first aspect.
Based on the foregoing description, it can be understood by those skilled in the art that the present disclosure not only realizes the recognition of a short obstacle by the cleaning robot, but also prevents the cleaning robot from traveling into the cleaning forbidden zone again and the obstacle in the cleaning forbidden zone from being trapped again by determining the orientation of the obstacle trapping the cleaning robot when the cleaning robot is trapped, and then generating the cleaning forbidden zone corresponding to the obstacle according to the orientation of the obstacle.
Further, the distance between the starting edge of the cleaning forbidden zone and the axis is smaller than or equal to a first preset distance, or the distance between the starting edge of the cleaning forbidden zone and the axis is smaller than or equal to a second preset distance, so that the starting edge of the cleaning forbidden zone can be close to the edge of the obstacle as much as possible, the generated cleaning forbidden zone is prevented from exceeding the obstacle too much, and the cleaning robot can effectively clean the area at the edge of the obstacle.
Further, by determining an area (target area) which cannot be reached by the cleaning robot due to being blocked by the known cleaning forbidden zone as the cleaning forbidden zone and updating the known cleaning forbidden zone so that the updated known cleaning forbidden zone includes the target area, the situation that the cleaning robot is trapped by obstacles when the cleaning robot travels to the target area is avoided, and the cleaning efficiency of the cleaning robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure, some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a scene of a home environment in the present disclosure;
FIG. 2 is a schematic diagram illustrating the effect of generating a clean exclusion zone based on a portion of the obstacles in FIG. 1;
fig. 3 is a flowchart of main steps of a control method of a cleaning robot in a first embodiment of the present disclosure;
FIG. 4 is a schematic flow chart illustrating the main steps of determining the orientation of an obstacle according to a first embodiment of the present disclosure;
fig. 5 is a schematic view showing the effect of the cleaning robot in a front-rear inclined posture in the first embodiment of the present disclosure;
fig. 6 is a schematic view showing the effect of the cleaning robot in a left-right inclined posture in the first embodiment of the present disclosure;
fig. 7 is a schematic view of the effect of generating a cleaning exclusion zone based on the posture of the cleaning robot in fig. 5;
fig. 8 is a schematic view of the effect of generating a cleaning exclusion zone based on the posture of the cleaning robot in fig. 6;
fig. 9 is a flowchart of a part of the steps of a control method of a cleaning robot in a second embodiment of the present disclosure;
FIG. 10 is a diagram illustrating a first scenario of updating a known clean exclusion zone according to a second embodiment of the disclosure;
fig. 11 is a schematic diagram of a second scenario for updating a known clean forbidden zone in a second embodiment of the present disclosure;
fig. 12 is a schematic diagram of a third scenario for updating a known clean forbidden zone in the second embodiment of the present disclosure;
fig. 13 is a functional module configuration diagram of a cleaning robot in a fourth embodiment of the present disclosure.
List of reference numerals:
1. a cleaning robot; 11. a drive wheel; 2. an obstacle; 3. cleaning the forbidden zone; 4. known clean exclusion zones; 5. a target area.
Detailed Description
The present disclosure is directed to enabling a cleaning robot to recognize a low obstacle (an obstacle 2 shown in the lower left corner of fig. 1) in a home environment and generate a cleaning exclusion zone 3 (shown in fig. 2) corresponding to the recognized low obstacle, so that the cleaning robot bypasses the cleaning exclusion zone 3 in a subsequent cleaning operation, preventing the low obstacle in the cleaning exclusion zone 3 from lifting up and trapping the cleaning robot. The low obstacle is a low obstacle, and specifically, a low obstacle that cannot be recognized by the cleaning robot, or a low obstacle that the cleaning robot thinks it can pass over, or a low obstacle that the cleaning robot mistakenly thinks it is a low obstacle on the ground.
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to specific embodiments and corresponding drawings. It should be understood by those skilled in the art that the embodiments described in this detailed description are only a few embodiments of the disclosure, and not all embodiments of the disclosure. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments described in the detailed description of the present section, do not depart from the technical principles of the present disclosure, and therefore should fall within the scope of the present disclosure.
In the description of the present disclosure, each functional module may be a physical module composed of a plurality of structures, members, or electronic components, or may be a virtual module composed of a plurality of programs; each functional module may be a module that exists independently of each other, or may be a module that is functionally divided from an overall module. It should be understood by those skilled in the art that the technical solutions described in the present disclosure can be implemented without any change in the configuration, implementation, and positional relationship of the functional modules, which does not depart from the technical principles of the present disclosure, and therefore, the functional modules should fall within the protection scope of the present disclosure.
In addition, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" in the description of the present disclosure should be interpreted broadly, and may be, for example, a wired connection, a wireless connection, or a communication connection (including both a wired connection and a wireless connection). The specific meaning of the above terms in the present disclosure can be understood by those skilled in the art as appropriate.
Some embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
In a first embodiment of the present disclosure:
as shown in fig. 3, the control method of the cleaning robot of the present embodiment includes:
step S110, in response to the cleaning robot being trapped by the obstacle, determining the orientation of the obstacle.
In the process of traveling of the cleaning robot, specifically, in the process of traveling of the cleaning robot according to a planned path, or in the process of traveling of the cleaning robot in an unobstructed area indicated by a map (an environment map built by the cleaning robot itself, or a map received from other terminal devices). When the cleaning robot detects that it is no longer traveling, it is determined that it is trapped by an obstacle. Strategies for the cleaning robot to determine that it is no longer traveling include, but are not limited to:
strategy one, the cleaning robot sends a rotation instruction to a driving motor (which drives a driving wheel to rotate), but the driving motor does not rotate, and the driving wheel is judged not to rotate, so that the cleaning robot is judged not to move any more.
And the second strategy is that when the cleaning robot detects that the output torque, the input current or the input voltage of the driving motor exceeds a corresponding set threshold, the driving wheel is judged to idle, and therefore the cleaning robot is judged not to move any more. Wherein, when the output torque, the input current or the input voltage of the driving motor is less than the corresponding set threshold, it indicates that the cleaning robot travels normally. The corresponding set threshold values of the output torque, the input current or the input voltage can be obtained through experimental data.
In the present embodiment, when it is determined that the cleaning robot is no longer traveling, it is determined that the cleaning robot is blocked and trapped by the obstacle.
Further, in this embodiment, determining the orientation of the obstacle includes step S111 and step S112, which are specifically as follows:
and step S111, determining the posture of the cleaning robot.
Optionally, the tilt state of the cleaning robot is detected by a gyroscope on the cleaning robot.
In the present embodiment, the cleaning robot 1 includes a posture inclined forward and backward (as shown in fig. 5) and a posture inclined left and right (as shown in fig. 6).
Note that the cleaning robot 1 includes not only the left-right inclined posture of lower left and higher right shown in fig. 6 but also the left-right inclined posture of lower left and higher right.
And step S112, determining the direction of the obstacle according to the posture of the cleaning robot.
Since the cleaning robot 1 performs the cleaning operation in a continuous forward manner or in a back-and-forth reciprocating manner (forward, backward, forward again, … … repeatedly moving back and forth), the cleaning robot 1 is usually caused by its front portion being lifted up by an obstacle in front when it is trapped in its front-and-back direction. Therefore, if the cleaning robot 1 is in a posture inclined forward and backward (as shown in fig. 5), it is determined that the obstacle 2 is positioned in front of the cleaning robot 1.
As shown in fig. 6, if the cleaning robot 1 is in a posture of tilting left and right, it is determined that the obstacle 2 is located at a side of the cleaning robot 1 which is raised in the left and right direction.
And step S120, generating a cleaning forbidden zone along the direction from the self-cleaning robot to the obstacle according to the orientation of the obstacle.
As shown in fig. 5 and 7, if the obstacle 2 is located in front of the cleaning robot 1, a start edge of the cleaning exclusion zone 3 is determined according to an axis of the driving wheel 11 of the cleaning robot 1, and then the cleaning exclusion zone 3 is generated from the start edge toward the front of the cleaning robot 1. The distance between the starting edge and the axis is smaller than or equal to a first preset distance, and the starting edge is located on the front side of the axis. The first predetermined distance may be any feasible value, such as 0, 1cm, 3cm, 5.3cm, 7.4cm, and so forth.
As can be understood by those skilled in the art, by making the distance between the starting edge of the forbidden cleaning zone 3 and the axis of the driving wheel 11 smaller than/equal to the first preset distance and being located at the front side of the axis of the driving wheel 11, the starting edge of the forbidden cleaning zone 3 can be made as close to the edge of the obstacle 2 as possible, and the generated forbidden cleaning zone 3 is prevented from exceeding the obstacle 2 too much, thereby enabling the cleaning robot 1 to effectively clean the area at the edge of the obstacle 2.
In addition, considering that a part of the structure of some short obstacles is short and does not trap the cleaning robot 1, the part of the structure is already located on the rear side of the driving wheel axis 11 when the short obstacles trap the cleaning robot 1. Therefore, in order to prevent the cleaning robot 1 from contacting a short obstacle during the subsequent cleaning operation, a person skilled in the art may position the starting edge of the cleaning exclusion zone 3 at the rear side of the axis of the driving wheel 11, as needed.
As shown in fig. 6 and 8, if the obstacle 2 is located at the right side of the cleaning robot 1, the starting edge of the no-clean zone 3 is determined based on the central axis (not shown) in the front-rear direction of the cleaning robot 1, and the starting edge is located at the side where the central axis is close to the cleaning robot 1 (specifically, the right side of the cleaning robot 1), and then the no-clean zone 3 is created from the starting edge toward the side where the cleaning robot 1 is raised in the left-right direction (specifically, the right side of the cleaning robot 1). The distance between the starting edge and the central axis is smaller than or equal to a second preset distance, which may be any feasible value, for example, 0, 1.2cm, 3cm, 5.2cm, 7.6cm, etc.
Similarly, if the obstacle 2 is located on the left side of the cleaning robot 1, the starting edge of the no-clean zone 3 is determined based on the central axis (not shown in the drawing) in the front-rear direction of the cleaning robot 1, and the starting edge is located on the side where the central axis is close to the cleaning robot 1 (specifically, the left side of the cleaning robot 1), and then the no-clean zone 3 is created from the starting edge toward the side where the cleaning robot 1 is raised in the left-left direction (specifically, the left side of the cleaning robot 1).
As can be understood by those skilled in the art, by making the distance between the starting edge of the forbidden cleaning zone 3 and the central axis smaller than or equal to the second preset distance and locating the central axis close to the side where the cleaning robot 1 is lifted, and then starting from the starting edge to the side where the cleaning robot 1 is lifted in the left-right direction, the starting edge of the forbidden cleaning zone 3 can be made as close to the edge of the obstacle 2 as possible, the generated forbidden cleaning zone 3 is prevented from exceeding the obstacle 2 too much, and the cleaning robot 1 can effectively clean the area at the edge of the obstacle 2.
In addition, considering that some of the short obstacles have a short structure and do not trap the cleaning robot 1, the structure is already located on the short side of the central axis of the cleaning robot 1 when the short obstacles trap the cleaning robot 1. Therefore, in order to avoid the cleaning robot 1 from contacting a short obstacle in the subsequent cleaning operation, a person skilled in the art may also position the starting edge of the cleaning exclusion zone 3 on the side of the central axis that is away from the cleaning robot 1 and is raised, as required.
Further, in a preferred embodiment of this embodiment, the cleaning exclusion zone 3 is square. Of course, the skilled person can also arrange the cleaning exclusion zone 3 in other shapes, such as rectangular, as desired.
Further, in the present embodiment, the side length of the cleaning exclusion zone 3 is not less than the width of the cleaning robot 1, and preferably, the side length of the cleaning exclusion zone 3 is not less than the cleaning width of the cleaning robot 1.
Based on the foregoing description, it can be understood by those skilled in the art that, in the embodiment, by determining the orientation of the obstacle trapped in the cleaning robot when the cleaning robot is trapped, and then generating the cleaning forbidden zone corresponding to the obstacle according to the orientation of the obstacle, not only is the recognition of a short obstacle by the cleaning robot achieved, but also the cleaning robot is prevented from traveling into the cleaning forbidden zone again, and the obstacle in the cleaning forbidden zone is trapped again.
It should be noted that the first embodiment of the present disclosure is only one basic embodiment of the control method of the present disclosure, and other alternative embodiments, such as the following second embodiment and third embodiment, can also be obtained on the basis of the first embodiment.
In a second embodiment of the disclosure:
as shown in fig. 9, compared with the first embodiment, the control method of the present embodiment further includes, after step S120:
in step S210, the known cleaning forbidden zone stored by the cleaning robot is updated.
In this embodiment, each time a new cleaning forbidden zone is generated by the cleaning robot, the new cleaning forbidden zone is integrated with the stored known cleaning forbidden zone, so as to update the known cleaning forbidden zone. Illustratively, on a map prestored in the cleaning robot, the new cleaning forbidden zone and the area covered by the stored known cleaning forbidden zone are marked as the known cleaning forbidden zone.
Step S220, determining a target area according to the known cleaning forbidden zone.
The target area is an area which cannot be reached by the cleaning robot due to the obstruction of the known cleaning forbidden zone.
As an example, as shown in fig. 10, the distance between two known cleaning exclusion zones 4 is smaller than the width of the cleaning robot 1, so the cleaning robot 1 cannot travel to the rectangular area between the two known cleaning exclusion zones 4 by being blocked by the two known cleaning exclusion zones 4. Then, the rectangular area between the two known clean-forbidden zones 4 is the target area 5.
As a second example, as shown in fig. 11, in the circumferential direction, the distances between adjacent known cleaning forbidden zones 4 are all smaller than the width of the cleaning robot 1, so that the cleaning robot 1 cannot travel to the cross-shaped area between the four known cleaning forbidden zones 4 by being blocked by the four known cleaning forbidden zones 4. Then the cross-shaped area is the target area 5.
As an example three, as shown in fig. 12, the width of the recessed area surrounded by the U-shaped known cleaning exclusion zone 4 is smaller than the width of the cleaning robot 1, so the cleaning robot 1 cannot travel to the recessed area by being hindered by the known cleaning exclusion zone 4. Then, the recessed area is the target area 5.
Further, it is considered that the cleaning robot 1 may shake in the left and right directions thereof during traveling; and considering that the cleaning robot 1 is not along its vertical central axis during turning, that is, considering that the rotation locus of the cleaning robot 1 is not a circle (at least the minimum circumscribed circle of the rotation locus of the cleaning robot 1 and the minimum circumscribed circle of the cleaning robot 1 itself are displaced from each other); the area where the width of the entrance/exit is slightly larger than the width of the cleaning robot 1 may also cause the cleaning robot 1 to be obstructed by the known cleaning exclusion zone 4. The method comprises the following specific steps:
the distance between the adjacent known cleaning-forbidden zones 4 shown in fig. 10 is set to D1, the distance between the adjacent known cleaning-forbidden zones 4 shown in fig. 11 is set to D2, the width of the recessed region surrounded by the U-shaped known cleaning-forbidden zone 4 in fig. 12 is set to D3, and the width of the cleaning robot 1 is set to D0. The cleaning robot 1 is obstructed by the known cleaning forbidden zone 4 when D1-D0 is not less than D, when D2-D0 is not less than D, and when D3-D0 is not less than D, the cleaning robot 1 still cannot reach the corresponding area (the rectangular area shown in fig. 10, the cross-shaped area shown in fig. 11, the concave area shown in fig. 12), or is easily stuck after reaching the corresponding area, and cannot continue to travel or turn. Wherein d is any feasible positive number, such as 1.3cm, 1.7cm, 3cm, 4.6cm, and the like.
In step S230, the target area is determined as a cleaning forbidden zone, and the known cleaning forbidden zone is updated again.
Specifically, the target area is superimposed with a known cleaning exclusion zone, and a new known cleaning exclusion zone is generated.
As an example one, as shown in fig. 10, the known cleaning exclusion zone after the update includes two known cleaning regions 4 and a rectangular target region 5 in fig. 10.
As an example two, as shown in fig. 11, the known cleaning exclusion zone after the update includes four known cleaning regions 4 and a cross-shaped target region 5 in fig. 11.
As an example three, as shown in fig. 12, the known cleaning exclusion zone after the renewal includes the U-shaped known cleaning region 4 and the recessed target region 5 in fig. 12.
Based on the foregoing description, as can be understood by those skilled in the art, compared with the first embodiment, the present embodiment further determines an area (target area) that the cleaning robot cannot reach due to being blocked by the known cleaning forbidden zone as the cleaning forbidden zone, and updates the known cleaning forbidden zone so that the updated known cleaning forbidden zone includes the target area, thereby avoiding the situation that the cleaning robot is trapped by obstacles when the cleaning robot travels to the target area, and improving the cleaning efficiency of the cleaning robot.
In a third embodiment of the present disclosure:
although not shown in the figure, compared with the first or second embodiment, the control method of the present embodiment further includes, after step S120: and enabling the cleaning robot to send alarm information to remind a user to move the cleaning robot out of the cleaning forbidden zone, and further enabling the cleaning robot to continue to execute cleaning operation.
Wherein, the alarm information comprises sound signals and/or light information. The sound information may be emitted from a buzzer provided on the cleaning robot, and the light information may be emitted from a light emitting member (e.g., an LED lamp) provided on the cleaning robot.
Further, a person skilled in the art may directly send out the alarm information when the cleaning robot generates the cleaning prohibited area, or may send out the alarm information after the cleaning prohibited area is generated for a set time (for example, 30S, 39S, 58S, 1.6min, etc.). So that the cleaning robot can try to get out of the trouble within the set time length. If the cleaning robot is successfully got rid of the trouble by itself, the alarm information is not sent out any more.
In a fourth embodiment of the disclosure:
as shown in fig. 13, the present disclosure also provides a cleaning robot. The cleaning robot comprises a processor, optionally a memory and a bus on a hardware level, and furthermore allows the inclusion of hardware required for other services.
The memory is used for storing an execution instruction, and the execution instruction is a computer program capable of being executed. Further, the memory may include a memory and a non-volatile memory (non-volatile memory) and provide execution instructions and data to the processor. Illustratively, the Memory may be a high-speed Random-Access Memory (RAM), and the non-volatile Memory may be at least 1 disk Memory.
Wherein the bus is used to interconnect the processor, the memory, and the network interface. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 13, but this does not represent only one bus or one type of bus.
In a possible implementation manner of the cleaning robot, the processor may first read the corresponding execution instruction from the nonvolatile memory to the memory and then operate the corresponding execution instruction, or may first obtain the corresponding execution instruction from another device and then operate the corresponding execution instruction. The processor can implement the control method in any of the above control method embodiments of the present disclosure when executing the execution instructions stored in the memory.
Those skilled in the art will appreciate that the above control method can be applied to a processor, and can also be implemented by means of a processor. Illustratively, the processor is an integrated circuit chip having the capability to process signals. In the process of executing the control method by the processor, the steps of the control method can be completed by integrated logic circuits in the form of hardware or instructions in the form of software in the processor. Further, the Processor may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic, discrete hardware components, a microprocessor, or any other conventional Processor.
Those skilled in the art will also understand that the steps of the above-described control method embodiments of the present disclosure may be performed by a hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, eprom, registers, and other storage media that are well known in the art. The storage medium is located in the memory, and the processor reads the information in the memory and then completes the execution of the steps in the control method embodiment in combination with the hardware of the processor.
So far, the description of the technical solution of the present disclosure has been completed with reference to the drawings and the above embodiments.
It will be appreciated by those skilled in the art that the control method embodiments of the present disclosure described above can be presented in the form of a control method or in the form of a computer program product. Therefore, the technical solution of the present disclosure may be implemented in a form of full hardware, or in a form of full software, or in a form of a combination of software and hardware.
It should be noted that, in order to highlight the differences between the above-mentioned embodiments of the present disclosure, the above-mentioned embodiments of the present disclosure are arranged and described in a parallel manner and/or in a progressive manner, and the following embodiments only focus on the differences between the above-mentioned embodiments and other embodiments, and the same or similar parts between the various embodiments may be mutually referred to. For example, as for the apparatus/product embodiment, since the apparatus/product embodiment is basically similar to the control method embodiment, the description is relatively simple, and reference may be made to the description of the corresponding part of the control method embodiment for relevant points.
The above description is only an example of the present disclosure and is not intended to limit the present disclosure. Various modifications and variations of this disclosure will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the technical principle of the present disclosure should fall within the protection scope of the present disclosure.
Claims (10)
1. A control method of a cleaning robot, characterized by comprising:
determining an orientation of an obstacle in response to the cleaning robot being trapped by the obstacle;
generating a cleaning exclusion zone in a direction from the cleaning robot to the obstacle according to the orientation of the obstacle.
2. The control method of claim 1, wherein the determining the orientation of the obstacle comprises:
determining a pose of the cleaning robot;
determining the orientation of the obstacle according to the attitude.
3. The control method of claim 2, wherein said determining the orientation of the obstacle from the pose comprises:
determining that the obstacle is located in front of the cleaning robot if the cleaning robot is in a posture inclined forward and backward.
4. The control method according to claim 3, wherein the generating of the cleaning exclusion zone in the direction from the cleaning robot to the obstacle includes:
determining a starting edge of the cleaning forbidden zone according to an axis of a driving wheel of the cleaning robot; the distance between the starting edge and the axis is smaller than or equal to a first preset distance;
generating the cleaning forbidden zone from the starting edge to the front of the cleaning robot.
5. The control method of claim 2, wherein said determining the orientation of the obstacle from the pose comprises:
determining that the obstacle is located on a side of the cleaning robot that is elevated in a left-right direction if the cleaning robot has a left-right inclined posture.
6. The control method according to claim 5, wherein the generating a cleaning exclusion zone in a direction from the cleaning robot to the obstacle includes:
determining a starting edge of the cleaning forbidden zone according to a central axis in the front-back direction of the cleaning robot; the distance between the starting edge and the central axis is smaller than or equal to a second preset distance;
and generating the cleaning forbidden zone from the starting edge to the side, which is raised in the left-right direction, of the cleaning robot.
7. The control method according to any one of claims 1 to 6, wherein the cleaning exclusion zone is square; and/or the side length of the cleaning forbidden zone is not less than the width of the cleaning robot.
8. The control method according to any one of claims 1 to 6, characterized in that after the generation of the cleaning exclusion zone in the direction from the cleaning robot to the obstacle, the control method further includes:
updating a known cleaning exclusion zone stored by the cleaning robot;
determining a target area according to the known cleaning forbidden zone, wherein the target area is an area which cannot be reached by the cleaning robot due to the obstruction of the cleaning robot by the known cleaning forbidden zone;
and determining the target area as a cleaning forbidden zone, and updating the known cleaning forbidden zone again.
9. The control method according to any one of claims 1 to 6, wherein after the cleaning exclusion zone is generated in a direction from the cleaning robot to the obstacle, the control method further includes:
and enabling the cleaning robot to send alarm information to remind a user to move the cleaning robot out of the restricted cleaning area, and further enabling the cleaning robot to continue to execute cleaning operation.
10. A cleaning robot comprising a processor, a memory and execution instructions stored on the memory, the execution instructions being arranged, when executed by the processor, to enable the cleaning robot to perform the control method of any of claims 1 to 9.
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