CN114869171A - Cleaning robot, control method and device thereof, and readable storage medium - Google Patents

Cleaning robot, control method and device thereof, and readable storage medium Download PDF

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Publication number
CN114869171A
CN114869171A CN202210420690.0A CN202210420690A CN114869171A CN 114869171 A CN114869171 A CN 114869171A CN 202210420690 A CN202210420690 A CN 202210420690A CN 114869171 A CN114869171 A CN 114869171A
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CN
China
Prior art keywords
cleaning robot
moving direction
operation page
input
user
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Pending
Application number
CN202210420690.0A
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Chinese (zh)
Inventor
王凯
蔡君义
邵林
范泽宣
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Midea Robozone Technology Co Ltd
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Midea Robozone Technology Co Ltd
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Priority to CN202210420690.0A priority Critical patent/CN114869171A/en
Publication of CN114869171A publication Critical patent/CN114869171A/en
Pending legal-status Critical Current

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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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04842—Selection of displayed objects or displayed text elements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The invention provides a cleaning robot, a control method and a control device thereof, and a readable storage medium, wherein the control method of the cleaning robot comprises the following steps: receiving a first input on an operation page; determining a touch position of the first input on the operation page according to the first input; determining the moving direction of the cleaning robot according to the touch position; and controlling the cleaning robot to move according to the moving direction. The cleaning robot automatically advances according to the touch position or rotates first and then advances, and a user does not need to manually adjust the rotation angle of the cleaning robot, so that the problem of executing multiple operations due to over-rotation or under-rotation of the cleaning robot is effectively solved.

Description

Cleaning robot, control method and device thereof, and readable storage medium
Technical Field
The invention belongs to the technical field of intelligent cleaning equipment, and particularly relates to a control method of a cleaning robot, a control device of the cleaning robot, the cleaning robot and a readable storage medium.
Background
At present, four keys of forward, backward, left-turn and right-turn are generally arranged on an operation page of a cleaning robot, and when an included angle exists between the forward direction of the cleaning robot and the current orientation of the cleaning robot, a user needs to rotate the cleaning robot first and then control the cleaning robot to move forward or backward.
When a user controls the cleaning robot to rotate, the cleaning robot may be rotated excessively or not in place, so that the user is required to adjust the rotation angle of the cleaning robot many times, the control operation of the cleaning robot by the user is complicated, and great inconvenience is brought to the use of the user.
Disclosure of Invention
The present invention is directed to solving one of the technical problems of the prior art or the related art.
In view of the above, in a first aspect, the present invention provides a method for controlling a cleaning robot, including: receiving a first input on an operation page; determining a touch position of the first input on the operation page according to the first input; determining the moving direction of the cleaning robot according to the touch position; and controlling the cleaning robot to move according to the moving direction.
According to the control method of the cleaning robot, under the condition that the first input executed by the user on the operation page is received, the touch position of the first input executed by the user on the operation page is determined based on the first input. After the touch position performed on the operation page by the user is obtained, the moving direction of the cleaning robot is determined based on the touch position. And controlling the cleaning robot to move along the moving direction based on the determined moving direction.
In one possible application, the operation page is an interface on the terminal for performing a control function on the cleaning robot. The operation page may also be an interface for performing control functions on a controller used in conjunction with the cleaning robot.
The first input may be a control input, illustratively one of a click input, a slide input, a long press input, or the like. The user realizes the movement control of the cleaning robot through the first input on the operation interface.
When the cleaning robot needs to be controlled to move, a user can execute a first input on the operation page, and the position of the first input is the direction of the front part of the cleaning robot, so that after the touch position of the first input is obtained, the cleaning robot automatically moves towards the touch position of the first input.
When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the cleaning robot can be controlled to move by touching the touch position. Compared with the mode that the user firstly controls the cleaning robot to rotate and then controls the cleaning robot to move forwards in the related technology, the cleaning robot is controlled only by single touch, and the operation of the user is simplified.
In addition, after the user executes the first input on the operation page, if the front direction of the cleaning robot is deviated from the touch position at present, the cleaning robot rotates first and then advances, however, after the first input is selected to be executed, the cleaning robot automatically advances according to the touch position or rotates first and then advances, and the user does not need to manually adjust the rotation angle of the cleaning robot, so that the problem that multiple operations are executed due to over-rotation or under-rotation of the cleaning robot is effectively avoided, the operation of the user is further simplified, and the control convenience of the user on the cleaning robot is improved.
In addition, according to the control method of the cleaning robot in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the above technical solution, determining a moving direction of the cleaning robot according to the touch position includes: and determining the moving direction of the cleaning robot according to the connecting line of the geometric center of the operation page and the touch position.
In the technical scheme, after a user touches the operation page, the touch points on the operation page can be acquired, the touch points are connected with the geometric center of the operation page, the geometric center on the operation page is used as a starting point, and the touch points are used as an end point, so that a connecting line points to the touch points from the geometric center on the operation page, and the direction of the connecting line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
Illustratively, a wheel is arranged on the operation page, and as the user touches the operation page, the button icons on the wheel move towards the touch position of the user, and the direction of the button icons is the moving direction of the cleaning robot.
In any one of the above technical solutions, determining a moving direction of the cleaning robot according to the touch position includes: and determining the moving direction of the cleaning robot according to a connecting line between the display icon of the cleaning robot and the touch position in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a scaled-down image of the cleaning robot.
After the user touches the operation page, the touch points on the operation page can be acquired, the touch points are connected with the display icon of the cleaning robot, the display icon serves as a starting point, the touch points serve as an end point, therefore, the connecting line points to the touch points from the display icon on the operation page, and the direction of the connecting line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
In any of the above technical solutions, after determining the touch position of the first input on the operation page, the method further includes: and determining the moving speed of the cleaning robot according to the touch position.
In the technical scheme, the touch position of the user on the operation page can indicate not only the moving direction of the cleaning robot but also the moving speed of the cleaning robot.
The touch positions of the users on the operation page are different, and the moving speeds of the cleaning robot may also be different, so that the users can adjust the moving direction of the cleaning robot by adjusting the touch positions. When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the moving speed of the cleaning robot can be controlled by touching the touch position. Compared with the mode of manually adjusting the moving speed of the cleaning robot in the related art, the method and the device only need single touch control for controlling the cleaning robot, and further simplify the operation of a user.
Exemplarily, a case where a connection line between a geometric center of the operation page and the touch point is taken as a direction of the cleaning robot is exemplified. After determining the connecting line between the geometric center and the touch point, the moving direction of the cleaning robot is determined, and the finger of the user can slide on the connecting line without changing the moving direction of the cleaning robot, that is, the moving direction of the cleaning robot is not changed even if the touch position is changed, and the moving speed of the cleaning robot can be changed in this way.
In any of the above technical solutions, determining the moving speed of the robot according to the touch position includes: and determining the moving speed of the cleaning robot according to the distance between the geometric center of the operation page and the touch position.
In the technical scheme, after the user touches the operation page, the touch point on the operation page can be acquired. In the case of determining the distance between the geometric center and the touch point on the operation page, the moving speed of the cleaning robot may be controlled according to the distance between the geometric center and the touch point.
Illustratively, the distance between the geometric center and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the geometric center of the operation page by the user is larger. The smaller the distance, the slower the moving speed.
The user can click a certain position on the touch page, the cleaning robot starts to move, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can slide towards the direction far away from or close to the geometric center of the operation page, so that the moving speed of the cleaning robot can be quickly adjusted.
Illustratively, a wheel is arranged on the operation page, and the distance from a touch point of a user on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can simultaneously realize the control of the moving direction and the moving speed through the sliding operation.
In any of the above technical solutions, determining the movement speed of the robot according to the touch position includes: and determining the moving speed of the cleaning robot according to the distance between the display icon of the cleaning robot and the touch position in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a scaled-down image of the cleaning robot.
After the user touches the operation page, the touch point on the operation page can be acquired. In the case where the distance between the display icon and the touch point on the operation page is determined, the moving speed of the cleaning robot may be controlled according to the distance between the display icon and the touch point.
Illustratively, the distance between the displayed icon and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the displayed icon of the user is larger. The smaller the distance, the slower the moving speed.
The user can start moving after clicking a certain position on the touch page, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can be slid towards the direction far away from or close to the display icon, so that the moving speed of the cleaning robot can be quickly adjusted.
In any one of the above technical solutions, controlling the movement of the cleaning robot according to the moving direction includes: and controlling the cleaning robot to rotate and move according to the included angle between the moving direction and the central line of the field angle of the cleaning robot.
In the technical scheme, the included angle area of the angle of view is the range within which the cleaning robot can acquire the image. The center line of the angle of view is the orientation of the head of the current cleaning robot. If the moving direction is coincident with the central line of the field angle, the cleaning robot can move forwards or backwards directly without turning. If the moving direction and the central line of the field angle form an included angle, the cleaning robot needs to rotate and move.
The included angle between the moving direction and the central line of the field angle can reflect the rotation angle of the cleaning robot, and after the rotation angle of the cleaning robot is obtained, the moving mode of the cleaning robot is controlled, so that the cleaning robot can stably move.
In any one of the above technical solutions, controlling the cleaning robot to rotate and move according to an angle between a moving direction and a center line of a field angle of the cleaning robot includes: controlling the cleaning robot to rotate and then move under the condition that the included angle between the moving direction and the center line of the field angle of the cleaning robot is larger than a preset angle; and under the condition that the included angle between the moving direction and the central line of the field angle of the cleaning robot is smaller than or equal to a preset angle, controlling the cleaning robot to rotate and move simultaneously.
In this technical solution, when the angle between the moving direction and the center line of the angle of view is larger than the preset angle, it is described that the cleaning robot needs to rotate by a larger angle. At this time, the cleaning robot needs to be controlled to rotate to a position where the central line of the field angle coincides with the moving direction, and then the cleaning robot needs to be controlled to move forward, so that the cleaning robot can be accurately moved to the target position. When the angle between the moving direction and the center line of the field angle is smaller than or equal to the preset angle, the cleaning robot can be moved to the target position by rotating by a small angle, and the angle can be adjusted while the cleaning robot is controlled to move.
It should be noted that no matter how the cleaning robot rotates first and then moves, or rotates and moves at the same time, the user does not need to operate the cleaning robot, and the user only needs to select the touch position according to the moving direction and the moving speed.
Illustratively, the preset angle may be an angle between a center line of the field angle and a boundary of the field angle.
In a second aspect, the present invention provides a control device of a cleaning robot, including: the receiving module receives a first input on the operation page; the first determining module is used for determining the touch position of the first input on the operation page according to the first input; the second determining module is used for determining the moving direction of the cleaning robot according to the touch position; and the control module controls the cleaning robot to move according to the moving direction.
When a first input executed by a user on the operation page is received, a touch position of the user when the first input is executed on the operation page is determined based on the first input. After the touch position performed on the operation page by the user is obtained, the moving direction of the cleaning robot is determined based on the touch position. And controlling the cleaning robot to move along the moving direction based on the determined moving direction.
In one possible application, the operation page is an interface on the terminal for performing a control function on the cleaning robot. The operation page may also be an interface for performing control functions on a controller used in conjunction with the cleaning robot.
The first input may be a control input, illustratively one of a click input, a slide input, a long press input, or the like. The user realizes the movement control of the cleaning robot through the first input on the operation interface.
When the cleaning robot needs to be controlled to move, a user can execute a first input on the operation page, and the position of the first input is the direction of the front part of the cleaning robot, so that after the touch position of the first input is obtained, the cleaning robot automatically moves towards the touch position of the first input.
When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the cleaning robot can be controlled to move by touching the touch position. Compared with the mode that the user firstly controls the cleaning robot to rotate and then controls the cleaning robot to move forwards in the related technology, the cleaning robot is controlled only by single touch, and the operation of the user is simplified.
In addition, after the user executes the first input on the operation page, if the front direction of the cleaning robot is deviated from the touch position at present, the cleaning robot rotates first and then advances, however, after the first input is selected to be executed, the cleaning robot automatically advances according to the touch position or rotates first and then advances, and the user does not need to manually adjust the rotation angle of the cleaning robot, so that the problem that multiple operations are executed due to over-rotation or under-rotation of the cleaning robot is effectively avoided, the operation of the user is further simplified, and the control convenience of the user on the cleaning robot is improved.
In the above technical solution, the second determining module is specifically configured to: and determining the moving direction of the cleaning robot according to the connecting line of the geometric center of the operation page and the touch position.
In the technical scheme, after a user touches the operation page, the touch points on the operation page can be acquired, the touch points are connected with the geometric center of the operation page, the geometric center on the operation page is used as a starting point, and the touch points are used as an end point, so that a connecting line points to the touch points from the geometric center on the operation page, and the direction of the connecting line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically complete steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the cleaning robot for the user is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
Illustratively, a wheel is arranged on the operation page, and as the user touches the operation page, the button icons on the wheel move towards the touch position of the user, and the direction of the button icons is the moving direction of the cleaning robot.
In any of the above technical solutions, the second determining module is specifically configured to: and determining the moving direction of the cleaning robot according to a connecting line between the display icon of the cleaning robot and the touch position in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a scaled-down image of the cleaning robot.
After the user touches the operation page, the touch points on the operation page can be acquired, the touch points are connected with the display icon of the cleaning robot, the display icon serves as a starting point, the touch points serve as an end point, therefore, the connecting line points to the touch points from the display icon on the operation page, and the direction of the connecting line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
In any of the above technical solutions, after determining the touch position of the first input on the operation page, the second determining module is further configured to: and determining the moving speed of the robot according to the touch position.
In the technical scheme, the touch position of the user on the operation page can indicate not only the moving direction of the cleaning robot but also the moving speed of the cleaning robot.
The touch positions of the users on the operation page are different, and the moving speeds of the cleaning robot may also be different, so that the users can adjust the moving direction of the cleaning robot by adjusting the touch positions. When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the moving speed of the cleaning robot can be controlled by touching the touch position. Compared with the mode of manually adjusting the moving speed of the cleaning robot in the related art, the method and the device only need single touch control for controlling the cleaning robot, and further simplify the operation of a user.
Exemplarily, a case where a connection line between a geometric center of the operation page and the touch point is taken as a direction of the cleaning robot is exemplified. After determining the connecting line between the geometric center and the touch point, the moving direction of the cleaning robot is determined, and the finger of the user can slide on the connecting line without changing the moving direction of the cleaning robot, that is, the moving direction of the cleaning robot is not changed even if the touch position is changed, and the moving speed of the cleaning robot can be changed in this way.
In any of the above technical solutions, the second determining module is specifically configured to: and determining the moving speed of the cleaning robot according to the distance between the geometric center of the operation page and the touch position.
In the technical scheme, after the user touches the operation page, the touch point on the operation page can be acquired. In the case of determining the distance between the geometric center and the touch point on the operation page, the moving speed of the cleaning robot may be controlled according to the distance between the geometric center and the touch point.
Illustratively, the distance between the geometric center and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the geometric center of the operation page by the user is larger. The smaller the distance, the slower the moving speed.
The user can click a certain position on the touch page, then the cleaning robot starts to move, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger parts can slide towards the direction far away from or close to the geometric center of the operation page, so that the moving speed of the cleaning robot can be quickly adjusted.
Illustratively, a wheel is arranged on the operation page, and the distance from a touch point of a user on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can simultaneously realize the control of the moving direction and the moving speed through the sliding operation.
In any of the above technical solutions, the second determining module is specifically configured to: and determining the moving speed of the cleaning robot according to the distance between the display icon of the cleaning robot and the touch position in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a scaled-down image of the cleaning robot.
After the user touches the operation page, the touch point on the operation page can be acquired. In the case where the distance between the display icon and the touch point on the operation page is determined, the moving speed of the cleaning robot may be controlled according to the distance between the display icon and the touch point.
Illustratively, the distance between the displayed icon and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the displayed icon of the user is larger. The smaller the distance, the slower the moving speed.
The user can start moving after clicking a certain position on the touch page, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can be slid towards the direction far away from or close to the display icon, so that the moving speed of the cleaning robot can be quickly adjusted.
In any of the above technical solutions, the second determining module is specifically configured to: and controlling the cleaning robot to rotate and move according to the included angle between the moving direction and the central line of the field angle of the cleaning robot.
In the technical scheme, the included angle area of the angle of view is the range within which the cleaning robot can acquire the image. The center line of the angle of view is the orientation of the head of the current cleaning robot. If the moving direction is coincident with the central line of the field angle, the cleaning robot can move forwards or backwards directly without turning. If the moving direction and the central line of the field angle form an included angle, the cleaning robot needs to rotate and move.
The included angle between the moving direction and the central line of the field angle can reflect the rotation angle of the cleaning robot, and after the rotation angle of the cleaning robot is obtained, the moving mode of the cleaning robot is controlled, so that the cleaning robot can stably move.
In any of the above technical solutions, the second determining module is specifically configured to: controlling the cleaning robot to rotate and then move under the condition that the included angle between the moving direction and the center line of the field angle of the cleaning robot is larger than a preset angle; and under the condition that the included angle between the moving direction and the central line of the field angle of the cleaning robot is smaller than or equal to a preset angle, controlling the cleaning robot to rotate and move simultaneously.
In this technical solution, when the angle between the moving direction and the center line of the angle of view is larger than the preset angle, it is described that the cleaning robot needs to rotate by a larger angle. At this time, the cleaning robot needs to be controlled to rotate to a position where the central line of the field angle coincides with the moving direction, and then the cleaning robot needs to be controlled to move forward, so that the cleaning robot can be accurately moved to the target position. When the angle between the moving direction and the center line of the field angle is smaller than or equal to the preset angle, the cleaning robot can be moved to the target position by rotating by a small angle, and the angle can be adjusted while the cleaning robot is controlled to move.
It should be noted that no matter how the cleaning robot rotates first and then moves, or rotates and moves at the same time, the user does not need to operate the cleaning robot, and the user only needs to select the touch position according to the moving direction and the moving speed.
Illustratively, the preset angle may be an angle between a center line of the field angle and a boundary of the field angle.
In a third aspect, the present invention provides a control device of a cleaning robot, comprising: a controller and a memory, wherein the memory stores programs or instructions, and the controller implements the steps of the method according to any of the above-mentioned technical solutions when executing the programs or instructions in the memory. And the same technical effects can be realized, which are not described herein again.
In a fourth aspect, the present invention provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method according to any one of the above-mentioned embodiments. And the same technical effects can be realized, which are not described herein again.
In a fifth aspect, the present invention provides a cleaning robot comprising: the control device according to the above-described aspect; and/or a readable storage medium as in the above solutions. And the same technical effects can be realized, which are not described herein again.
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
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a flowchart of a control method of a cleaning robot in an embodiment of the invention;
FIG. 2 is a diagram illustrating that a button icon in an operation page is not operated in the embodiment of the present invention;
FIG. 3 is a diagram illustrating an embodiment of the present invention after button icons in an operation page are operated;
fig. 4 shows one of the schematic block diagrams of the control device of the cleaning robot in the embodiment of the present invention;
fig. 5 shows a second schematic block diagram of a control device of the cleaning robot in the embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the component names in fig. 2 and 3 is:
200 wheel, 300 button icon.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A control method of a cleaning robot, a control apparatus of a cleaning robot, and a readable storage medium provided according to some embodiments of the present invention are described below with reference to fig. 1 to 5.
As shown in fig. 1, in an embodiment of the present invention, there is provided a control method of a cleaning robot, including:
step 102, acquiring a first input on an operation page;
104, obtaining a touch position of the first input on the operation page based on the first input;
step 106, obtaining the moving direction of the cleaning robot based on the touch position;
and step 108, controlling the cleaning robot to move based on the moving direction.
In the control method of the cleaning robot provided by the embodiment, when a first input executed by a user on an operation page is received, a touch position of the user when the first input is executed on the operation page is determined based on the first input. After the touch position performed on the operation page by the user is obtained, the moving direction of the cleaning robot is determined based on the touch position. And controlling the cleaning robot to move along the moving direction based on the determined moving direction.
In one possible application, the operation page is an interface on the terminal for performing a control function on the cleaning robot. The operation page may also be an interface for performing control functions on a controller used in conjunction with the cleaning robot.
The first input may be a control input, illustratively one of a click input, a slide input, a long press input, or the like. The user realizes the movement control of the cleaning robot through the first input on the operation interface.
When the cleaning robot needs to be controlled to move, a user can execute a first input on the operation page, and the position of the first input is the direction of the front part of the cleaning robot, so that after the touch position of the first input is obtained, the cleaning robot automatically moves towards the touch position of the first input.
When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the cleaning robot can be controlled to move by touching the touch position. Compared with the mode that the user firstly controls the cleaning robot to rotate and then controls the cleaning robot to move forwards in the related technology, the cleaning robot is controlled only by single touch, and the operation of the user is simplified.
In addition, after the user executes the first input on the operation page, if the front direction of the cleaning robot is deviated from the touch position at present, the cleaning robot rotates first and then advances, however, after the first input is selected to be executed, the cleaning robot automatically advances according to the touch position or rotates first and then advances, and the user does not need to manually adjust the rotation angle of the cleaning robot, so that the problem that multiple operations are executed due to over-rotation or under-rotation of the cleaning robot is effectively avoided, the operation of the user is further simplified, and the control convenience of the user on the cleaning robot is improved.
Through the innovation of devising interface and cleaning robot to controlling the instruction response, remote control cleaning robot's the efficiency of controlling has been promoted.
In the above embodiment, the step of obtaining the moving direction of the cleaning robot based on the touch position includes: and obtaining the moving direction of the cleaning robot based on a connecting line between the touch position and the geometric center of the operation page.
In this embodiment, after the user touches the operation page, the touch point on the operation page can be obtained, and the touch point is connected to the geometric center of the operation page, where the geometric center on the operation page is used as a starting point and the touch point is used as an end point, so that the connection line points to the touch point from the geometric center on the operation page, and the direction of the connection line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
Illustratively, as shown in fig. 2 and fig. 3, the operation page is a virtual joystick graph, on which the wheel 200 is disposed, and as the user touches the operation page, the button icon 300 on the wheel 200 moves toward the touch position of the user, and the user can press the button icon 300 with a finger and then move it in any direction. The button icon 300 is oriented in the moving direction of the cleaning robot, and it can be seen from the figure that the button can move in any direction along the wheel 200, so that the cleaning robot can move in all directions. The circular area in which the arrow is located in fig. 3 is the pressing position of the user's finger. When the user stops releasing his hand, the button icon 300 automatically returns to the center of the wheel 200, and stops issuing the operation command, and the cleaning robot stops moving.
In any of the above embodiments, the step of obtaining the moving direction of the cleaning robot based on the touch position includes: and obtaining the moving direction of the cleaning robot based on the connection line between the touch position and the display icon of the cleaning robot in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a graphic scaled down by the cleaning robot.
After the user touches the operation page, the touch points on the operation page can be acquired, the touch points are connected with the display icon of the cleaning robot, the display icon serves as a starting point, the touch points serve as an end point, therefore, the connecting line points to the touch points from the display icon on the operation page, and the direction of the connecting line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
In any of the above embodiments, after the step of obtaining the touch position of the first input on the operation page, the method further includes: based on the touch position, the moving speed of the cleaning robot is obtained.
In this embodiment, the touch position of the user on the operation page can indicate not only the moving direction of the cleaning robot but also the moving speed of the cleaning robot.
The touch positions of the users on the operation page are different, and the moving speeds of the cleaning robot may also be different, so that the users can adjust the moving direction of the cleaning robot by adjusting the touch positions. When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the moving speed of the cleaning robot can be controlled by touching the touch position. Compared with the mode of manually adjusting the moving speed of the cleaning robot in the related art, the method and the device only need single touch control for controlling the cleaning robot, and further simplify the operation of a user.
Exemplarily, a case where a connection line between a geometric center of the operation page and the touch point is taken as a direction of the cleaning robot is exemplified. After determining the connecting line between the geometric center and the touch point, the moving direction of the cleaning robot is determined, and the finger of the user can slide on the connecting line without changing the moving direction of the cleaning robot, that is, the moving direction of the cleaning robot is not changed even if the touch position is changed, and the moving speed of the cleaning robot can be changed in this way.
The instructions of the moving speed and the moving direction mentioned in the above embodiments are sent to the cleaning robot through a protocol such as network/bluetooth.
In any of the above embodiments, the step of obtaining the moving speed of the cleaning robot based on the touch position includes: and obtaining the moving speed of the cleaning robot based on the distance between the touch position and the geometric center of the operation page.
In this embodiment, after the user touches the operation page, the touch point on the operation page can be acquired. In the case of determining the distance between the geometric center and the touch point on the operation page, the moving speed of the cleaning robot may be controlled according to the distance between the geometric center and the touch point.
Illustratively, the distance between the geometric center and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the geometric center of the operation page by the user is larger. The smaller the distance, the slower the moving speed.
The user can click a certain position on the touch page, the cleaning robot starts to move, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can slide towards the direction far away from or close to the geometric center of the operation page, so that the moving speed of the cleaning robot can be quickly adjusted.
Illustratively, a wheel is arranged on the operation page, and the distance from a touch point of a user on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can simultaneously realize the control of the moving direction and the moving speed through the sliding operation.
In any of the above embodiments, the step of obtaining the moving speed of the cleaning robot based on the touch position includes: and obtaining the moving speed of the cleaning robot based on the distance between the touch position and the display icon of the cleaning robot in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a graphic scaled down by the cleaning robot.
After the user touches the operation page, the touch point on the operation page can be acquired. In the case where the distance between the display icon and the touch point on the operation page is determined, the moving speed of the cleaning robot may be controlled according to the distance between the display icon and the touch point.
Illustratively, the distance between the displayed icon and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the displayed icon of the user is larger. The smaller the distance, the slower the movement speed.
The user can start moving after clicking a certain position on the touch page, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can be slid towards the direction far away from or close to the display icon, so that the moving speed of the cleaning robot can be quickly adjusted.
In any of the above embodiments, the step of controlling the movement of the cleaning robot based on the moving direction includes: and controlling the cleaning robot to rotate and move based on the included angle between the central line of the field angle of the cleaning robot and the moving direction.
In this embodiment, the angle area of the field angle is the range in which the cleaning robot can acquire images. The center line of the angle of view is the orientation of the head of the current cleaning robot. If the moving direction is coincident with the central line of the field angle, the cleaning robot can move forwards or backwards directly without turning. If the moving direction and the central line of the field angle form an included angle, the cleaning robot needs to rotate and move.
The included angle between the moving direction and the central line of the field angle can reflect the rotation angle of the cleaning robot, and after the rotation angle of the cleaning robot is obtained, the moving mode of the cleaning robot is controlled, so that the cleaning robot can stably move.
In any of the embodiments above, the step of controlling the cleaning robot to rotate and move based on an angle between a center line of a field angle of the cleaning robot and the moving direction includes: controlling the cleaning robot to rotate and then move when an included angle between the moving direction and a central line of a field angle of the cleaning robot is larger than a preset angle; and controlling the cleaning robot to move and rotate simultaneously when the included angle between the moving direction and the central line of the field angle of the cleaning robot is smaller than or equal to a preset angle.
In this embodiment, when the angle of the moving direction to the center line of the angle of view is larger than the preset angle, it is explained that the cleaning robot needs to be rotated by a larger angle. At this time, the cleaning robot needs to be controlled to rotate to a position where the central line of the field angle coincides with the moving direction, and then the cleaning robot needs to be controlled to move forward, so that the cleaning robot can be accurately moved to the target position. When the angle between the moving direction and the center line of the field angle is smaller than or equal to the preset angle, the cleaning robot can be moved to the target position by rotating by a small angle, and the angle can be adjusted while the cleaning robot is controlled to move.
It should be noted that no matter how the cleaning robot rotates first and then moves, or rotates and moves at the same time, the user does not need to operate the cleaning robot, and the user only needs to select the touch position according to the moving direction and the moving speed.
Illustratively, the preset angle may be an angle between a center line of the field angle and a boundary of the field angle.
After the cleaning robot receives a manual operation command, if the head direction of the cleaning robot at present deviates from the received target direction, the cleaning robot rapidly executes in-situ rotation, rotates the cleaning robot to the target direction through an angle closed-loop control system in the cleaning robot, and then moves forwards according to the received speed command. If the head orientation of the current cleaning robot deviates less from the received target direction, the forward movement is performed directly according to the received speed command. When the existing deviation is not very large, the response strategy can be that the device rotates and moves straight.
As shown in fig. 4, in an embodiment of the present invention, there is provided a control apparatus 400 of a cleaning robot, including:
the receiving module 410 acquires a first input on an operation page;
the first determining module 420 obtains a touch position of the first input on the operation page based on the first input;
a second determining module 430 for obtaining a moving direction of the cleaning robot based on the touch position;
the control module 440 controls the cleaning robot to move based on the moving direction.
When a first input executed by a user on the operation page is received, a touch position of the user when the first input is executed on the operation page is determined based on the first input. After the touch position performed on the operation page by the user is obtained, the moving direction of the cleaning robot is determined based on the touch position. And controlling the cleaning robot to move along the moving direction based on the determined moving direction.
In one possible application, the operation page is an interface on the terminal for performing a control function on the cleaning robot. The operation page may also be an interface for performing control functions on a controller used in conjunction with the cleaning robot.
The first input may be a control input, illustratively one of a click input, a slide input, a long press input. The user realizes the movement control of the cleaning robot through the first input on the operation interface.
When the cleaning robot needs to be controlled to move, a user can execute a first input on the operation page, and the position of the first input is the direction of the front part of the cleaning robot, so that after the touch position of the first input is obtained, the cleaning robot automatically moves towards the touch position of the first input.
When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the cleaning robot can be controlled to move by touching the touch position. Compared with the mode that the user firstly controls the cleaning robot to rotate and then controls the cleaning robot to move forwards in the related technology, the cleaning robot is controlled only by single touch, and the operation of the user is simplified.
In addition, after the user executes the first input on the operation page, if the front direction of the cleaning robot is deviated from the touch position at present, the cleaning robot rotates first and then advances, however, after the first input is selected to be executed, the cleaning robot automatically advances according to the touch position or rotates first and then advances, and the user does not need to manually adjust the rotation angle of the cleaning robot, so that the problem that multiple operations are executed due to over-rotation or under-rotation of the cleaning robot is effectively avoided, the operation of the user is further simplified, and the control convenience of the user on the cleaning robot is improved.
In the foregoing embodiment, the second determining module is specifically configured to: and obtaining the moving direction of the cleaning robot based on a connecting line between the touch position and the geometric center of the operation page.
In this embodiment, after the user touches the operation page, the touch point on the operation page can be obtained, and the touch point is connected to the geometric center of the operation page, where the geometric center on the operation page is used as a starting point and the touch point is used as an end point, so that the connection line points to the touch point from the geometric center on the operation page, and the direction of the connection line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
Illustratively, a wheel is arranged on the operation page, and as the user touches the operation page, the button icons on the wheel move towards the touch position of the user, and the direction of the button icons is the moving direction of the cleaning robot, as can be seen from fig. 3, the buttons can move along the wheel in any direction, so that the cleaning robot can realize omnidirectional movement.
In any of the embodiments above, the second determining module is specifically configured to: and obtaining the moving direction of the cleaning robot based on the connection line between the touch position and the display icon of the cleaning robot in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a graphic scaled down by the cleaning robot.
After the user touches the operation page, the touch points on the operation page can be acquired, the touch points are connected with the display icon of the cleaning robot, the display icon serves as a starting point, the touch points serve as an end point, therefore, the connecting line points to the touch points from the display icon on the operation page, and the direction of the connecting line is the moving direction of the cleaning robot. After the moving direction of the cleaning robot is determined, the cleaning robot can automatically finish steering and advancing, a user does not need to operate the cleaning robot to steer, and the use convenience of the user on the cleaning robot is improved.
The first input of the user may be a click input or a slide input, and in a case where the first input is the click input, the touch point may be directly determined, and in a case where the first input is the slide input, the touch point may also be changed at any time as the finger of the user moves on the operation page, and thus it may be understood that the slide input generates a plurality of touch points at any time, and thus the moving direction of the cleaning robot may be changed at any time. Along with the sliding of the user on the operation page, the cleaning robot finishes automatic steering and advancing, and the use flexibility of the cleaning robot by the user is improved.
In any of the above embodiments, after obtaining the touch position of the first input on the operation page, the second determining module is further configured to: based on the touch position, the moving speed of the cleaning robot is obtained.
In this embodiment, the touch position of the user on the operation page can indicate not only the moving direction of the cleaning robot but also the moving speed of the cleaning robot.
The touch positions of the users on the operation page are different, and the moving speeds of the cleaning robot may also be different, so that the users can adjust the moving direction of the cleaning robot by adjusting the touch positions. When the cleaning robot is controlled to move, a user only needs to select a touch position on the touch interface, and the moving speed of the cleaning robot can be controlled by touching the touch position. Compared with the mode of manually adjusting the moving speed of the cleaning robot in the related art, the method and the device only need single touch control for controlling the cleaning robot, and further simplify the operation of a user.
Exemplarily, a case where a connection line between a geometric center of the operation page and the touch point is taken as a direction of the cleaning robot is exemplified. After determining the connecting line between the geometric center and the touch point, the moving direction of the cleaning robot is determined, and the finger of the user can slide on the connecting line without changing the moving direction of the cleaning robot, that is, the moving direction of the cleaning robot is not changed even if the touch position is changed, and the moving speed of the cleaning robot can be changed in this way.
In any of the embodiments above, the second determining module is specifically configured to: and obtaining the moving speed of the cleaning robot based on the distance between the touch position and the geometric center of the operation page.
In this embodiment, after the user touches the operation page, the touch point on the operation page can be acquired. In the case of determining the distance between the geometric center and the touch point on the operation page, the moving speed of the cleaning robot may be controlled according to the distance between the geometric center and the touch point.
Illustratively, the distance between the geometric center and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the geometric center of the operation page by the user is larger. The smaller the distance, the slower the moving speed.
The user can click a certain position on the touch page, the cleaning robot starts to move, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can slide towards the direction far away from or close to the geometric center of the operation page, so that the moving speed of the cleaning robot can be quickly adjusted.
Illustratively, a wheel is arranged on the operation page, and the distance from a touch point of a user on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can simultaneously realize the control of the moving direction and the moving speed through the sliding operation.
In any of the embodiments above, the second determining module is specifically configured to: and obtaining the moving speed of the cleaning robot based on the distance between the touch position and the display icon of the cleaning robot in the operation page.
In this embodiment, a display image of the cleaning robot is displayed in the operation page, and the display image may be a graphic scaled down by the cleaning robot.
After the user touches the operation page, the touch point on the operation page can be acquired. In the case where the distance between the display icon and the touch point on the operation page is determined, the moving speed of the cleaning robot may be controlled according to the distance between the display icon and the touch point.
Illustratively, the distance between the displayed icon and the touch point is proportional to the moving speed, and the moving speed of the cleaning robot is faster when the distance between the touch point on the operation page and the displayed icon of the user is larger. The smaller the distance, the slower the moving speed.
The user can start moving after clicking a certain position on the touch page, and if the user feels that the moving speed of the cleaning robot is slow or fast, the finger part can be slid towards the direction far away from or close to the display icon, so that the moving speed of the cleaning robot can be quickly adjusted.
In any of the embodiments above, the second determining module is specifically configured to: and controlling the cleaning robot to rotate and move based on the included angle between the central line of the field angle of the cleaning robot and the moving direction.
In this embodiment, the angle area of the field angle is the range in which the cleaning robot can acquire images. The center line of the angle of view is the orientation of the head of the current cleaning robot. If the moving direction is coincident with the central line of the field angle, the cleaning robot can move forwards or backwards directly without turning. If the moving direction and the central line of the field angle form an included angle, the cleaning robot needs to rotate and move.
The included angle between the moving direction and the central line of the field angle can reflect the rotation angle of the cleaning robot, and after the rotation angle of the cleaning robot is obtained, the moving mode of the cleaning robot is controlled, so that the cleaning robot can stably move.
In any of the embodiments above, the second determining module is specifically configured to: controlling the cleaning robot to rotate and then move when an included angle between the moving direction and a central line of a field angle of the cleaning robot is larger than a preset angle; and controlling the cleaning robot to move and rotate simultaneously when the included angle between the moving direction and the central line of the field angle of the cleaning robot is smaller than or equal to a preset angle.
In this embodiment, when the angle of the moving direction to the center line of the angle of view is larger than the preset angle, it is explained that the cleaning robot needs to be rotated by a larger angle. At this time, the cleaning robot needs to be controlled to rotate to a position where the central line of the field angle coincides with the moving direction, and then the cleaning robot needs to be controlled to move forward, so that the cleaning robot can be accurately moved to the target position. When the angle between the moving direction and the center line of the field angle is smaller than or equal to the preset angle, the cleaning robot can be moved to the target position by rotating by a small angle, and the angle can be adjusted while the cleaning robot is controlled to move.
It should be noted that no matter how the cleaning robot rotates first and then moves, or rotates and moves at the same time, the user does not need to operate the cleaning robot, and the user only needs to select the touch position according to the moving direction and the moving speed.
Illustratively, the preset angle may be an angle between a center line of the field angle and a boundary of the field angle.
As shown in fig. 5, in an embodiment of the present invention, there is provided a control device 500 of a cleaning robot including: a controller 510 and a memory 520, wherein the memory 520 stores programs or instructions, and the controller 510 implements the steps of the method according to any of the embodiments described above when executing the programs or instructions in the memory 520. And the same technical effects can be realized, which are not described herein again.
In an embodiment of the invention, a readable storage medium is provided, on which a program or instructions are stored, which when executed by a processor implement the steps of the method of any of the embodiments described above. And the same technical effects can be realized, which are not described herein again.
In an embodiment of the present invention, there is provided a cleaning robot including: the control device according to the above embodiment; and/or a readable storage medium as in the above embodiments. And the same technical effects can be realized, which are not described herein again.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," 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 invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (15)

1. A control method of a cleaning robot, characterized by comprising:
receiving a first input on an operation page;
determining a touch position of the first input on the operation page according to the first input;
determining the moving direction of the cleaning robot according to the touch position;
and controlling the cleaning robot to move according to the moving direction.
2. The control method according to claim 1,
the determining a moving direction of the cleaning robot according to the touch position includes:
and determining the moving direction of the cleaning robot according to the connecting line of the geometric center of the operation page and the touch position.
3. The control method according to claim 1,
the determining a moving direction of the cleaning robot according to the touch position includes:
and determining the moving direction of the cleaning robot according to a connecting line between the display icon of the cleaning robot and the touch position in the operation page.
4. The control method according to claim 1, wherein after determining the touch position of the first input on the operation page, the method further comprises:
and determining the moving speed of the robot according to the touch position.
5. The control method according to claim 4, wherein the determining the moving speed of the robot according to the touch position comprises:
and determining the moving speed of the cleaning robot according to the distance between the geometric center of the operation page and the touch position.
6. The control method according to claim 4, wherein the determining the movement speed of the robot according to the touch position comprises:
and determining the moving speed of the cleaning robot according to the distance between the display icon of the cleaning robot and the touch position in the operation page.
7. The control method according to any one of claims 1 to 6,
the controlling the cleaning robot to move according to the moving direction includes:
and controlling the cleaning robot to rotate and move according to the included angle between the moving direction and the central line of the field angle of the cleaning robot.
8. The control method according to claim 7, wherein the controlling the cleaning robot to rotate and move according to an angle between the moving direction and a center line of a field angle of the cleaning robot includes:
under the condition that the included angle between the moving direction and the center line of the field angle of the cleaning robot is larger than a preset angle, controlling the cleaning robot to rotate firstly and then move;
and under the condition that the included angle between the moving direction and the central line of the field angle of the cleaning robot is smaller than or equal to a preset angle, controlling the cleaning robot to rotate and move simultaneously.
9. A control device of a cleaning robot, characterized by comprising:
the receiving module receives a first input on the operation page;
the first determining module is used for determining the touch position of the first input on the operation page according to the first input;
the second determination module is used for determining the moving direction of the cleaning robot according to the touch position;
and the control module controls the cleaning robot to move according to the moving direction.
10. The control device according to claim 9, wherein after determining the touch position of the first input on the operation page, the method further comprises:
and determining the moving speed of the robot according to the touch position.
11. The control device according to claim 9 or 10,
the controlling the cleaning robot to move according to the moving direction includes:
and controlling the cleaning robot to rotate and move according to the included angle between the moving direction and the central line of the field angle of the cleaning robot.
12. The control device according to claim 11,
under the condition that the included angle between the moving direction and the center line of the field angle of the cleaning robot is larger than a preset angle, controlling the cleaning robot to rotate firstly and then move;
and under the condition that the included angle between the moving direction and the central line of the field angle of the cleaning robot is smaller than or equal to a preset angle, controlling the cleaning robot to rotate and move simultaneously.
13. A control device of a cleaning robot, characterized by comprising:
a controller and a memory, wherein the memory has stored therein a program or instructions, the controller implementing the steps of the method according to any one of claims 1 to 8 when executing the program or instructions in the memory.
14. A readable storage medium, on which a program or instructions are stored, which when executed by a processor, carry out the steps of the method according to any one of claims 1 to 8.
15. A cleaning robot, characterized by comprising:
the control device according to any one of claims 9 to 13; and/or
The readable storage medium of claim 14.
CN202210420690.0A 2022-04-21 2022-04-21 Cleaning robot, control method and device thereof, and readable storage medium Pending CN114869171A (en)

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CN113208511A (en) * 2021-05-31 2021-08-06 云鲸智能(深圳)有限公司 Cleaning control method and device, cleaning robot and computer storage medium
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