CN115191888A - Control method and control device for cleaning robot and control method for cleaning base station - Google Patents

Control method and control device for cleaning robot and control method for cleaning base station Download PDF

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Publication number
CN115191888A
CN115191888A CN202210827198.5A CN202210827198A CN115191888A CN 115191888 A CN115191888 A CN 115191888A CN 202210827198 A CN202210827198 A CN 202210827198A CN 115191888 A CN115191888 A CN 115191888A
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China
Prior art keywords
cleaning
base station
cleaning robot
infrared
infrared lamp
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CN202210827198.5A
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Chinese (zh)
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CN115191888B (en
Inventor
胡振亮
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Hangzhou Ezviz Network Co Ltd
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Hangzhou Ezviz Network Co Ltd
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Priority to CN202210827198.5A priority Critical patent/CN115191888B/en
Publication of CN115191888A publication Critical patent/CN115191888A/en
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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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a control method and a control device of a cleaning robot and a control method of a cleaning base station, wherein the control method of the cleaning robot comprises the following steps: detecting obstacles around the clean base station; when the cleaning robot receives the first infrared ray and the obstacle only comprises a left obstacle, sending a first instruction for controlling the left infrared lamp to be turned off or to be darkened; when the cleaning robot receives the first infrared ray and the obstacle only comprises a right obstacle, sending a second instruction for controlling the right infrared lamp to be turned off or to be darkened; by the scheme, the problem that the cleaning robot returns to the cleaning base station is influenced because infrared light emitted by the cleaning base station is projected to a barrier and then reflected to the cleaning robot advancing to the front side of the cleaning base station is solved.

Description

Control method and control device for cleaning robot and control method for cleaning base station
Technical Field
The invention relates to the technical field of household intelligent equipment, in particular to a control method and a control device for a cleaning robot and a control method for a cleaning base station.
Background
Household intelligent equipment plays an increasingly important role in the life of people. Thus, more and more home smart devices are emerging in people's lives. Wherein, cleaning machines people is comparatively common domestic smart machine. The cleaning robot is provided with a cleaning base station which is provided with a robot parking space, and the cleaning robot can park in the robot parking space, so that the operations of charging, cleaning mop, replacing mop plate and the like are realized.
During a specific work process, the cleaning robot frequently returns to the cleaning base station to perform corresponding work. The related art relates to a cleaning base station, which emits infrared light, and a cleaning robot senses the infrared light, thereby determining a path back to the cleaning base station. However, under the condition that an obstacle appears on the left side or the right side of the cleaning base station, infrared light emitted by the cleaning base station can be projected onto the obstacle and then reflected by the obstacle to the cleaning robot traveling in front of the cleaning base station, and then interference can be brought to the cleaning robot, so that the cleaning robot can mistakenly think that the cleaning robot is on the left side or the right side of the cleaning base station, and finally the cleaning robot can adjust a path which is in the correct cleaning base station, and the cleaning robot is not easy to return to the cleaning base station.
Disclosure of Invention
The invention discloses a control method and a control device of a cleaning robot, a control method and a control device of a cleaning base station and a cleaning robot system, which aim to solve the problem that infrared light emitted by the cleaning base station is projected onto a barrier and then reflected to the cleaning robot running on the front side of the cleaning base station to influence the cleaning robot to return to the cleaning base station.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, the present application discloses a control method for a cleaning robot, the cleaning robot is in wireless communication connection with a cleaning base station, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can transmit a first infrared ray to the front direction of the cleaning base station, the left infrared lamp can transmit a second infrared ray to the left direction of the cleaning base station, the right infrared lamp can transmit a third infrared ray to the right direction of the cleaning base station, the control method comprises:
detecting obstacles around the clean base station;
when the cleaning robot receives the first infrared ray and the obstacle only comprises a left obstacle, sending a first instruction for controlling the left infrared lamp to be turned off or to be darkened;
when the cleaning robot receives the first infrared ray and the obstacle only comprises a right obstacle, sending a second instruction for controlling the right infrared lamp to be turned off or to be darkened;
and when the cleaning robot receives the first infrared ray and the obstacles comprise a left obstacle and a right obstacle, sending a third instruction for controlling the left infrared lamp and the right infrared lamp to be turned off or to be turned dark.
In a second aspect, the present application further discloses a control device for a cleaning robot, the cleaning robot is connected with a cleaning base station through wireless communication, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can transmit a first infrared ray to the front direction of the cleaning base station, the left infrared lamp can transmit a second infrared ray to the left direction of the cleaning base station, the right infrared lamp can transmit a third infrared ray to the right direction of the cleaning base station, the control device comprises:
a detection module for detecting obstacles around the clean base station;
the first control module is used for sending a first instruction for controlling the left infrared lamp to be turned off or darkened under the condition that the cleaning robot receives the first infrared rays and the obstacle only comprises a left obstacle;
the second control module is used for sending a second instruction for controlling the right infrared lamp to be turned off or darkened under the condition that the cleaning robot receives the first infrared rays and the obstacle only comprises a right obstacle;
and the third control module is used for sending a third instruction for controlling the left infrared lamp and the right infrared lamp to be turned off or darkened under the condition that the cleaning robot receives the first infrared ray and the obstacles comprise a left obstacle and a right obstacle.
In a third aspect, the present application further discloses a control method of a cleaning base station, the cleaning base station is connected to a cleaning robot in a wireless communication manner, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can emit first infrared rays to the front direction of the cleaning base station, the left infrared lamp can emit second infrared rays to the left direction of the cleaning base station, and the right infrared lamp can emit third infrared rays to the right direction of the cleaning base station, the control method includes:
receiving a first instruction issued in a case where the cleaning robot receives the first infrared ray and the obstacle includes only a left obstacle;
controlling the left infrared lamp to be turned off or dimmed in response to the first instruction;
receiving a second instruction issued when the cleaning robot receives the first infrared ray and the obstacle includes only a right obstacle;
controlling the right infrared lamp to be turned off or dimmed in response to the second instruction;
receiving a third instruction issued when the cleaning robot receives the first infrared ray and the obstacle includes a left obstacle and a right obstacle;
and controlling the left infrared lamp and the right infrared lamp to be turned off or dimmed in response to the third instruction.
In a fourth aspect, the present application further discloses a control device for a cleaning base station, the cleaning base station is connected with a cleaning robot through wireless communication, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can transmit a first infrared ray to the front direction of the cleaning base station, the left infrared lamp can transmit a second infrared ray to the left direction of the cleaning base station, the right infrared lamp can transmit a third infrared ray to the right direction of the cleaning base station, and the control device comprises:
a first receiving module, configured to receive a first instruction issued when the cleaning robot receives the first infrared ray and the obstacle only includes a left obstacle;
the fourth control module is used for responding to the first instruction and controlling the left infrared lamp to be turned off or darkened;
the second receiving module is used for receiving a second instruction which is sent out when the cleaning robot receives the first infrared ray and the obstacles only comprise right obstacles;
the fifth control module is used for responding to the second instruction and controlling the right infrared lamp to be turned off or dimmed;
a third receiving module, configured to receive a third instruction issued when the cleaning robot receives the first infrared ray and the obstacle includes a left obstacle and a right obstacle;
and the sixth control module is used for responding to the third instruction and controlling the left infrared lamp and the right infrared lamp to be turned off or dimmed.
In a fifth aspect:
the application also discloses a cleaning robot system, which comprises a cleaning robot and a cleaning base station, wherein the cleaning base station is in wireless communication connection with the cleaning robot, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can emit first infrared rays to the front direction of the cleaning base station, the left infrared lamp can emit second infrared rays to the left direction of the cleaning base station, and the right infrared lamp can emit third infrared rays to the right direction of the cleaning base station;
the cleaning robot includes the control device of the cleaning robot according to the second aspect.
The technical scheme adopted by the invention can achieve the following technical effects:
in the embodiment disclosed by the application, when the cleaning robot receives the first infrared ray, the cleaning robot is located at the front side of the cleaning base station, and when an obstacle is detected to exist at the left side and/or the right side of the cleaning base station, the cleaning robot sends out a corresponding first instruction, a second instruction or a third instruction to control the cleaning base station to turn off or dim the left infrared lamp and/or the right infrared lamp of the cleaning base station, so that adverse effects on the cleaning robot travelling at the front side of the cleaning base station after the second infrared ray and/or the third infrared ray sent by the left infrared lamp and/or the right infrared lamp are reflected by the obstacle are avoided or relieved, and the problem that the second infrared ray and the third infrared ray are reflected to the cleaning robot travelling at the front side of the cleaning base station after colliding with the obstacle, are interfered by the cleaning robot and mistakenly believe that the cleaning robot is at the left side or the right side of the cleaning base station, and then the cleaning robot is not easy to return to the cleaning base station is solved.
Drawings
Fig. 1 is a diagram illustrating a situation in which when obstacles exist on both the left and right sides of a cleaning base station and when a left infrared lamp and a right infrared lamp normally emit light, infrared rays are received when a cleaning robot returns to the base station;
FIG. 2 is a diagram showing the situation that when an obstacle exists only on the left side of the cleaning base station and the infrared lamp on the left side is normally lighted, the cleaning robot receives infrared rays when returning to the base station;
FIG. 3 shows the situation of infrared rays received by the cleaning robot when the cleaning robot returns to the base station when the right infrared lamp normally emits light when an obstacle exists only on the right side of the cleaning base station;
fig. 4 shows a situation that when a plurality of obstacles arranged at intervals exist only on the left side of the cleaning base station and the infrared lamp on the left side emits light normally, the cleaning robot receives infrared rays when returning to the base station according to the embodiment of the present invention;
FIG. 5 is a flowchart of a control method of a cleaning robot according to an embodiment of the present invention;
FIG. 6 is a flow chart of a first method of detecting obstacles around a clean base station;
FIG. 7 is a flow chart of a second method of detecting obstacles around a clean base station;
fig. 8 is a schematic structural diagram of a control device of a cleaning robot according to an embodiment of the present disclosure.
Description of the reference numerals:
100-cleaning robot,
200-cleaning a base station,
310-first infrared ray, 320-second infrared ray, 330-third infrared ray,
410-left obstacle, 420-right obstacle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to fig. 1 to 8.
Referring to fig. 1 to 4, an embodiment of the invention discloses a control method of a cleaning robot 100, wherein the cleaning robot 100 and a cleaning base station 200 form a cleaning robot system. The cleaning robot 100 is connected to the cleaning base station 200 in wireless communication, for example, in a wireless communication manner such as bluetooth or WiFi. The cleaning robot 100 can perform operations such as charging, cleaning, changing, etc. in the robot docking space of the cleaning base station 200.
The cleaning base station 200 is provided with a front infrared lamp, a left infrared lamp, and a right infrared lamp. The front infrared lamp may emit first infrared rays 310 in a front direction of the cleaning base station 200, the left infrared lamp may emit second infrared rays 320 in a left direction of the cleaning base station 200, and the right infrared lamp may emit third infrared rays 330 in a right direction of the cleaning base station 200. The first infrared ray 310, the second infrared ray 320, and the third infrared ray 330 may be infrared rays of different frequencies or different wavelengths, thereby facilitating recognition of the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330 by the cleaning robot 100.
It should be noted that the robot parking space has an entrance and an exit for the cleaning robot to enter and exit the robot parking space through the entrance and the exit. Herein, the direction of the entrance/exit is the front direction.
When the cleaning robot 100 needs to return to the cleaning base station 200 to perform a corresponding operation, the cleaning robot usually performs the operation of returning to the cleaning base station 200 only when detecting that the cleaning robot is located in front of the cleaning base station 200. When there is no obstacle around the cleaning base station 200, the cleaning robot 100 can generally detect only one of the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330. In the case where the cleaning robot 100 detects only the first infrared ray 310, it is described that the cleaning robot 100 is located in front of the cleaning base station 200, and the cleaning robot 100 may directly travel into the robot docking space of the cleaning base station 200 to perform a corresponding operation. When the cleaning robot 100 detects only one of the second infrared ray 320 and the third infrared ray 330, it is described that the cleaning robot 100 is located on the left side or the right side of the cleaning base station 200, and at this time, the cleaning robot 100 needs to move to the front side direction of the cleaning base station 200 in order to return to the cleaning base station 200, and the cleaning robot 100 may be always in a state of receiving the infrared ray or may be in a state of periodically receiving the infrared ray during the movement until the cleaning robot 100 detects only the first infrared ray 310, and it may be confirmed that the cleaning robot 100 is located in the front side direction of the cleaning base station 200, and the cleaning robot 100 may travel to the cleaning base station 200.
When the cleaning robot 100 does not receive any one of the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330, the cleaning robot 100 may be constantly in a state of being able to receive infrared rays or may be periodically in a state of being able to receive infrared rays, and may perform the corresponding operation until one of the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330 is received, and then perform the corresponding operation described above. However, in many cases, various obstacles may exist around the cleaning base station 200, for example, obstacles such as walls, appliances, and furniture exist around the cleaning base station 200, and the second infrared ray 320 and the third infrared ray 330 may be reflected to the cleaning robot 100 traveling in front of the cleaning base station 200 after hitting the obstacles, and interfere with the cleaning robot 100 to mistakenly assume that the cleaning robot is on the left side or the right side of the cleaning base station 200, so that the cleaning robot 100 may adjust an originally correct path back to the cleaning base station 200, and the cleaning robot 100 may not easily return to the cleaning base station 200. In order to solve the problem that the second infrared ray 320 and the third infrared ray 330 may be reflected to the cleaning robot 100 traveling in front of the cleaning base station 200 after hitting an obstacle, and interfere with the cleaning robot 100 to mistakenly assume that the cleaning robot is on the left side or the right side of the cleaning base station 200, so that the cleaning robot 100 is not easy to return to the cleaning base station 200, please refer to fig. 5, the control method disclosed in the present application includes:
s101, detecting an obstacle around the clean base station 200.
The detection of the obstacle around the cleaning base station 200 may be performed during the process of the cleaning robot 100 going out of the station or during the process of the cleaning robot 100 returning to the cleaning base station 200. The cleaning robot 100 may detect whether there is an obstacle around the cleaning base station 200 according to the received first infrared ray 310, second infrared ray 320, and third infrared ray 330, and may determine whether the obstacle is located at the front, left, or right side of the cleaning base station 200. The detection of the obstacles around the cleaning base station 200 may also be during the cleaning task performed after the cleaning robot 100 goes out of the station, and the cleaning robot 100 may detect whether the obstacles exist around the cleaning base station 200 through a cleaning map formed while performing the cleaning task and may determine whether the obstacles are located at the front, left, or right of the cleaning base station 200.
S102, when the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the left obstacle 410, a first instruction to turn off or dim the left infrared lamp is issued.
The dimming of the left infrared lamp means that the brightness of the left infrared lamp is decreased to a preset brightness (which is lower than the brightness of normal light emission) so that the second infrared ray 320 emitted from the left infrared lamp does not interfere with the cleaning robot 100 after being reflected by an obstacle, for example, the cleaning robot 100 cannot receive the second infrared ray 320. After the left infrared lamp is turned off or dimmed, interference of the second infrared ray 320 with the cleaning robot 100 will be avoided.
S103, when the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the right obstacle 420, a second instruction for controlling the right infrared lamp to be turned off or to be turned dark is issued.
The dimming of the right infrared lamp means that the brightness of the right infrared lamp is reduced to a preset brightness, so that the third infrared ray 330 emitted from the right infrared lamp does not interfere with the cleaning robot 100 after being reflected by an obstacle, for example, the cleaning robot 100 cannot receive the third infrared ray 330. The interference of the third infrared ray 330 with the cleaning robot 100 will be avoided after the right infrared lamp is turned off or dimmed.
S104, when the cleaning robot 100 receives the first infrared ray 310 and the obstacles include the left obstacle 410 and the right obstacle 420, a third instruction for controlling both the left infrared lamp and the right infrared lamp to be turned off or to be dimmed is issued.
It should be noted that, the emission intensities of the left infrared lamp and the right infrared lamp can be controlled by controlling the corresponding current intensities to dim or brighten the left infrared lamp and the right infrared lamp.
Whether the obstacle around the cleaning base station 200 is detected during the process of the cleaning robot 100 going out of the station, during the process of the cleaning robot 100 returning to the cleaning base station 200, or during the process of performing a cleaning task after the cleaning robot 100 goes out of the station, the left infrared lamp and/or the right infrared lamp may be controlled to be turned off or dimmed when the obstacle is detected to be present on the left side and/or the right side of the cleaning base station 200. In the way of detecting the obstacle during the process of exiting the cleaning robot 100 or during the process of performing the cleaning task after the cleaning robot 100 exits, the left infrared lamp and/or the right infrared lamp are/is controlled correspondingly according to the detection result before the cleaning robot 100 returns to the cleaning base station 200, and the cleaning robot 100 will not receive the interference signal reflected by the obstacle during the process of returning to the cleaning base station 200, so that the operation of returning to the station is smoother. In the manner of detecting an obstacle during the cleaning robot 100 returns to the cleaning base station 200, the cleaning robot 100 may detect in real time during the return to the cleaning base station 200 and perform corresponding control.
In the embodiment disclosed in the present application, when the cleaning robot 100 receives the first infrared ray 310, it is described that the cleaning robot 100 is located at the front side of the cleaning base station 200, and when it is detected that an obstacle exists on the left side and/or the right side of the cleaning base station 200, the cleaning robot 100 sends a corresponding first instruction, a second instruction, or a third instruction to control the cleaning base station 200 to turn off or dim the left infrared lamp and/or the right infrared lamp of the cleaning base station 200, so as to avoid or alleviate a bad influence on the cleaning robot 100 traveling at the front side of the cleaning base station 200 after the second infrared ray 320 and/or the third infrared ray 330 sent by the left infrared lamp and/or the right infrared lamp are reflected by the obstacle, thereby solving a problem that the cleaning robot 100 is reflected to the cleaning robot 100 traveling at the front side of the cleaning base station 200 after the second infrared ray 320 and the third infrared ray 330 hit the obstacle, and interferes with the cleaning robot 100 to mistakenly think that the cleaning robot is at the left side or the right side of the cleaning base station 200, and further the cleaning robot 100 is not easy to return to the cleaning base station 200.
In order to detect obstacles around the cleaning base station 200, the cleaning robot 100 may have an environment patterning module. In the cleaning process after the cleaning robot 100 leaves the station, the cleaning robot 100 may acquire a cleaning map around the cleaning base station 200 through the environment composition module, specifically, when the cleaning robot 100 first leaves the cleaning base station 200, the cleaning map is constructed through the environment composition module in the moving process of the cleaning robot 100, so as to acquire the environment information around the cleaning base station 200, and further determine whether obstacles exist around the cleaning base station 200 from the cleaning map.
Referring to fig. 6, in the control method disclosed in the present application, detecting an obstacle around a clean base station 200, i.e., S101, includes:
s201, detecting a cleaning map through an environment composition module.
The cleaning robot 100 may first perform the unordered movement when the cleaning robot 100 exits the cleaning base station 200, and acquire the environmental information in the movement process through the environmental composition module, so as to construct the acquired environmental information into the cleaning map through the processes of analysis, combination, and the like. The cleaning robot 100 may compare the cleaning map constructed by the environment composition module with the cleaning map formed at the first outbound to confirm the obstacle during the cleaning task at the other outbound. Of course, the obstacle may be confirmed by directly analyzing the cleaning map formed during the cleaning process.
S202, obstacles around the cleaning base station are determined from the cleaning map.
By analyzing the cleaning map, it is possible to confirm whether there is an obstacle around the cleaning base station 200. For example, whether or not there is an obstruction in a certain range on the left, right, or front side of the sweep map.
After the cleaning map is detected by the environment composition module, the environment information around the cleaning base station 200 can be obtained from the cleaning map at a glance, so that the self environment composition module is fully utilized to model and analyze the cleaning map, and obstacles around the cleaning base station 200 are determined. The specific determination process is the prior art, and is not described herein again.
Referring to fig. 7, in another control method for detecting obstacles around a clean base station 200, the step of detecting obstacles around the clean base station 200, i.e., S101, includes:
s301, when the cleaning robot 100 receives the first infrared ray 310, detects whether the cleaning robot 100 receives the second infrared ray 320 or the third infrared ray 330.
Since the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330 may be infrared rays of different frequencies or different wavelengths, it is possible to distinguish the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330.
S302, in the case where the cleaning robot 100 receives only the first infrared ray 310 and the second infrared ray 320, it is determined that the obstacle around the cleaning robot 100 includes only the left obstacle 410.
S303, in the case where the cleaning robot 100 receives only the first infrared ray 310 and the third infrared ray 330, it is determined that the obstacles around the cleaning robot 100 include only the right obstacle 420.
S304, in the case where the cleaning robot 100 receives the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330, it is determined that the obstacles around the cleaning robot 100 include a left obstacle 410 and a right obstacle 420.
Specifically, the cleaning robot 100 has an infrared receiving module so as to receive infrared rays emitted from the cleaning base station 200. When the cleaning robot 100 receives the first infrared ray 310, it means that the cleaning robot 100 is located at the front side of the cleaning base station 200, and the cleaning robot 100 further receives the second infrared ray 320 and/or the third infrared ray 330, which means that the second infrared ray 320 and/or the third infrared ray 330 are reflected by the obstacle at the left side and/or the right side of the cleaning base station 200 and then received by the cleaning robot 100, thereby indicating that the obstacle is present at the left side and/or the right side of the cleaning base station 200.
In the manner in which the cleaning robot 100 detects obstacles around the cleaning base station 200 while exiting the cleaning base station 200, the cleaning robot 100 can exit from the front side of the cleaning base station 200, and at this time, the cleaning robot 100 can receive the first infrared ray, and receive the second infrared ray or the third infrared ray while exiting, indicating that an obstacle exists on the left and/or right side and reflects the second infrared ray and/or the third infrared ray to the cleaning robot 100.
The way of detecting the obstacles around the cleaning base station 200 in the process of returning the cleaning robot 100 to the cleaning base station 200 is substantially infrared recall, so that the infrared receiving module of the cleaning robot 100 determines the location of the cleaning robot according to the type of the received infrared rays and corrects the traveling route of the cleaning robot, so that the cleaning robot 100 travels forward and finally returns to the robot parking space of the cleaning base station 200 when sensing the first infrared rays 310. At this time, the cleaning robot 100 directs the wire by receiving the infrared ray and returns to the cleaning base station 200, thereby determining the obstacle by fully using the existing function thereof.
In the method in which the cleaning robot 100 detects whether there is an obstacle around the cleaning base station 200 by analyzing the received infrared rays, detecting whether the cleaning robot 100 receives the second infrared ray 320 or the third infrared ray 330 includes:
step A1, under the condition that the cleaning robot 100 is controlled to reciprocate multiple times in the current direction, it is detected whether the cleaning robot 100 receives the second infrared ray 320 or the third infrared ray 330.
Whether the second infrared ray 320 and/or the third infrared ray 330 is received or not is determined by the cleaning robot 100 repeatedly operating in the current direction, so that whether the second infrared ray 320 and/or the third infrared ray 330 is received or not is more accurately detected, and the obstacle is more accurately judged. The reciprocating movement may be performed in a region of a preset length.
Further, the control method disclosed by the application further comprises the following steps:
in step B1, when the cleaning robot 100 receives only the first infrared ray 310, the cleaning robot 100 is controlled to travel in the current travel direction.
In the case where the cleaning robot 100 receives only the first infrared ray 310 during the process of exiting the cleaning base station 200 or during the process of returning to the cleaning base station 200, it is described that there is no obstacle around the cleaning base station 200, and the cleaning and robot 100 can normally travel to realize the cleaning robot 100 exiting the cleaning base station 200 or returning to the cleaning base station 200.
The application discloses cleaning machines people 100's controlling means, cleaning machines people 100 and clean 200 wireless communication connection in basic station, clean basic station 200 is equipped with the infrared lamp of front side, left side infrared lamp and right side infrared lamp, the infrared lamp of front side can be to the first infrared ray 310 of the front side direction transmission of clean basic station 200, the infrared lamp of left side can be to the left side direction transmission second infrared ray 320 of clean basic station 200, the infrared lamp of right side can be to the right side direction transmission third infrared ray 330 of clean basic station 200. It should be noted that the cleaning base station 200 and the cleaning robot 100 in the present embodiment have the same or similar points as the cleaning base station 200 and the cleaning robot 100 disclosed in the above embodiments, and may be referred to each other. Referring to fig. 8, the disclosed control apparatus includes a detection module 801, a first control module 802, a second control module 803, and a third control module 804, wherein:
a detecting module 801 for detecting obstacles around the clean base station 200.
A first control module 802 for issuing a first instruction to control the left infrared lamp to turn off or turn dark if the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the left obstacle 410.
And a second control module 803 for issuing a second instruction to control the right infrared lamp to be turned off or dimmed, in case that the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the right obstacle 420.
And a third control module 804 for issuing a third command to control both the left infrared lamp and the right infrared lamp to be turned off or dimmed, in case the cleaning robot 100 receives the first infrared ray 310 and the obstacles include the left obstacle 410 and the right obstacle 420.
The functions implemented by the modules in the control device of the cleaning robot 100 disclosed in this embodiment have the same or similar points as the steps in the control method, and the same or similar points may be referred to each other and are not described herein again.
The cleaning robot 100 may also have an environment patterning module in order to detect obstacles around the cleaning base station 200. The disclosed detection module 801 may include a first detection sub-module and a first determination sub-module, wherein:
and the first detection submodule is used for detecting the cleaning map through the environment composition module.
A first determination submodule for determining the obstacles around the base station from a cleaning map.
In another way of detecting obstacles around the clean base station 200, the detection module 801 may include a second detection sub-module, a second determination sub-module, a third determination sub-module, and a fourth determination sub-module, wherein:
and a second detection sub-module for detecting whether the cleaning robot 100 receives the second infrared ray 320 or the third infrared ray 330 when the cleaning robot 100 receives the first infrared ray 310.
A second determination submodule for determining that the obstacle around the cleaning robot 100 includes only the left obstacle 410 if the cleaning robot 100 receives only the first infrared ray 310 and the second infrared ray 320.
A third determination submodule for determining that the obstacles around the cleaning robot 100 include only the right obstacle 420 in a case where the cleaning robot 100 receives only the first infrared ray 310 and the third infrared ray 330.
A fourth determination sub-module for determining that the obstacles around the cleaning robot 100 include the left obstacle 410 and the right obstacle 420 if the cleaning robot 100 receives the first infrared ray 310, the second infrared ray 320, and the third infrared ray 330.
In order for the cleaning robot 100 to more accurately determine whether the second infrared ray 320 and/or the third infrared ray 330 are received, the disclosed control apparatus may further include a seventh control module for controlling the cleaning robot 100 to reciprocate a plurality of times in the current direction.
The second detection submodule is configured to detect whether the cleaning robot 100 receives the second infrared ray 320 or the third infrared ray 330, when the cleaning robot 100 is controlled to perform reciprocating operation in the current direction for a plurality of times.
The control apparatus may further include an eighth control module for controlling the cleaning robot 100 to travel in the current traveling direction in a case where the cleaning robot 100 receives only the first infrared ray 310.
The functions realized by the modules in the control device of the cleaning robot 100 disclosed in this embodiment have the same or similar points with the steps in the control method in the above embodiment, and the same or similar points may be referred to each other, which are not described herein again.
The application also discloses a control method of the cleaning base station 200, the cleaning base station 200 is in wireless communication connection with the cleaning robot 100, the cleaning base station 200 is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can emit first infrared rays 310 to the front direction of the cleaning base station 200, the left infrared lamp can emit second infrared rays 320 to the left direction of the cleaning base station 200, and the right infrared lamp can emit third infrared rays 330 to the right direction of the cleaning base station 200. The cleaning robot 100 and the cleaning base station 200 in the present embodiment have the same or similar features as the cleaning robot 100 and the cleaning base station 200 in the above embodiments, and may be referred to each other. The control method disclosed in the embodiment includes:
step C1, a first instruction issued when the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the left obstacle 410 is received.
And C2, responding to the first instruction, and controlling the left infrared lamp to be turned off or dimmed.
And a step C3 of receiving a second command issued when the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the right obstacle 420.
And C4, responding to a second instruction, and controlling the right infrared lamp to be turned off or darkened.
Step C5, a third instruction issued in a case where the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes the left obstacle 410 and the right obstacle 420 is received.
And C6, responding to a third instruction, and controlling the left infrared lamp and the right infrared lamp to be turned off or dimmed.
The first, second and third instructions in this embodiment have the same points as the first, second and third instructions in the above-described embodiment, and may be referred to each other.
In the embodiment disclosed in the present application, the cleaning base station 200 receives a corresponding command when the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes the left obstacle 410 and/or the right obstacle 420, and controls the left infrared lamp and/or the right infrared lamp to turn off or dim in response to the corresponding command, so as to avoid or alleviate a bad influence on the cleaning robot 100 traveling in front of the cleaning base station 200 after the second infrared ray 320 and/or the third infrared ray 330 emitted from the left infrared lamp and/or the right infrared lamp are reflected by the obstacle, thereby solving a problem that the second infrared ray 320 and the third infrared ray 330 are reflected to the cleaning robot 100 traveling in front of the cleaning base station 200 after hitting the obstacle and causing interference to the cleaning robot 100 to mistakenly assume itself to be on the left side or the right side of the cleaning base station 200, thereby causing the cleaning robot 100 not to easily return to the cleaning base station 200.
The application still discloses a controlling means of clean basic station 200, clean basic station 200 and cleaning machines people 100 wireless communication connection, clean basic station 200 is equipped with the infrared lamp of front side, left side infrared lamp and right side infrared lamp, the infrared lamp of front side can be to the first infrared ray 310 of the front side direction transmission of clean basic station 200, the infrared lamp of left side can be to the left side direction transmission second infrared ray 320 of clean basic station 200, the infrared lamp of right side can be to the right side direction transmission third infrared ray 330 of clean basic station 200, the controlling means that discloses includes first receiving module, fourth controlling module, the second receiving module, fifth controlling module, third receiving module and sixth controlling module, wherein:
a first receiving module for receiving a first instruction issued in a case where the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the left obstacle 410.
And the fourth control module is used for responding to the first instruction and controlling the left infrared lamp to be turned off or darkened.
And a second receiving module for receiving a second instruction issued in a case where the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes only the right obstacle 420.
And the fifth control module is used for responding to the second instruction and controlling the right infrared lamp to be turned off or dimmed.
And a third receiving module for receiving a third instruction issued in a case where the cleaning robot 100 receives the first infrared ray 310 and the obstacle includes a left obstacle 410 and a right obstacle 420.
And the sixth control module is used for responding to the third instruction and controlling the left infrared lamp and the right infrared lamp to be turned off or darkened.
The functions implemented by the modules in the control device of the cleaning base station 200 in this embodiment are the same as or similar to the steps of the control method in the above embodiment, and they may be referred to each other, and are not described herein again.
The application also discloses a cleaning robot system, which comprises the cleaning robot and the cleaning base station. Clean basic station and cleaning machines people wireless communication are connected, and clean basic station is equipped with front side infrared lamp, left side infrared lamp and right side infrared lamp, and the front side infrared lamp can be to the first infrared ray of the front side direction transmission of clean basic station, and the left side infrared lamp can be to the left side direction transmission second infrared ray of clean basic station, and the right side infrared lamp can be to the right side direction transmission third infrared ray of clean basic station. The cleaning robot comprises the control device of the cleaning robot disclosed in the above embodiment.
In some embodiments, the cleaning base station further comprises a control device of the cleaning base station disclosed in the above embodiments.
In the above embodiments of the present invention, the differences between the embodiments are described in emphasis, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in view of brevity of the text.
While the present invention has been described with reference to the particular illustrative embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and equivalents thereof, which may be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A control method of a cleaning robot, the cleaning robot being connected to a cleaning base station in a wireless communication manner, the cleaning base station being provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp being capable of emitting first infrared rays in a front direction of the cleaning base station, the left infrared lamp being capable of emitting second infrared rays in a left direction of the cleaning base station, and the right infrared lamp being capable of emitting third infrared rays in a right direction of the cleaning base station, the control method comprising:
detecting obstacles around the clean base station;
when the cleaning robot receives the first infrared ray and the obstacles only comprise left obstacles, sending a first instruction for controlling the left infrared lamp to be turned off or darkened;
when the cleaning robot receives the first infrared ray and the obstacle only comprises a right obstacle, sending a second instruction for controlling the right infrared lamp to be turned off or to be darkened;
and when the cleaning robot receives the first infrared ray and the obstacles comprise a left obstacle and a right obstacle, sending a third instruction for controlling the left infrared lamp and the right infrared lamp to be turned off or to be turned dark.
2. The control method according to claim 1, wherein the cleaning robot has an environment composition module, and the detecting obstacles around the cleaning base station includes:
detecting a cleaning map through the environment composition module;
determining the obstacles around the cleaning base station from the scrub map.
3. The control method of claim 1, wherein the detecting obstacles around the clean base station comprises:
detecting whether the cleaning robot receives the second infrared ray or the third infrared ray in a case where the cleaning robot receives the first infrared ray;
determining that obstacles around the cleaning robot include only left-side obstacles in a case where the cleaning robot receives only the first infrared ray and the second infrared ray;
determining that obstacles around the cleaning robot include only a right-side obstacle in a case where the cleaning robot receives only the first infrared ray and the third infrared ray;
determining that the obstacles around the cleaning robot include the left-side obstacle and the right-side obstacle in a case where the cleaning robot receives the first infrared ray, the second infrared ray, and the third infrared ray.
4. The control method according to claim 3, wherein the detecting whether the cleaning robot receives the second infrared ray or the third infrared ray includes:
and under the condition that the cleaning robot is controlled to reciprocate for multiple times in the current direction, detecting whether the cleaning robot receives the second infrared ray or the third infrared ray.
5. The control method according to claim 1, characterized by further comprising: controlling the cleaning robot to travel in a current travel direction if the cleaning robot receives only the first infrared ray.
6. A control apparatus of a cleaning robot, wherein the cleaning robot is connected to a cleaning base station in a wireless communication manner, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can emit first infrared rays in a front direction of the cleaning base station, the left infrared lamp can emit second infrared rays in a left direction of the cleaning base station, and the right infrared lamp can emit third infrared rays in a right direction of the cleaning base station, the control apparatus comprising:
a detection module for detecting obstacles around the clean base station;
the first control module is used for sending a first instruction for controlling the left infrared lamp to be turned off or darkened under the condition that the cleaning robot receives the first infrared rays and the obstacle only comprises a left obstacle;
the second control module is used for sending a second instruction for controlling the right infrared lamp to be turned off or darkened under the condition that the cleaning robot receives the first infrared rays and the obstacle only comprises a right obstacle;
and the third control module is used for sending a third instruction for controlling the left infrared lamp and the right infrared lamp to be turned off or darkened under the condition that the cleaning robot receives the first infrared ray and the obstacle comprises a left obstacle and a right obstacle.
7. The control device of claim 6, wherein the cleaning robot has an environmental composition module, and the detection module comprises:
the first detection submodule is used for detecting a cleaning map through the environment composition module;
a first determination submodule for determining the obstacles around the cleaning base station from the cleaning map.
8. A control method of a cleaning base station, the cleaning base station being connected to a cleaning robot in a wireless communication manner, the cleaning base station being provided with a front infrared lamp, a left infrared lamp, and a right infrared lamp, the front infrared lamp being capable of emitting first infrared rays in a front direction of the cleaning base station, the left infrared lamp being capable of emitting second infrared rays in a left direction of the cleaning base station, and the right infrared lamp being capable of emitting third infrared rays in a right direction of the cleaning base station, the control method comprising:
receiving a first instruction issued when the cleaning robot receives the first infrared ray and the obstacle includes only a left obstacle;
controlling the left infrared lamp to be turned off or dimmed in response to the first instruction;
receiving a second instruction issued in a case where the cleaning robot receives the first infrared ray and the obstacle includes only a right obstacle;
controlling the right infrared lamp to be turned off or dimmed in response to the second instruction;
receiving a third instruction issued when the cleaning robot receives the first infrared ray and the obstacle includes a left obstacle and a right obstacle;
and controlling the left infrared lamp and the right infrared lamp to be turned off or dimmed in response to the third instruction.
9. A control apparatus for a cleaning base station, wherein the cleaning base station is connected to a cleaning robot in a wireless communication manner, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can emit first infrared rays in a front direction of the cleaning base station, the left infrared lamp can emit second infrared rays in a left direction of the cleaning base station, and the right infrared lamp can emit third infrared rays in a right direction of the cleaning base station, the control apparatus comprising:
the first receiving module is used for receiving a first instruction which is sent out when the cleaning robot receives the first infrared ray and the obstacle only comprises a left obstacle;
the fourth control module is used for responding to the first instruction and controlling the left infrared lamp to be turned off or dimmed;
the second receiving module is used for receiving a second instruction which is sent out under the condition that the cleaning robot receives the first infrared ray and the obstacle only comprises a right obstacle;
the fifth control module is used for responding to the second instruction and controlling the right infrared lamp to be turned off or darkened;
a third receiving module, configured to receive a third instruction issued when the cleaning robot receives the first infrared ray and the obstacle includes a left obstacle and a right obstacle;
and the sixth control module is used for responding to the third instruction and controlling the left infrared lamp and the right infrared lamp to be turned off or dimmed.
10. A cleaning robot system comprises a cleaning robot and a cleaning base station, and is characterized in that the cleaning base station is in wireless communication connection with the cleaning robot, the cleaning base station is provided with a front infrared lamp, a left infrared lamp and a right infrared lamp, the front infrared lamp can emit first infrared rays in the front direction of the cleaning base station, the left infrared lamp can emit second infrared rays in the left direction of the cleaning base station, and the right infrared lamp can emit third infrared rays in the right direction of the cleaning base station;
the cleaning robot includes a control device of the cleaning robot according to any one of claims 6 to 7.
CN202210827198.5A 2022-07-14 2022-07-14 Control method and control device of cleaning robot and control method of cleaning base station Active CN115191888B (en)

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