CN115191890A - Control method of cleaning robot, cleaning robot and storage medium - Google Patents
Control method of cleaning robot, cleaning robot and storage medium Download PDFInfo
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- CN115191890A CN115191890A CN202210868796.7A CN202210868796A CN115191890A CN 115191890 A CN115191890 A CN 115191890A CN 202210868796 A CN202210868796 A CN 202210868796A CN 115191890 A CN115191890 A CN 115191890A
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- cleaning robot
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- target obstacle
- relative relationship
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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
- 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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The application relates to the field of cleaning robots, and discloses a control method of a cleaning robot, the cleaning robot and a storage medium, comprising the following steps: acquiring a judgment result of whether the current position of the cleaning robot is the passing position; acquiring a relative relation identifier between the cleaning robot and a target obstacle; and continuing or ending the cleaning task along the target obstacle according to the judgment result and the relative relation identifier. The application aims to improve the accuracy rate of the cleaning robot when judging whether to finish cleaning along the target barrier so as to avoid the cleaning robot from having cleaning omission.
Description
Technical Field
The present disclosure relates to the field of cleaning robots, and more particularly, to a method for controlling a cleaning robot, and a computer-readable storage medium.
Background
The current cleaning robot gradually enters a family to replace manpower to clean a house, and becomes a good helper in life of people. When the cleaning robot encounters an obstacle (such as a wall of a room, a furniture closet, a stool table chair, etc.) during a cleaning task, the cleaning robot usually performs an edgewise cleaning along the outline of the obstacle, and performs an arch-shaped covering cleaning on the remaining area after cleaning for a circle around the obstacle.
Currently, it is generally determined whether to complete a cleaning cycle around an obstacle by recording the starting point of the cleaning robot along the edge and detecting whether the cleaning robot returns to the starting point again by positioning. However, sometimes, the cleaning robot may erroneously determine that cleaning along the obstacle is completed according to the already-passing route information of the position A1 when the cleaning robot passes through the position A1 during cleaning along the wall, as shown in fig. 2, the position A1 is marked as an already-passing position, and when the cleaning robot passes through the position A1 again during cleaning along the obstacle M, the cleaning robot erroneously determines that cleaning along the obstacle is completed at this time according to the already-passing route information of the position A1.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
Disclosure of Invention
The present application provides a control method for a cleaning robot, a cleaning robot and a computer readable storage medium, which aims to improve the accuracy of the cleaning robot in determining whether to finish cleaning along a target obstacle, so as to avoid the cleaning robot from missing cleaning.
To achieve the above object, the present application provides a control method of a cleaning robot for controlling the cleaning robot to perform a cleaning task along a target obstacle, comprising:
acquiring a judgment result of whether the current position of the cleaning robot is the passing position; and the number of the first and second groups,
acquiring a relative relation identifier between the cleaning robot and a target obstacle;
and continuing or ending the cleaning task along the target obstacle according to the judgment result and the relative relation identifier.
Optionally, the step of continuing or ending the cleaning task along the target obstacle according to the judgment result and the relative relationship identifier includes:
when the current position of the cleaning robot is determined to be the passing position, determining whether the relative relation mark meets a preset condition;
the step of determining whether the relative relationship identifier meets a preset condition comprises:
and when the relative relation identifier is determined to meet the preset condition, ending the cleaning task along the target obstacle.
Optionally, the relative relationship identifier includes a first relative relationship identifier and a second relative relationship identifier, where the first relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle at present, and the second relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle when the cleaning robot is located at the present position before.
Optionally, the first relative relationship identifier includes a first relative direction, and the second relative relationship identifier includes a second relative direction;
and when the included angle between the first relative direction and the second relative direction is determined to be within a preset angle range, determining that the relative relation identifier meets the preset condition.
Optionally, the first relative relationship identifier includes a first tangent point position, and the second relative relationship identifier includes a second tangent point position;
and when the distance between the first tangent point position and the second tangent point position is determined to be within a preset distance range, determining that the relative relationship identifier meets the preset condition.
Optionally, the step of continuing or ending the task of cleaning along the target obstacle according to the judgment result and the relative relationship identifier includes:
determining that the current position is a position which is not passed by;
associating a relative relationship identification between the cleaning robot and a target obstacle at present with the present position;
marking the current position as a passed position, and marking a relative relationship identifier of the current position; and (c) a second step of,
continuing the along-target obstacle cleaning task.
Optionally, the step of determining whether the relative relationship identifier satisfies a preset condition further includes:
when the relative relation identifier is determined not to meet the preset condition;
associating a relative relationship identification between the cleaning robot and a target obstacle at present with the present position;
marking the relative relation identification of the current position; and the number of the first and second groups,
continuing the along-target obstacle cleaning task.
Optionally, the control method of the cleaning robot further includes:
acquiring the information of a working area corresponding to the cleaning robot to establish a grid map so that the cleaning robot can move along the grid map, wherein each position of the cleaning robot corresponds to at least one grid in the grid map.
Optionally, the control method of the cleaning robot further includes:
if the cleaning task along the target obstacle is finished, controlling the cleaning robot to exit from a cleaning mode along the target obstacle, and saving a cleaning path and a corresponding obstacle when cleaning along the target obstacle next time in the grid map;
and controlling the cleaning robot to execute the along-target-obstacle cleaning mode according to the cleaning path when the cleaning robot executes the along-target-obstacle cleaning mode again for the corresponding obstacle.
To achieve the above object, the present application also provides a cleaning robot including: the control program of the cleaning robot realizes the steps of the control method of the cleaning robot when being executed by the processor.
To achieve the above object, the present application also provides a computer-readable storage medium having a control program of a cleaning robot stored thereon, which when executed by a processor, implements the steps of the control method of the cleaning robot as described above.
According to the control method of the cleaning robot, the cleaning robot and the computer readable storage medium, whether cleaning of the cleaning robot along the target obstacle is completed or not is judged jointly by recording the cleaning position and the cleaning direction of the cleaning robot when the cleaning robot is cleaned along the target obstacle and identifying the relative relation between the target obstacle and the cleaning robot, accuracy of judging whether the cleaning robot finishes cleaning along the target obstacle is improved, and the cleaning robot is prevented from being missed in cleaning.
Drawings
FIG. 1 is a schematic diagram illustrating steps of a method for controlling a cleaning robot according to an embodiment of the present disclosure;
FIG. 2 is a diagram illustrating an exemplary cleaning robot along a target obstacle according to an embodiment of the present disclosure;
FIG. 3 is a diagram illustrating an example of a relative orientation of a cleaning robot according to an embodiment of the present disclosure;
FIG. 4 is an exemplary illustration of an exemplary relative relationship between a cleaning robot and a target obstacle in an embodiment of the present application;
FIG. 5 is a diagram illustrating another example of the relative relationship between a cleaning robot and a target obstacle in an embodiment of the present application;
FIG. 6 is an exemplary illustration of an identification of a cleaning robot relative to a target obstacle in another embodiment of the present application;
FIG. 7 is an exemplary illustration of an identification of a cleaning robot relative to a target obstacle in accordance with yet another embodiment of the present application;
FIG. 8 is a schematic diagram illustrating the steps of a method for controlling a cleaning robot according to another embodiment of the present disclosure;
FIG. 9 is a schematic diagram illustrating the steps of a method for controlling a cleaning robot according to another embodiment of the present disclosure;
FIG. 10 is a schematic diagram illustrating a control method of a cleaning robot according to still another embodiment of the present application;
fig. 11 is a schematic block diagram of an internal structure of a cleaning robot according to an embodiment of the present application.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only and are not to be construed as limiting the present invention, and all other embodiments that can be made by one skilled in the art without inventive effort based on the embodiments of the present invention shall fall within the scope of protection of the present invention.
Referring to fig. 1, in an embodiment, a control method of the cleaning robot for controlling the cleaning robot to perform a cleaning task along a target obstacle includes:
s10, obtaining a judgment result of whether the current position of the cleaning robot is a passing position; and the number of the first and second groups,
s20, acquiring a relative relation identifier between the cleaning robot and a target obstacle;
and S30, continuing or ending the cleaning task along the target obstacle according to the judgment result and the relative relation identifier.
In this embodiment, the execution of the embodiment may be a cleaning robot, or may be a device (such as a computer system, a server, a base station of the cleaning robot, etc.) for controlling the cleaning robot; the following description will be given by taking an example of a cleaning robot.
Alternatively, if an obstacle (such as a wall of a room, a furniture closet, a chair of a stool table, etc.) is encountered during the cleaning task performed by the cleaning robot, the obstacle currently encountered may be marked as a target obstacle, and a cleaning mode along the target obstacle is performed to move and clean along the contour or edge of the target obstacle (as shown in fig. 2, the cleaning robot may clean the corresponding obstacle or a ground area in the vicinity thereof for at least one circle along the contour of the obstacle; for a large (or complex-structured) obstacle in which it is difficult for the cleaning robot to circle around a circle for a wall, the cleaning robot may move and clean as close to the edge of the obstacle as possible); alternatively, when the cleaning robot enters the edgewise cleaning mode, an obstacle in the working area of the cleaning robot may be set as a target obstacle, and edgewise cleaning may be performed along the contour of the target obstacle.
Optionally, when the cleaning robot cleans along the target obstacle, a determination result of whether the current position of the cleaning robot is the passing position may be obtained, and a relative relationship identifier between the cleaning robot and the target obstacle may be obtained, so as to jointly determine whether the cleaning of the cleaning robot along the target obstacle is completed.
The step of obtaining the judgment result whether the current position of the cleaning robot is the passing position (i.e. step S10) and the step of obtaining the relative relationship identifier between the cleaning robot and the target obstacle (i.e. step S20) may be performed in a non-sequential manner (i.e. steps S10 and S20 may be performed simultaneously; step S10 may be performed first and then step S20 may be performed; step S20 may be performed first and then step S10 may be performed).
Optionally, judging whether the current position of the cleaning robot is a passed position, and then analyzing a relative relationship identifier between the cleaning robot and the target obstacle; or analyzing a relative relation identifier between the cleaning robot and the target obstacle, and then judging whether the current position of the cleaning robot is the passing position; alternatively, the step of obtaining the determination result of whether the current position of the cleaning robot is the passed position and the step of analyzing the relative relationship flag between the cleaning robot and the target obstacle may be performed simultaneously.
Optionally, a plurality of grids are pre-divided based on the specific layout of the working area where the cleaning robot is located, and a corresponding grid map is established. Each grid in the grid map may be a regular polygon (such as an equilateral triangle, a square, a hexagon, etc.), or may be an irregular polygon; each position of the cleaning robot in the working area may be composed of at least one grid.
Alternatively, the position of the cleaning robot in the working area may be represented by building a longitude and latitude map.
Wherein each location of the cleaning robot in the work area is unique, whether using a grid map or a latitude and longitude map, or other means by which the location of the cleaning robot in the work area can be marked, and each location has a corresponding mark to distinguish it from the other locations.
Alternatively, the position where the cleaning robot is currently located in the working area is recorded as the current position. It should be understood that as the cleaning robot is continuously moved (i.e., continuously switched to the location), the current location of the cleaning robot is also changed.
Optionally, the traversed position is characterized as a position at which the cleaning robot traversed (or reached) at least once in the working area when cleaning along the target obstacle next time. For example, when the cleaning robot reaches the W1 position for the first time in the process of cleaning along the target obstacle, the W1 position does not belong to the passed position, and when the cleaning robot leaves the W1 position (e.g., enters the W2 position) and returns to the W1 position, the W1 position belongs to the passed position.
And the position which is passed by the cleaning robot before cleaning along the target obstacle is not recorded as the passed position, namely, the previously marked passed position is cleared when the cleaning robot performs a cleaning task along the target obstacle every time.
Optionally, when a determination result of whether the current position of the cleaning robot is the passed position is obtained, it is determined whether the current position of the cleaning robot is the passed position (e.g., whether the current position is marked as the passed position in the data recorded by the detection). If the current position is detected to be the passing position, generating a judgment result that the current position is the passing position; and if the current position is detected not to be the passed position, generating a judgment result that the current position is not the passed position.
If the judgment result shows that the current position is not the passing position, the cleaning robot can be directly judged to be not finished along the target obstacle; if the judgment result shows that the current position is the passing position, whether the cleaning of the cleaning robot along the target obstacle is finished or not is judged by combining the relative relation identification between the cleaning robot and the target obstacle.
Optionally, in the process of performing the task of cleaning along the target obstacle, when each position is reached, if the target obstacle is detected near the current position (i.e., the current position), the relative relationship identifier between the cleaning robot and the target obstacle may be obtained in real time or at regular time. The cleaning robot may detect whether a target obstacle exists in a certain area range by means of a distance measuring sensor, image detection (for example, a camera is used to acquire a peripheral image for analysis), collision detection, and the like.
Optionally, the relative relationship identification may be used to characterize a relative positional relationship between the cleaning robot and the target obstacle.
Alternatively, the relative relationship identification may be a relative direction between the cleaning robot and the target obstacle. As shown in fig. 3, the cleaning robot may be used as a center, and a plurality of directions (for example, eight directions including front, rear, left, right, front left, rear left, front right, and rear right) are divided around the cleaning robot, each direction corresponds to a certain angle range (for example, when the periphery of the cleaning robot is divided into eight directions by 360 °, the angle range corresponding to each direction is 45 °), and by detecting which direction the target obstacle falls within the angle range corresponding to which direction, the relative direction between the cleaning robot and the target obstacle is the direction corresponding to the angle range in which the target obstacle is located (for example, if the target obstacle is located within the 45 ° range corresponding to the front of the cleaning robot, the relative relationship between the two is identified as that the target obstacle is located in front of the cleaning robot); in addition, during the process that the cleaning robot travels along the edge of the target obstacle and cleans, as shown in fig. 4, every time a position is changed, the relative direction between the cleaning robot and the target obstacle can be updated as the relative relationship identifier of the cleaning robot and the target obstacle, that is, the relative direction between the cleaning robot and the target obstacle can be obtained at each position. If the target obstacle is large in size (for example, the size of the target obstacle can span multiple angle ranges), any one of the mark points (for example, the center point of the target obstacle) of the target obstacle can be selected as a reference, and the relative direction between the cleaning robot and the target obstacle is analyzed by judging the direction angle range in which the mark point is located.
For example, when the cleaning robot performs cleaning along the target obstacle next time, referring to fig. 5, the target obstacle 1 and the target obstacle 2 are adjacent to each other, and the cleaning robot passes through the position A2 during the cleaning along the target obstacle 1 and the target obstacle 2, it is necessary to determine which target obstacle is to be cleaned along the edge at this time according to the relative relationship identifier each time the robot travels to the position A2, so as to avoid erroneous determination, for example, as shown in fig. 5, when the cleaning robot performs cleaning for the target obstacle 1, the relative direction between the cleaning robot and the target obstacle 1 at the position A2 is directed to the left, and when the cleaning robot performs cleaning for the target obstacle 2, the relative direction between the cleaning robot and the target obstacle 2 at the position A2 is directed to the right, so that the target obstacle to which the cleaning robot currently performs the edge cleaning task can be distinguished quickly and simply, and the efficiency of the cleaning robot performing the edge cleaning on the target obstacle and the accurate cleaning rate of the target obstacle along the cleaning robot are improved.
Alternatively, when determining the relative direction between the cleaning robot and the target obstacle, the relative direction between the target obstacle and the cleaning robot may be determined jointly based on the orientation of the position of the target obstacle with respect to the current position of the cleaning robot and the current orientation of the cleaning robot, with reference to the orientation of the cleaning robot (e.g., the direction in which the cleaning robot travels). For example, as shown in fig. 6, in a grid map where the cleaning robot is located, the target obstacle is located on the south side of the grid (i.e., the current position) where the cleaning robot is currently located, and when the cleaning robot moves in the east direction, the relative direction between the cleaning robot and the target obstacle is that the target obstacle is located on the right side of the forward direction of the cleaning robot (as shown in the left diagram in fig. 6); if the cleaning robot moves in the westward direction, the relative direction between the cleaning robot and the target obstacle is the left side of the traveling direction of the cleaning robot (as shown in the right diagram of fig. 6). That is, even if the positions of the cleaning robot and the target obstacle are not changed, if the direction of the cleaning robot is changed, the relative direction of the cleaning robot and the target obstacle is changed accordingly.
Optionally, when the cleaning robot cleans along the target obstacle, the cleaning robot cleans along a tangential direction of the target obstacle, and a tangential point of the tangential direction is a contact point (shown as point Q in fig. 7) when the cleaning robot approaches the target obstacle, and the tangential direction is formed by combining the tangential point and a direction in which the cleaning robot cleans the target obstacle along the edge. Therefore, the position of the tangent point of the cleaning robot when cleaning along the target obstacle (such as the coordinate of the tangent point in the working area) or the direction of the tangent point (such as the coordinate of the tangent point in the working area and the movement direction of the cleaning robot) can be recorded as the relative relationship between the cleaning robot and the target obstacle.
Optionally, when the cleaning robot cleans along the target obstacle, whether the cleaning robot completes cleaning along the target obstacle may be determined by determining whether the current position is the passing position, or detecting whether the relative relationship identifier between the cleaning robot and the target obstacle meets a preset condition, and analyzing whether the current position is the passing position. If the relative relation identification between the cleaning robot and the target obstacle meets the preset condition and the current position is the passing position, judging that the cleaning of the cleaning robot along the target obstacle is finished, and finishing the cleaning task along the target obstacle by the cleaning robot; if the relative relation identification between the cleaning robot and the target obstacle does not meet the preset condition or the current position is not the passing position, judging that the cleaning of the cleaning robot along the target obstacle is not finished, and continuing the cleaning task along the target obstacle by the cleaning robot so as to continue to carry out edge cleaning on the target obstacle; and if the relative relation identification between the cleaning robot and the target obstacle does not meet the preset condition and the current position is not the passing position, judging that the cleaning of the cleaning robot along the target obstacle is not finished, and continuing the cleaning task along the target obstacle by the cleaning robot so as to continue to clean the target obstacle along the edge.
Optionally, the preset condition is that a comparison result of the first relative relationship identifier and the second relative relationship identifier is within a preset deviation range. When the cleaning robot is located at the current position at the current moment (i.e. when the cleaning robot arrives at the current position at the current moment), the relative relationship between the cleaning robot and the target obstacle is marked as a first relative relationship mark, and when the cleaning robot is located at the current position at the previous moment (i.e. when the cleaning robot arrives at the current position before the current moment), the relative relationship between the cleaning robot and the target obstacle is marked as a second relative relationship mark. For example, when the cleaning robot is located at the W1 position at time T1, the relative relationship between the cleaning robot and the target obstacle is denoted by "a", when the cleaning robot returns to the W1 position again at time T2 after leaving the W1 position, the relative relationship between the cleaning robot and the target obstacle is denoted by "b", and at this time, the relative relationship is denoted by "a" as the second relative relationship, and the relative relationship is denoted by "b" as the first relative relationship.
Optionally, if the relative relationship identifier between the cleaning robot and the target obstacle includes a relative direction, the preset deviation range may be a preset angle range (e.g., set to [ -10 °,10 ° ]), that is, an included angle formed between the relative direction corresponding to the first relative relationship identifier (i.e., the first relative direction) and the relative direction corresponding to the second relative relationship identifier (i.e., the second relative direction) is determined, if the angle of the included angle is within the preset angle range, it is determined that the preset condition is satisfied, and if the angle of the included angle is outside the preset angle range, it is determined that the preset condition is not satisfied.
Alternatively, if the relative relationship flag between the cleaning robot and the target obstacle includes a tangent point position, the preset deviation range may be a preset distance range (e.g., set to [0cm,20cm ]), that is, a distance between a tangent point position corresponding to the first relative relationship flag (i.e., the first tangent point position) and a tangent point position corresponding to the second relative relationship flag (i.e., the second tangent point position) is determined, and if a value of the distance is within the preset distance range, it is determined that the preset condition is satisfied, and if a value of the distance is outside the preset angle range, it is determined that the preset condition is not satisfied.
Optionally, if the relative relationship identifier between the cleaning robot and the target obstacle includes a tangential direction, the preset deviation range may be a preset angle range (e.g., [ -10 °,10 ° ]), that is, an included angle formed between the tangential direction corresponding to the first relative relationship identifier (i.e., the first tangential direction) and the tangential direction corresponding to the second relative relationship identifier (i.e., the second tangential direction) is determined, if the included angle is within the preset angle range, it is determined that the preset condition is satisfied, and if the included angle is outside the preset angle range, it is determined that the preset condition is not satisfied.
Optionally, the relative relationship identifier includes at least one of a relative direction, a tangential point position, and a tangential direction; that is, on the premise that the current position is the passing position, it is determined that cleaning along the target obstacle is completed only if at least one of the relative relationship identifiers satisfies a preset condition, or else it is determined that cleaning along the target obstacle is not completed. Of course, the more the types of the relative relationship identifiers used for determining whether the preset conditions are met, the higher the accuracy of the determination result. If the current position is set as the passing position, the relative direction between the cleaning robot and the target obstacle and the position of the tangent point do not meet the preset conditions, and then the cleaning along the target obstacle can be judged to be finished, otherwise, the cleaning along the target obstacle is judged to be not finished.
Optionally, if it is determined that the cleaning along the target obstacle is completed, the cleaning robot ends the cleaning task along the target obstacle; if it is determined that the cleaning along the target obstacle is not complete, the cleaning robot continues to perform the cleaning task along the target obstacle.
Therefore, the cleaning position and the cleaning direction of the cleaning robot along the target obstacle during cleaning are recorded, and whether the cleaning of the cleaning robot along the target obstacle is finished or not is judged together according to the relative relation identification of the target obstacle and the cleaning robot, so that the accuracy of judging whether the cleaning robot finishes cleaning along the target obstacle or not is improved, the edge cleaning is finished when the cleaning is finished, the edge cleaning is continued when the cleaning is not finished, and the cleaning robot is prevented from missing cleaning.
In an embodiment, referring to fig. 8, on the basis of the above embodiment, the step of continuing or ending the cleaning task along the target obstacle according to the determination result and the relative relationship identifier includes:
s40, when the current position of the cleaning robot is determined to be the passing position, determining whether the relative relation identifier meets a preset condition;
and S41, when the relative relation identifier is determined to meet the preset condition, ending the cleaning task along the target obstacle.
In this embodiment, when the cleaning robot performs cleaning along the target obstacle in the working area, each time the cleaning robot reaches or passes a position, it is possible to detect whether the current position (i.e., the current position) is the passed position based on past records.
Optionally, if it is detected that the current position is not the position passed by, it is directly determined that the corresponding task of cleaning along the target obstacle is not finished, and the cleaning robot continues to perform the task of cleaning along the target obstacle.
Optionally, if it is detected that the current position is a passing position, it is determined whether cleaning of the cleaning robot along the target obstacle is completed by analyzing a relative relationship identifier between the cleaning robot and the target obstacle. Whether the relative relation identification between the cleaning robot and the target obstacle meets the preset condition or not can be detected, so that whether the cleaning of the cleaning robot along the target obstacle is finished or not is judged.
Optionally, if the relative relationship identifier between the cleaning robot and the target obstacle meets a preset condition, it is determined that cleaning of the cleaning robot along the target obstacle is completed, and the cleaning robot ends the cleaning task along the target obstacle; and if the relative relation identification between the cleaning robot and the target obstacle does not meet the preset condition, judging that the cleaning of the cleaning robot along the target obstacle is not finished, and continuing the cleaning task along the target obstacle by the cleaning robot.
Therefore, whether the cleaning along the edge is finished or not is further judged by judging whether the current position of the cleaning robot is the passing position or not and by using the relative relation identification between the cleaning robot and the target barrier when the current position is the passing position, so that the accuracy of the cleaning robot in judging whether the cleaning along the target barrier is finished or not is improved, and the analysis and judgment efficiency is also improved.
In an embodiment, on the basis of the above embodiment, the relative relationship identifier includes a first relative relationship identifier and a second relative relationship identifier, the first relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle at the present time, and the second relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle when the cleaning robot was located at the present position before.
In this embodiment, when it is determined whether the cleaning of the cleaning robot along the target obstacle is completed by using the relative relationship identifier between the cleaning robot and the target obstacle, the first relative relationship identifier and the second relative relationship identifier between the cleaning robot and the target obstacle may be obtained first and second.
The first relative relation mark is a relative relation mark between the cleaning robot and a target obstacle when the cleaning robot is located at the current position at the current moment; the second relative relationship identification is a relative relationship identification between the cleaning robot and the target obstacle when the cleaning robot was previously located at the current position (i.e., when the current position was reached before the current time). For example, when the cleaning robot is located at the W1 position at time T1, the relative relationship between the cleaning robot and the target obstacle is denoted by a, and when the cleaning robot returns to the W1 position again at time T2 after leaving the W1 position, the relative relationship between the cleaning robot and the target obstacle is denoted by b, and at this time, the relative relationship flag a is denoted as the second relative relationship flag, and the relative relationship flag b is denoted as the first relative relationship flag.
It should be noted that, in addition to the first relative relationship identifier, the relative relationship identifiers between the cleaning robot and the target obstacle when the cleaning robot is located at the current position before the cleaning robot is located at the current position are all recorded as the second relative relationship identifiers (that is, in the process of cleaning along the target obstacle at this time, before the cleaning robot reaches the current position at present, if the cleaning robot reaches the current position for multiple times, multiple second relative relationship identifiers may be recorded).
And as long as the cleaning robot has a relative relation mark with the target obstacle at any position, the corresponding relative relation mark can be associated with the position. For example, at the W1 position, a relative relationship flag b between the cleaning robot and the target obstacle (a first relative relationship flag described as W1 association) may be associated, and at the W2 position, a relative relationship flag c between the cleaning robot and the target obstacle (a first relative relationship flag described as W2 association) may be associated.
Optionally, when a first relative relationship identifier and a second relative relationship identifier associated with the current position where the cleaning robot is located are obtained, the first relative relationship identifier and the second relative relationship identifier are compared, and whether the cleaning robot completes cleaning along the target obstacle is determined by detecting whether a comparison result meets a preset condition.
Optionally, the preset condition is that a comparison result of the first relative relationship identifier and the second relative relationship identifier is within a preset deviation range; or the preset condition is that the first relative relationship identifier is consistent with the second relative relationship identifier.
Optionally, if the relative relationship identifier between the cleaning robot and the target obstacle includes a relative direction, the first relative relationship identifier includes a first relative direction, and the second relative relationship identifier includes a second relative direction; the preset deviation range may be a preset angle range (e.g., -10 ° or 10 °), that is, an included angle formed between a relative direction (i.e., a first relative direction) corresponding to the first relative relationship identifier and a relative direction (i.e., a second relative direction) corresponding to the second relative relationship identifier is determined, if the angle of the included angle is within the preset angle range, it is determined that the preset condition is satisfied, and if the angle of the included angle is outside the preset angle range, it is determined that the preset condition is not satisfied; or, if the relative direction (i.e., the first relative direction) corresponding to the first relative relationship identifier is consistent with the relative direction (i.e., the second relative direction) corresponding to the second relative relationship identifier (if an included angle between the first relative direction and the second relative direction is 0 °), it is determined that the preset condition is satisfied, and if the first relative direction is inconsistent with the second relative direction, it is determined that the preset condition is not satisfied.
Optionally, if the relative relationship identifier between the cleaning robot and the target obstacle includes a tangent point position, the first relative relationship identifier includes a first tangent point position, and the second relative relationship identifier includes a second tangent point position; the preset deviation range may be a preset distance range (e.g., set to [0cm,20cm ]), that is, determining a distance between a tangent point position corresponding to the first relative relationship identifier (i.e., the first tangent point position) and a tangent point position corresponding to the second relative relationship identifier (i.e., the second tangent point position), if a value of the distance is within the preset distance range, determining that a preset condition is met, and if the value of the distance is outside the preset angle range, determining that the preset condition is not met; or, if the position of the tangent point corresponding to the first relative relationship identifier (i.e., the first tangent point position) is consistent with the position of the tangent point corresponding to the second relative relationship identifier (i.e., the second tangent point position), it is determined that the preset condition is satisfied, and if the position of the first tangent point is not consistent with the second tangent point position, it is determined that the preset condition is not satisfied.
Optionally, if the relative relationship identifier between the cleaning robot and the target obstacle includes a tangential direction, the first relative relationship identifier includes a first tangential direction, and the second relative relationship identifier includes a second tangential direction; the preset deviation range may be a preset angle range (e.g., -10 ° or 10 °), that is, an included angle formed between a tangential direction corresponding to the first relative relationship identifier (i.e., the first tangential direction) and a tangential direction corresponding to the second relative relationship identifier (i.e., the second tangential direction) is determined, if the included angle is within the preset angle range, it is determined that the preset condition is satisfied, and if the included angle is outside the preset angle range, it is determined that the preset condition is not satisfied; or, if the tangential direction (i.e. the first tangential direction) corresponding to the first relative relationship identifier is consistent with the tangential direction (i.e. the second tangential direction) corresponding to the second relative relationship identifier, it is determined that the preset condition is satisfied, and if the first tangential direction is not consistent with the second tangential direction, it is determined that the preset condition is not satisfied.
Optionally, if it is detected that the comparison result of the first relative relationship identifier and the second relative relationship identifier does not satisfy the preset condition, it is determined that the cleaning of the cleaning robot along the target obstacle is not completed, and the cleaning robot continues to perform a task of cleaning along the target obstacle; and if the comparison result of the first relative relation identifier and the second relative relation identifier is detected to meet the preset condition, judging that the cleaning of the cleaning robot along the target obstacle is finished, and finishing the cleaning task along the target obstacle by the cleaning robot.
Therefore, when the current position where the cleaning robot is located is the passing position, whether the preset condition is met or not is detected based on the first relative relation identifier and the second relative relation identifier, so that the mode that the cleaning robot cleans the target obstacle at the current position in advance is judged (the mode that the cleaning robot cleans the target obstacle at the current position can be determined or adjusted according to the relative relation identifiers of the first relative relation identifier and the second relative relation identifier; the cleaning mode can refer to the cleaning direction, the cleaning angle, the cleaning range and the like), whether the mode is consistent with the mode that the cleaning robot cleans the target obstacle at the current position (if the preset condition is met, the cleaning mode is consistent, otherwise, the cleaning mode is inconsistent), and when the front and back cleaning modes are consistent, the cleaning robot is judged to be finished along the target obstacle, so that the accuracy of judging whether the cleaning robot finishes cleaning along the target obstacle is improved, repeated or excessive cleaning of the target obstacle is avoided, and cleaning of the target obstacle is avoided being omitted (namely, if the cleaning mode is inconsistent, the target obstacle is continuously cleaned along the determined cleaning mode).
In an embodiment, referring to fig. 9, on the basis of the above embodiment, the step of continuing or ending the cleaning task along the target obstacle according to the determination result and the relative relationship identifier includes:
s50, determining that the current position is a position which is not passed by;
s51, associating the relative relation identification between the current cleaning robot and the target obstacle and the current position;
step S52, marking the current position as a passing position, and marking a relative relationship identifier of the current position; and (c) a second step of,
and S53, continuing the cleaning task along the target obstacle.
In this embodiment, when it is required to determine whether cleaning along a target obstacle is completed by the cleaning robot currently, if it is detected that the current position of the cleaning robot is not the passed position (that is, the cleaning robot reaches the current position for the first time in the process of cleaning along the target obstacle currently), it is determined that cleaning along the target obstacle by the cleaning robot is not completed, and the relative relationship identifier between the cleaning robot and the target obstacle and the current position are associated, and the current position is marked as the passed position, the relative relationship identifier of the current position is marked, and the cleaning robot is further required to perform a corresponding cleaning task along the target obstacle at the current position.
When the cleaning robot performs a corresponding task of cleaning along the target obstacle, the relative relationship identifier between the cleaning robot and the target obstacle at the current position may be obtained, the manner (such as the cleaning direction, angle, range, etc.) of cleaning the target obstacle at the current position may be determined according to the relative relationship identifier between the cleaning robot and the target obstacle, and then the target obstacle may be cleaned along the edge according to the determined cleaning manner.
Alternatively, when it is determined that the current position is a position that has not passed by, and the cleaning robot performs a corresponding cleaning task along the target obstacle at the current position, the relative relationship flag between the current position of the cleaning robot and the target obstacle may be associated with the current position (for example, the association information of the two is recorded in the database), while the current position is marked as the position that has passed by, and when the cleaning robot enters the next position, the relative relationship flag of the current position may be further marked (when the next position is entered, the next position is a new current position, and the previous position of the new current position is the position that has passed by), and when the cleaning robot returns to the position that has passed by again, the relative relationship flag between the cleaning robot and the target obstacle that was previously determined at the previous position may be automatically marked as the second relative relationship flag, and when the cleaning robot returns to the position that has passed by again, the relative relationship flag between the cleaning robot and the target obstacle that was newly obtained may be automatically marked as the first relative relationship flag), and the step S10 and/or S20 may be returned to the next position.
In this way, if the current position of the cleaning robot is detected, the current position is not the position passed by in the cleaning process along the target obstacle, and it is indicated that the cleaning robot has not cleaned the target obstacle at the current position, so that it can be directly determined that the cleaning of the cleaning robot along the target obstacle is not completed, and the cleaning robot is allowed to execute a corresponding cleaning task along the target obstacle at the current position, so as to avoid missing the cleaning of the target obstacle.
In an embodiment, referring to fig. 10, on the basis of the foregoing embodiment, the step of determining whether the relative positional relationship identifier satisfies a preset condition further includes:
step S42, when the relative relation mark is determined not to meet the preset condition;
step S43, associating the relative relation identification between the current cleaning robot and the target obstacle and the current position;
s44, marking a relative relation identifier of the current position; and the number of the first and second groups,
and S45, continuing the task of cleaning along the target obstacle.
In this embodiment, in the current position of the cleaning robot, if it is determined that the current position of the cleaning robot is the passing position, and if it is determined that the relative relationship identifier between the cleaning robot and the target obstacle does not satisfy the preset condition, it is determined that the cleaning of the cleaning robot along the target obstacle is not completed, the relative relationship identifier between the cleaning robot and the target obstacle and the current position are associated, the relative relationship identifier of the current position is marked, and the cleaning robot continues the cleaning task along the target obstacle (i.e., the cleaning robot needs to perform a corresponding cleaning task along the target obstacle at the current position).
When the cleaning robot performs a corresponding task of cleaning along the target obstacle, the relative relationship identifier between the cleaning robot and the target obstacle at the current position may be obtained, the manner (such as the cleaning direction, angle, range, etc.) of cleaning the target obstacle at the current position may be determined according to the relative relationship identifier between the cleaning robot and the target obstacle, and then the target obstacle may be cleaned along the edge according to the determined cleaning manner.
Optionally, when the cleaning robot performs a corresponding cleaning task along the target obstacle at the current position, the relative relationship identifier between the current position of the cleaning robot and the target obstacle may be associated with the current position (for example, the associated information of the two is recorded in the database, if the current position is not the position that has passed through before, the current position is further marked as the position that has passed through), and when the cleaning robot enters the next position, the relative relationship identifier of the current position may be further marked (when the cleaning robot enters the next position, the next position is the new current position, and the previous position of the new current position is the position that has passed through), and the relative relationship identifier between the cleaning robot and the target obstacle determined at the previous position may be automatically marked as the second relative relationship identifier, and when the cleaning robot returns to the position again, the relative relationship identifier between the cleaning robot and the target obstacle that has been newly acquired may be automatically marked as the first relative relationship identifier, and the step S10 and/or S20 may be continued again at the next position.
In this way, when the cleaning along the target obstacle is not completed at the current position where the cleaning robot is located, the cleaning robot is caused to perform a corresponding cleaning task along the target obstacle at the current position, so that the cleaning of the target obstacle is prevented from being missed.
In an embodiment, on the basis of the above embodiment, the control method of the cleaning robot further includes:
acquiring the information of a working area corresponding to the cleaning robot to establish a grid map so that the cleaning robot can move along the grid map, wherein each position of the cleaning robot corresponds to at least one grid in the grid map.
In this embodiment, information of a work area corresponding to a work area where the cleaning robot is located (which may include information related to a specific layout of the work area, such as an area size and wall distribution information) is obtained in advance, a plurality of meshes are divided in advance, and a corresponding mesh map is established. Each grid in the grid map may be a regular polygon (such as an equilateral triangle, a square, a hexagon, etc.), or may be an irregular polygon; each position of the cleaning robot in the working area can be composed of at least one grid; each position of the cleaning robot in the working area is unique and each position has a corresponding mark to distinguish it from other positions. The following description will be given taking each grid as one position as an example.
Alternatively, the cleaning robot may travel along a grid map and move grid by grid with each grid as a location as it moves through the work area. Meanwhile, in the process of traveling of the cleaning robot, if the position of the target obstacle is detected, the position of the target obstacle can be mapped into a grid map (certainly, the position of the target obstacle can also be stored in the grid map in advance), and the target obstacle is cleaned along the edge according to the position of the target obstacle in the grid map.
Therefore, by establishing the grid map, the cleaning robot can conveniently and quickly know the relative relation identification between the cleaning robot and the target obstacle, and the cleaning robot can more efficiently clean the target obstacle along the edge based on the relative relation identification between the cleaning robot and the target obstacle.
In an embodiment, on the basis of the above embodiment, the control method of the cleaning robot further includes:
if the cleaning task along the target obstacle is finished, controlling the cleaning robot to exit from a cleaning mode along the target obstacle, and saving a cleaning path and a corresponding obstacle when cleaning along the target obstacle next time in the grid map;
and controlling the cleaning robot to execute the along-target-obstacle cleaning mode according to the cleaning path when the cleaning robot executes the along-target-obstacle cleaning mode again for the corresponding obstacle.
In this embodiment, after the cleaning robot has finished the cleaning task along the target obstacle, the cleaning robot may exit the cleaning mode along the target obstacle to end the cleaning of the target obstacle. Meanwhile, when the cleaning robot executes the along-target-obstacle cleaning mode at this time, the traveling path (namely, the cleaning path) of the cleaning robot when the cleaning robot performs the along-target-obstacle cleaning and the position of the target obstacle can be related and stored in the grid map.
Optionally, when the cleaning robot performs the obstacle-following cleaning mode on the corresponding obstacle again, whether the corresponding obstacle position is stored in the grid map is detected according to the position of the target obstacle currently detected by the cleaning robot.
Optionally, if it is not detected that the target obstacle has a corresponding obstacle position stored in the grid map, the target obstacle is cleaned directly along the target obstacle according to a preset edge cleaning program, and step S10 and/or step S20 are/is executed.
Optionally, if it is detected that the target obstacle has a corresponding obstacle position stored in the grid map, a cleaning path associated with the obstacle position is acquired, and the cleaning robot executes the along-target-obstacle cleaning mode according to the acquired cleaning path to clean the target obstacle edgewise, so that efficiency of the cleaning robot in cleaning along the target obstacle is improved.
Referring to fig. 11, in an embodiment of the present application, there is also provided a cleaning robot, and an internal structure of the cleaning robot may be as shown in fig. 11. The cleaning robot includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The storage of the cleaning robot comprises a nonvolatile storage medium and an internal storage. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the cleaning robot is used for a control program of the cleaning robot. The network interface of the cleaning robot is used for communicating with an external terminal through network connection. The input device of the cleaning robot is used for receiving signals input by external equipment. The computer program is executed by a processor to implement a control method of a cleaning robot as described in the above embodiments.
It will be understood by those skilled in the art that the structure shown in fig. 11 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation of the cleaning robot to which the present application is applied.
Further, the present application also proposes a computer-readable storage medium including a control program of a cleaning robot, which when executed by a processor, implements the steps of the control method of a cleaning robot as described in the above embodiments. It is to be understood that the computer-readable storage medium in the present embodiment may be a volatile-readable storage medium or a non-volatile-readable storage medium.
In summary, for the control method of the cleaning robot, the cleaning robot and the computer readable storage medium provided in the embodiment of the present application, by recording the cleaning position and the cleaning direction of the cleaning robot when cleaning along the target obstacle, and according to the relative relationship identifier between the target obstacle and the cleaning robot, it is determined whether the cleaning along the target obstacle by the cleaning robot is completed, so that the accuracy of the cleaning robot in determining whether to finish the cleaning along the target obstacle is improved. Therefore, when the cleaning robot passes through the cleaning starting point or is close to the cleaning starting point when the cleaning along the target obstacle is not finished, if the relative direction of the obstacle and the cleaning position is inconsistent with the corresponding cleaning direction, the cleaning along the target obstacle cannot be judged by mistake, and the condition that the cleaning along the target obstacle is finished too early and the cleaning omission is caused due to the misjudgment is avoided.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (SSRDRAM), enhanced SDRAM (ESDRAM), synchronous Link (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, apparatus, article, or method that comprises the element.
The above description is only for the preferred embodiment of the present application and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (11)
1. A control method of a cleaning robot for controlling the cleaning robot to perform a cleaning task along a target obstacle, comprising:
acquiring a judgment result of whether the current position of the cleaning robot is a passing position; and the number of the first and second groups,
acquiring a relative relation identifier between the cleaning robot and a target obstacle;
and continuing or ending the cleaning task along the target obstacle according to the judgment result and the relative relation identifier.
2. The control method of a cleaning robot according to claim 1, wherein the step of continuing or ending the task of cleaning along the target obstacle based on the determination result and the relative relationship flag includes:
when the current position of the cleaning robot is determined to be the passing position, determining whether the relative relation mark meets a preset condition;
the step of determining whether the relative relationship identifier meets a preset condition comprises:
and when the relative relation identifier is determined to meet the preset condition, ending the cleaning task along the target obstacle.
3. The control method of a cleaning robot according to claim 2, wherein the relative relationship flag includes a first relative relationship flag that is a relative relationship flag between the cleaning robot and the target obstacle at the present time and a second relative relationship flag that is a relative relationship flag between the cleaning robot and the target obstacle when the cleaning robot was previously located at the present position.
4. The control method of a cleaning robot according to claim 3, wherein the first relative relationship flag includes a first relative direction, and the second relative relationship flag includes a second relative direction;
and when the included angle between the first relative direction and the second relative direction is determined to be within a preset angle range, determining that the relative relation identifier meets the preset condition.
5. The control method of a cleaning robot according to claim 3, wherein the first relative relationship flag includes a first tangential point position, and the second relative relationship flag includes a second tangential point position;
and when the distance between the first tangent point position and the second tangent point position is determined to be within a preset distance range, determining that the relative relationship identifier meets the preset condition.
6. The control method of a cleaning robot according to claim 1, wherein the step of continuing or ending the task of cleaning along the target obstacle based on the determination result and the relative relationship flag includes:
determining that the current position is a position which is not passed by;
associating a relative relationship identification between the cleaning robot and a target obstacle at present with the present position;
marking the current position as a passed position, and marking a relative relationship identifier of the current position; and the number of the first and second groups,
continuing the along-target obstacle cleaning task.
7. The control method of a cleaning robot according to claim 2, wherein the step of determining whether the relative relationship flag satisfies a preset condition further comprises:
when the relative relation identifier is determined not to meet the preset condition;
associating a relative relationship identification between the cleaning robot and a target obstacle at present with the present position;
marking the relative relation identification of the current position; and the number of the first and second groups,
continuing the along-target obstacle cleaning task.
8. The control method of a cleaning robot according to claim 1, further comprising:
acquiring the information of a working area corresponding to the cleaning robot to establish a grid map so that the cleaning robot can move along the grid map, wherein each position of the cleaning robot corresponds to at least one grid in the grid map.
9. The control method of a cleaning robot according to claim 8, further comprising:
if the cleaning task along the target obstacle is finished, controlling the cleaning robot to exit from a cleaning mode along the target obstacle, and saving a cleaning path and a corresponding obstacle when cleaning along the target obstacle next time in the grid map;
and when the cleaning robot performs the along-target-obstacle cleaning mode again on the corresponding obstacle, controlling the cleaning robot to perform the along-target-obstacle cleaning mode according to the cleaning path.
10. A cleaning robot characterized by comprising a memory, a processor, and a control program of the cleaning robot stored on the memory and executable on the processor, the control program of the cleaning robot realizing the steps of the control method of the cleaning robot according to any one of claims 1 to 9 when executed by the processor.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of a cleaning robot, which when executed by a processor, implements the steps of the control method of a cleaning robot according to any one of claims 1 to 9.
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Address after: 31st Floor, West Tower, Baidu International Building, No. 8 Haitian 1st Road, Binhai Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Address before: 31st Floor, West Tower, Baidu International Building, No. 8 Haitian 1st Road, Binhai Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. |