CN115202330A - Control method for cleaning robot to move along obstacle and cleaning robot - Google Patents

Abstract

The present application discloses a control method, device, cleaning robot and storage medium for a cleaning robot to move along an obstacle, wherein the control method for the cleaning robot to move along an obstacle includes: acquiring detection data of an obstacle detector on the cleaning robot; The detection data is used to identify the obstacle type in front of the movement of the cleaning robot; the motion model corresponding to the obstacle type is determined, and the movement model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type; The motion model and the detection data are used to control the cleaning robot to move along the edge of the obstacle. Compared with the prior art, the present application can improve the robot's ability to move along the obstacle, so as to realize the efficient and autonomous edge of the cleaning robot. Cleaning function.

Description

Control method of cleaning robot moving along obstacles and cleaning robot

technical field

The present application belongs to the technical field of home appliances, and in particular relates to a control method and device for a cleaning robot to move along an obstacle, a cleaning robot and a storage medium.

Background technique

Sweepers, also known as automatic cleaners, smart vacuum cleaners, cleaning robots, etc., are a kind of smart household appliances that can automatically complete the floor cleaning work in the room with certain artificial intelligence. The current sweeping robot has gradually become an essential intelligent helper in people's lives.

The ability to move along the obstacle is the most basic ability of the sweeping robot. The existing sweeping robot uses a single sensor, or infrared or lidar to control the robot to move along the obstacle, which is limited by the detection ability of a single sensor. In an environment containing some special obstacles, such as an obstacle environment with a large curvature change (such as table legs), and an environment beyond the measurement range of a single sensor, the ability to move along the obstacle will be deteriorated or lost, thus affecting the robot vacuum cleaner. Basic performance such as edge cleaning ability and cleaning coverage.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present application provide a control method, device, cleaning robot, and storage medium for a cleaning robot to move along an obstacle, so as to improve the robot's ability to move along an obstacle, thereby realizing the efficient and autonomous edge cleaning of the cleaning robot Function.

An embodiment of the first aspect of the present application provides a control method for a cleaning robot to move along an obstacle, including:

Obtain the detection data of the obstacle detector on the cleaning robot;

According to the detection data, identify the type of obstacles in front of the cleaning robot;

Determine the motion model corresponding to the obstacle type, and the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type;

According to the motion model and the detection data, the cleaning robot is controlled to move along the edge of the obstacle.

The method for controlling the movement of a cleaning robot along an obstacle according to the embodiment of the first aspect of the present application obtains detection data of an obstacle detector on the cleaning robot; identifies the type of obstacle in front of the cleaning robot moving according to the detection data; determines the obstacle The motion model corresponding to the object type is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled to follow the obstacle Compared with the prior art, the present application can improve the ability of the robot to move along the obstacle, so as to realize the efficient and autonomous edge cleaning function of the cleaning robot.

In some embodiments of the present application, the determining the motion model corresponding to the obstacle type includes:

According to the type of the obstacle being a continuous wall type, it is determined that the corresponding motion model is a small curvature motion model;

According to the type of the obstacle being an isolated columnar type, it is determined that the corresponding motion model is a large-curvature motion model.

In some embodiments of the present application, the construction process of the small curvature motion model is as follows:

Among them, d _W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle; v represents the linear velocity of the cleaning robot; w represents the angular velocity of the cleaning robot; θ is the parallel direction of the cleaning robot relative to the wall θ ₀ is the angle between the upper edge laser and the vertical line of the wall; d ₀ represents the distance from the center of mass of the cleaning robot to the wall.

In some embodiments of the present application, the construction process of the large curvature motion model is as follows:

Determine the upper obstacle distance, the middle obstacle distance and the lower obstacle distance from the detection data;

Determine the sum of the cleaning robot radius and the preset obstacle-around distance as the position relationship threshold;

Determine the relative positional relationship between the cleaning robot and the obstacle according to the distance around the upper obstacle, the distance around the middle obstacle, the distance around the lower obstacle and the positional relationship threshold;

According to the relative position relationship and the preset at least two rotational motion states, the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.

In some embodiments of the present application, controlling the cleaning robot to move along the edge of the obstacle according to the relative positional relationship and the preset at least two rotational motion states includes:

determining the target rotational motion state corresponding to the relative positional relationship;

Controlling the cleaning robot to move according to the target rotational motion state;

The new relative position relationship is acquired, and the above steps are repeated according to the new relative position relationship, until the cleaning robot completes the obstacle edge.

The control device for the cleaning robot to move along the obstacle according to the embodiment of the second aspect of the present application includes:

The acquisition module is used to acquire the detection data of the obstacle detector on the cleaning robot;

an identification module for identifying the type of obstacles in front of the cleaning robot moving according to the detection data;

a determination module for determining a motion model corresponding to the obstacle type, the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type;

The control module is configured to control the cleaning robot to move along the edge of the obstacle according to the motion model and the detection data.

The control device for a cleaning robot moving along an obstacle according to the embodiment of the second aspect of the present application acquires detection data of an obstacle detector on the cleaning robot; identifies the type of obstacle in front of the cleaning robot according to the detection data; determines the obstacle The motion model corresponding to the object type is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled to follow the obstacle Compared with the prior art, the present application can improve the ability of the robot to move along the obstacle, so as to realize the efficient and autonomous edge cleaning function of the cleaning robot.

In some embodiments of the present application, the determining module is specifically used for:

According to the type of the obstacle being a continuous wall type, it is determined that the corresponding motion model is a small curvature motion model;

According to the type of the obstacle being an isolated columnar type, it is determined that the corresponding motion model is a large-curvature motion model.

In some embodiments of the present application, the control module is also used to construct a small curvature motion model, and the construction process of the small curvature motion model is as follows:

Among them, d _W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle; v represents the linear velocity of the cleaning robot; w represents the angular velocity of the cleaning robot; θ is the parallel direction of the cleaning robot relative to the wall θ ₀ is the angle between the upper edge laser and the vertical line of the wall; d ₀ represents the distance from the center of mass of the cleaning robot to the wall.

In some embodiments of the present application, the control module is also used to construct a large-curvature motion model, and the process of constructing the large-curvature motion model is as follows:

Determine the upper obstacle distance, the middle obstacle distance and the lower obstacle distance from the detection data;

Determine the sum of the cleaning robot radius and the preset obstacle-around distance as the position relationship threshold;

Determine the relative positional relationship between the cleaning robot and the obstacle according to the distance around the upper obstacle, the distance around the middle obstacle, the distance around the lower obstacle and the positional relationship threshold;

According to the relative position relationship and the preset at least two rotational motion states, the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.

In some embodiments of the present application, the control module is specifically used for:

Obtain the ambient humidity of multiple locations on the boundary of the target area separated by a preset distance;

The average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.

The cleaning robot according to the embodiment of the third aspect of the present application includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to achieve The control method for a cleaning robot moving along an obstacle according to the embodiment of the first aspect.

The computer-readable storage medium of the embodiment of the fourth aspect of the present application has computer-readable instructions stored thereon, and the computer-readable instructions can be executed by the processor to implement the control of the cleaning robot moving along the obstacle according to the embodiment of the first aspect method.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for purposes of illustrating preferred embodiments only and are not to be considered limiting of the application. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 shows a flowchart of a control method for a cleaning robot to move along an obstacle according to an embodiment of the present application;

FIG. 2 shows a schematic diagram of the 6-beam laser data used in the embodiment of the present application;

FIG. 3 shows a schematic diagram of the detection process of the construction of the small curvature motion model in the embodiment of the present application;

4 shows a schematic diagram of state transition between two rotational motion states in the embodiment of the present application;

5 shows a schematic diagram of a control device for a cleaning robot to move along an obstacle according to an embodiment of the present application;

FIG. 6 shows a schematic diagram of a cleaning robot according to an embodiment of the present application;

FIG. 7 shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

This application proposes a control method, device, cleaning robot and storage medium for a cleaning robot to move along an obstacle, to obtain detection data of an obstacle detector on the cleaning robot, and the obstacle detector may be a line laser detector or a lidar, etc. sensor; according to the detection data, identify the obstacle type in front of the cleaning robot movement; determine the motion model corresponding to the obstacle type, and the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type ; According to the motion model and the detection data, the cleaning robot is controlled to move along the edge of the obstacle, compared with the prior art, the present application can improve the robot's ability to move along the obstacle, thereby realizing the cleaning robot Efficient and autonomous edge cleaning function.

In order to make the above objects, features and advantages of the present application more obvious and easy to understand, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Example 1

FIG. 1 is a flowchart of a control method for a cleaning robot to move along an obstacle provided by an embodiment of the present application. As shown in Figure 1, the control method for the cleaning robot to move along the obstacle includes:

Step S101: Acquire detection data of an obstacle detector on the cleaning robot.

In this embodiment, the obstacle detector may be a sensor such as a line laser detector or a lidar, that is, the detection data may be laser data or laser ranging data.

Figure 2 shows a schematic diagram of the 6 beams of laser data used in this embodiment. As shown in Figure 2, the 6 beams of laser data include 3 edge lasers and 3 barrier lasers, which are lower edge lasers respectively. The signal range is: -11° to -9°; upper edge laser, signal range: 9° to 11°; middle edge laser, signal range: -11° to 11°; lower barrier laser, signal range: -5° to -1°; Middle barrier laser, signal range: -1° to 1°; upper barrier laser, signal range 1° to 5°.

It should be understood that the edgewise laser corresponds to the edgewise distance; the barrier-wrap laser corresponds to the barrier-wrap distance. The signal range of the 6-beam laser data can be calibrated according to the actual situation, and the edge-to-edge distance and the distance around the obstacle are the minimum distances within the signal range.

Step S102: According to the detection data, identify the type of obstacles in front of the movement of the cleaning robot.

In practical applications, the environment where cleaning robots are often located is indoors, and there are many indoor obstacles, such as walls, tables, chairs, etc. Therefore, the types of obstacles can include continuous wall types (such as fronts, standing cabinets) and isolated types. Column type (eg table legs, chair legs, etc.).

Step S103: Determine a motion model corresponding to the obstacle type, where the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type.

In some embodiments of the present application, step S103 may be specifically implemented as:

According to the type of the obstacle being a continuous wall type, the corresponding motion model is determined to be a small curvature motion model;

According to the type of the obstacle is an isolated column type, the corresponding motion model is determined as a large-curvature motion model.

Specifically, the curvature change of the continuous wall type is small, so a small curvature motion model is selected. The curvature of the isolated columnar type varies greatly, so a large-curvature motion model is selected.

The construction process of the small curvature motion model is as follows:

Among them, d _W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle; v represents the linear velocity of the cleaning robot; w represents the angular velocity of the cleaning robot; θ is the parallel direction of the cleaning robot relative to the wall θ ₀ is the angle between the upper edge laser and the vertical line of the wall; d ₀ is the distance from the center of mass of the cleaning robot to the wall

The relative position information of the cleaning robot relative to the obstacle with small curvature is constructed by using three edgewise laser beams. The detection process of the specific structure is shown in Figure 3.

In Figure 3, the distance from the center of mass of the cleaning robot to the wall is d ₀ , the shortest distance from the upper edge laser to the wall is d _U , and the shortest distance from the lower edge laser to the wall is d _L . When the cleaning robot body is parallel to the wall , the angle between the upper edge laser beam and the vertical line of the wall is θ ₀ , and the difference angle of the cleaning robot relative to the direction parallel to the wall is θ. Here, the counterclockwise rotation difference angle is defined as positive, and the clockwise rotation difference angle is negative. According to the above definition, we can get:

d _U cos(θ ₀ +θ)=d ₀

d _L cos(θ ₀ -θ)=d ₀ (1)

The distance between the cleaning robot and the obstacle with less curvature is defined as:

d _W =d _U -d _L +d ₀ (2)

Let the linear velocity of the cleaning robot body be v and the angular velocity be w, according to the kinematics model of the car body, we can get:

According to (1)-(3), we can get:

The above formula can be simplified to:

Equation (4) is a model for controlling the movement of the machine along obstacles with small curvature through the distance constructed by the three edgewise laser data.

The construction of the large curvature motion model is introduced below.

The construction process of the large curvature motion model is as follows:

Determine the upper obstacle distance, the middle obstacle distance and the lower obstacle distance from the detection data;

Determine the sum of the cleaning robot radius and the preset obstacle-around distance as the position relationship threshold;

Determine the relative positional relationship between the cleaning robot and the obstacle according to the distance around the upper obstacle, the distance around the middle obstacle, the distance around the lower obstacle and the positional relationship threshold;

According to the relative position relationship and the preset at least two rotational motion states, the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.

The controlling the cleaning robot to move along the edge of the obstacle according to the relative positional relationship and the preset at least two rotational motion states includes:

determining the target rotational motion state corresponding to the relative positional relationship;

Controlling the cleaning robot to move according to the target rotational motion state;

The new relative position relationship is acquired, and the above steps are repeated according to the new relative position relationship, until the cleaning robot completes the obstacle edge.

Specifically, the relative positional relationship of the cleaning robot relative to the obstacle with large curvature is constructed through the three beams of laser data in Figure 3. The specific construction method is shown in Table 1. In Table 1, D = the radius of the cleaning robot + the obstacle distance.

Table 1

When moving along the edge of the obstacle, according to the relative positional relationship between the cleaning robot and the obstacle with larger curvature corresponding to Table 1, the cleaning robot switches between different rotational motion states (that is, the rotational trajectories with different curvatures, as shown in the figure). 4) Approach the outer contour movement of the obstacle.

As shown in FIG. 4 , the state transition relationship between the rotational motion state 1 and the rotational motion state 2 is shown, and the state transition is performed according to the relative positional relationship between the cleaning robot and the obstacle.

According to some embodiments of the present application, more state transition relationships between the rotational motion states may also be set, which is not limited in the present application.

Step S104: Control the cleaning robot to move along the edge of the obstacle according to the motion model and the detection data.

For the specific control process, please refer to the construction process of the above-mentioned large-curvature motion model.

The method for controlling the movement of a cleaning robot along an obstacle according to the embodiment of the present application obtains detection data of an obstacle detector on the cleaning robot; identifies the type of the obstacle in front of the movement of the cleaning robot according to the detection data; determines the corresponding type of the obstacle The motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled along the edge of the obstacle Compared with the prior art, the present application can improve the ability of the robot to move along obstacles, so as to realize the efficient and autonomous edge cleaning function of the cleaning robot.

Embodiment 2

An embodiment of the present application provides a control device for a cleaning robot to move along an obstacle. The control device for the cleaning robot to move along an obstacle corresponds to the control method for a cleaning robot to move along an obstacle in the first embodiment. For related details, refer to the first embodiment. part of the description. The method embodiments described below are merely illustrative.

FIG. 5 is a schematic diagram of a control device for a cleaning robot to move along an obstacle provided by an embodiment of the present application. As shown in FIG. 5 , the device 10 includes:

an acquisition module 101, configured to acquire detection data of the obstacle detector on the cleaning robot;

an identification module 102, configured to identify the type of obstacles in front of the movement of the cleaning robot according to the detection data;

A determination module 103, configured to determine a motion model corresponding to the obstacle type, the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type;

The control module 104 is configured to control the cleaning robot to move along the edge of the obstacle according to the motion model and the detection data.

In some embodiments of the present application, the determining module 103 is specifically configured to:

According to the type of the obstacle being a continuous wall type, it is determined that the corresponding motion model is a small curvature motion model;

According to the type of the obstacle being an isolated columnar type, it is determined that the corresponding motion model is a large-curvature motion model.

In some embodiments of the present application, the control module 104 is also used to construct a small curvature motion model, and the construction process of the small curvature motion model is as follows:

Among them, d _W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle; v represents the linear velocity of the cleaning robot; w represents the angular velocity of the cleaning robot; θ is the parallel direction of the cleaning robot relative to the wall θ ₀ is the angle between the upper edge laser and the vertical line of the wall; d ₀ represents the distance from the center of mass of the cleaning robot to the wall.

In some embodiments of the present application, the control module 104 is also used to construct a large-curvature motion model, and the process of constructing the large-curvature motion model is as follows:

Determine the upper edge distance, the middle edge distance and the lower edge distance from the probe data;

Determine the sum of the cleaning robot radius and the preset obstacle-around distance as the position relationship threshold;

Determine the relative positional relationship between the cleaning robot and the obstacle according to the distance around the upper obstacle, the distance around the middle obstacle, the distance around the lower obstacle and the positional relationship threshold;

According to the relative position relationship and the preset at least two rotational motion states, the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.

In some embodiments of the present application, the control module 104 is specifically configured to:

Obtain the ambient humidity of multiple locations on the boundary of the target area separated by a preset distance;

The average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.

The control device for the movement of the cleaning robot along the obstacle in this embodiment obtains detection data of the obstacle detector on the cleaning robot; identifies the type of the obstacle in front of the movement of the cleaning robot according to the detection data; determines the corresponding type of the obstacle. A motion model, the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled to move along the edge of the obstacle , compared with the prior art, the present application can improve the ability of the robot to move along the obstacle, thereby realizing the efficient and autonomous edge cleaning function of the cleaning robot.

Embodiment 3

As shown in FIG. 6, an embodiment of the present application further provides a cleaning robot 20, including: a memory 201, a processor 202, and a computer program stored in the memory and running on the processor, the processing When the computer 202 runs the computer program, it is executed to implement the method for controlling the movement of the cleaning robot along the obstacle according to any one of Embodiment 1.

Specifically, the cleaning robot may include: a processor, a memory, a bus and a communication interface, the processor, the communication interface and the memory are connected by a bus; the memory stores a computer program that can run on the processor , the processor executes the method for controlling the movement of the cleaning robot along the obstacle provided by any of the foregoing embodiments of the present application when the processor runs the computer program.

The memory may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. may be used.

The bus can be an ISA bus, a PCI bus, an EISA bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. The memory is used to store a program, and the processor executes the program after receiving the execution instruction, and the control method for the cleaning robot moving along the obstacle disclosed in any of the foregoing embodiments of the present application can be applied to processing in the device, or implemented by the processor.

A processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above-mentioned method can be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; may also be a digital signal processor (DSP), an application-specific integrated circuit ( ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

The cleaning robot provided by the embodiment of the present application and the control method of the cleaning robot moving along the obstacle provided by the embodiment of the present application are based on the same inventive concept, and have the same beneficial effects as the method adopted, operated or realized.

Embodiment 4

The embodiment of the present application also provides a computer-readable storage medium, please refer to FIG. 7 , the computer-readable storage medium shown is an optical disc 30, on which computer-readable instructions (ie, program products) are stored, and the computer-readable storage medium is stored thereon. The readable instructions can be executed by the processor to implement the method for controlling the movement of the cleaning robot along the obstacle according to any one of the first embodiment.

Examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM). ), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be repeated here.

The computer-readable storage medium provided by the above-mentioned embodiments of the present application and the method for controlling the movement of a cleaning robot along an obstacle provided by the embodiments of the present application are based on the same inventive concept, and have methods adopted, executed or implemented by the application programs stored thereon. same beneficial effect.

It should be noted:

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the above description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, figure, or its description. This disclosure, however, should not be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

Those skilled in the art will understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that, in practice, a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some or all components in the apparatus for creating a virtual machine according to the embodiments of the present application. The present application can also be implemented as an apparatus or apparatus program (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the conception of the present invention, the equivalent structural transformations made by the contents of the description and accompanying drawings of the present invention, or directly/indirectly applied in Other related technical fields are included within the scope of patent protection of the present invention.

Claims (12)

1. A method of controlling movement of a cleaning robot along an obstacle, comprising:

acquiring detection data of an obstacle detector on the cleaning robot;

identifying the type of an obstacle in front of the movement of the cleaning robot according to the detection data;

determining a motion model corresponding to the type of the obstacle, wherein the motion model is constructed in advance according to the position relation between the cleaning robot and the obstacle and the type of the obstacle;

controlling the cleaning robot to move along the edge of the obstacle according to the movement model and the detection data.

2. The method of claim 1, wherein the determining a motion model corresponding to the type of obstacle comprises:

determining the corresponding motion model as a small-curvature motion model according to the fact that the type of the obstacle is a continuous wall surface type;

and determining the corresponding motion model as a large-curvature motion model according to the fact that the type of the obstacle is an isolated column type.

3. The method of claim 2, wherein the small curvature motion model is constructed as follows:

wherein, d _W Showing the distance between the cleaning robot and the obstacle in the process of moving the cleaning robot along the edge of the obstacle; v represents a linear velocity of the cleaning robot; w represents an angular velocity of the cleaning robot; theta is a difference angle of the cleaning robot relative to the parallel direction of the wall body; theta ₀ The included angle between the upper edge laser and the vertical line of the wall body is formed; d ₀ Representing the distance of the cleaning robot centroid to the wall surface.

4. The method of claim 2, wherein the large curvature motion model is constructed by the following steps:

determining an upper obstacle avoidance distance, a middle obstacle avoidance distance and a lower obstacle avoidance distance from the detection data;

determining the sum of the radius of the cleaning robot and a preset obstacle detouring distance as a position relation threshold;

determining the relative position relation between the cleaning robot and the obstacle according to the upper obstacle detouring distance, the middle obstacle detouring distance, the lower obstacle detouring distance and the position relation threshold;

and controlling the cleaning robot to move along the edge of the obstacle according to the relative position relation and at least two preset rotating motion states, wherein different rotating motion states correspond to different linear speeds and angular speeds.

5. The method for controlling the movement of the cleaning robot along the obstacle according to the relative position relationship and the preset at least two rotation states of movement, comprising the steps of:

determining a target rotation motion state corresponding to the relative position relation;

controlling the cleaning robot to move according to the target rotation motion state;

and acquiring a new relative position relation, and repeating the steps according to the new relative position relation until the cleaning robot finishes the obstacle edgewise.

6. A control apparatus for a cleaning robot to move along an obstacle, comprising:

an acquisition module for acquiring detection data of an obstacle detector on the cleaning robot;

the recognition module is used for recognizing the type of an obstacle in front of the movement of the cleaning robot according to the detection data;

the determining module is used for determining a motion model corresponding to the type of the obstacle, and the motion model is constructed in advance according to the position relation between the cleaning robot and the obstacle and the type of the obstacle;

and the control module is used for controlling the cleaning robot to move along the edge of the obstacle according to the movement model and the detection data.

7. A control apparatus for a cleaning robot to move along an obstacle as recited in claim 6, wherein the determining module is specifically configured to:

determining a corresponding motion model as a small-curvature motion model according to the fact that the type of the barrier is a continuous wall surface type;

and determining that the corresponding motion model is a large-curvature motion model according to the fact that the type of the obstacle is an isolated column type.

8. The control device of claim 7, wherein the control module is further configured to build a low curvature motion model, the low curvature motion model being constructed by:

wherein, d _W Showing the distance between the cleaning robot and the obstacle in the process of moving along the edge of the obstacle; v represents a linear velocity of the cleaning robot; w represents an angular velocity of the cleaning robot; theta is a difference angle of the cleaning robot relative to the wall body in the parallel direction; theta ₀ The included angle between the upper edgewise laser and the vertical line of the wall body is formed; d ₀ Representing the distance of the cleaning robot centroid to the wall surface.

9. The control device of claim 7, wherein the control module is further configured to build a high curvature motion model, wherein the high curvature motion model is constructed by the following process:

determining an upper edge distance, a middle edge distance and a lower edge distance from the detection data;

determining the sum of the radius of the cleaning robot and a preset obstacle avoidance distance as a position relation threshold;

determining the relative position relation between the cleaning robot and the obstacle according to the upper obstacle avoiding distance, the middle obstacle avoiding distance, the lower obstacle avoiding distance and the position relation threshold;

and controlling the cleaning robot to move along the edge of the obstacle according to the relative position relation and at least two preset rotating motion states, wherein different rotating motion states correspond to different linear speeds and angular speeds.

10. A control device for a cleaning robot to move along an obstacle according to claim 9, wherein the control module is specifically configured to:

acquiring the environmental humidity of a plurality of positions which are separated by a preset distance on the boundary of a target area;

and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.

11. A cleaning robot, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor executes when executing the computer program to implement the method according to any of claims 1 to 5.

12. A computer readable storage medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 5.

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