CN115202330A - Control method for cleaning robot to move along obstacle and cleaning robot - Google Patents
Control method for cleaning robot to move along obstacle and cleaning robot Download PDFInfo
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Abstract
The application discloses a control method and a control device for a cleaning robot to move along an obstacle, the cleaning robot and a storage medium, wherein the control method for the cleaning robot to move along the obstacle comprises the following steps: 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; according to the motion model with survey data, control cleaning machines people along the border motion of barrier compares in prior art, and this application can improve the ability that the robot moved along the barrier to realize cleaning machines people's high-efficient autonomic edgewise function of cleaning.
Description
Technical Field
The application belongs to the technical field of household appliances, and particularly relates to a method and a device for controlling a cleaning robot to move along an obstacle, the cleaning robot and a storage medium.
Background
The floor sweeper, also known as an automatic sweeper, an intelligent dust collector, a cleaning robot and the like, is one of intelligent household appliances, and can automatically complete the floor cleaning work in a room by means of certain artificial intelligence. The existing sweeping robot gradually becomes a necessary intelligent helper in life of people.
The ability of moving along an obstacle is the most basic ability of a sweeping robot, the existing sweeping robots adopt a single sensor or infrared or laser radar and the like to control the robot to move along the obstacle, and the detection ability of the single sensor is limited, and the sweeping robot is in an environment containing some special obstacles, such as an obstacle environment (for example, table legs) with large curvature change and an environment beyond the measurement range of the single sensor, the ability of moving along the obstacle is deteriorated or lost, so that the basic performances of corner sweeping ability, sweeping coverage rate and the like of the sweeping robot are influenced.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for controlling a cleaning robot to move along an obstacle, the cleaning robot, and a storage medium, so as to improve the ability of the robot to move along the obstacle, thereby implementing an efficient and autonomous edgewise cleaning function of the cleaning robot.
An embodiment of a first aspect of the present application provides a control method for a cleaning robot to move along an obstacle, including:
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.
According to the control method for the cleaning robot to move along the obstacle, detection data of an obstacle detector on the cleaning robot are obtained; 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; according to the motion model with survey data, control cleaning machines people follows the border motion of barrier compares in prior art, and this application can improve the ability of robot along the barrier motion to realize the high-efficient autonomic edgewise of cleaning machines people and clean the function.
In some embodiments of the present application, the determining a motion model corresponding to the type of the obstacle includes:
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.
In some embodiments of the present application, the small-curvature motion model construction process is as follows:
wherein d is 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 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 is a radical of 0 Representing the distance of the cleaning robot centroid to the wall surface.
In some embodiments of the present application, the large curvature motion model construction process is as follows:
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 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.
In some embodiments of the present application, the controlling the cleaning robot to move along the edge of the obstacle according to the relative position relationship and at least two preset rotation motion states includes:
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.
The control device for the cleaning robot to move along the obstacle of the embodiment of the second aspect of the application comprises:
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 the 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.
The control device for the cleaning robot to move along the obstacle in the embodiment of the second aspect of the application acquires 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; according to the motion model with survey data, control cleaning machines people along the border motion of barrier compares in prior art, and this application can improve the ability that the robot moved along the barrier to realize cleaning machines people's high-efficient autonomic edgewise function of cleaning.
In some embodiments of the present application, the determining module is specifically configured to:
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.
In some embodiments of the present application, the control module is further configured to build a small curvature motion model, where the small curvature motion model is built by the following process:
wherein d is 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 parallel direction of the wall body; theta.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 center of mass of the cleaning robot to the wall surface.
In some embodiments of the present application, the control module is further configured to build a large-curvature motion model, where the large-curvature motion model is built by the following process:
determining an upper obstacle detouring distance, a middle obstacle detouring distance and a lower obstacle detouring 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 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.
In some embodiments of the present application, the control module is specifically configured to:
acquiring the environmental humidity of a plurality of positions separated by preset distances 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.
The cleaning robot of the embodiment of the third aspect of the present application includes: the cleaning robot comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program when running so as to realize the control method of the cleaning robot moving along the obstacle.
A computer-readable storage medium of an embodiment of a fourth aspect of the present application has computer-readable instructions stored thereon, which are executable by a processor to implement the method for controlling a cleaning robot to move along an obstacle of the embodiment of the first aspect.
Drawings
Various additional 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 only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart illustrating a control method of a cleaning robot moving along an obstacle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of 6 laser beams of data used in an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a detection process of small curvature motion model construction in an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a state transition between two states of rotational motion in an embodiment of the present application;
fig. 5 is a schematic view illustrating a control apparatus of a cleaning robot moving along an obstacle according to an embodiment of the present application;
FIG. 6 is a schematic view of a cleaning robot according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The application provides a method and a device for controlling a cleaning robot to move along an obstacle, the cleaning robot and a storage medium, and detection data of an obstacle detector on the cleaning robot are obtained, wherein the obstacle detector can be a linear laser detector or a sensor such as a laser radar; 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; according to the motion model with survey data, control cleaning machines people along the border motion of barrier compares in prior art, and this application can improve the ability that the robot moved along the barrier to realize cleaning machines people's high-efficient autonomic edgewise function of cleaning.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below.
Example one
Fig. 1 is a flowchart of a control method for a cleaning robot to move along an obstacle according to an embodiment of the present disclosure. As shown in fig. 1, the method for controlling the cleaning robot to move along the obstacle includes:
step S101: detection data of an obstacle detector on the cleaning robot is acquired.
In this embodiment, the obstacle detector may be a line laser detector or a sensor such as a laser radar, that is, the detection data may be laser data or laser ranging data.
Fig. 2 is a schematic diagram illustrating 6 laser data used in the present embodiment, and as shown in fig. 2, the 6 laser data includes 3 edge lasers and 3 barrier lasers, respectively, the following edge lasers, signal ranges: -11 ° to-9 °; laser is carried out on the upper edge, and the signal range is 9-11 degrees; middle edge laser, signal range: -11 ° to 11 °; lower barrier laser, signal range: -5 ° to-1 °; medium barrier laser, signal range: -1 ° to 1 °; and the upper barrier laser has a signal range of 1-5 degrees.
It should be understood that edgewise lasers correspond to edgewise distances; the barrier-bypassing laser corresponds to the barrier-bypassing distance. The signal range of the 6 beams of laser data can be obtained by calibration according to actual conditions, and the edge distance and the obstacle detouring distance are the minimum distances in the signal range.
Step S102: and identifying the type of the obstacle in front of the movement of the cleaning robot according to the detection data.
In practical applications, the cleaning robot is often located in a room, and many obstacles exist in the room, such as walls, tables, chairs, etc., so the obstacle types may include a continuous wall type (e.g., front, cabinet surface) and an isolated column type (e.g., table legs, chair legs, etc.).
Step S103: and 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.
In some embodiments of the present application, step S103 may be implemented as:
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.
Specifically, the change of the curvature of the continuous wall surface type is small, so that a small-curvature motion model is selected. Isolated columnar types have large curvature variations and therefore large curvature motion models are selected.
The small curvature motion model is constructed as follows:
wherein d is 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 Indicating distance from center of mass of cleaning robot to wall surface
The relative position information of the cleaning robot relative to the obstacle with small curvature is constructed by 3 beams of edgewise laser, and the detection process of the specific construction is shown in fig. 3.
In fig. 3, the distance from the center of mass of the cleaning robot to the wall surface is d 0 The nearest distance from the laser on the upper edge to the wall surface is d U The nearest distance from the lower edge laser to the wall surface is d L When the cleaning robot body is parallel to the wall body, the included angle between the laser beam on the upper edge and the vertical line of the wall body is theta 0 The difference angle of the cleaning robot with respect to the direction parallel to the wall is θ, where the counterclockwise rotation difference angle is defined as positive and the clockwise rotation difference angle is defined as negative, which can be obtained according to the above definition:
d U cos(θ 0 +θ)＝d 0
d L cos(θ 0 -θ)＝d 0 (1)
defining the distance between the cleaning robot and the obstacle with smaller curvature as follows:
d W ＝d U -d L +d 0 (2)
setting the linear velocity v and the angular velocity w of the cleaning robot vehicle body, and obtaining the following parameters according to a vehicle body kinematics model:
according to (1) to (3), there can be obtained:
the above equation can be simplified as:
equation (4) is a model for controlling the machine motion along obstacles with small curvature by the distance of 3-beam edgewise laser data construction.
The construction of the large curvature motion model is described below.
The construction process of the large-curvature motion model is as follows:
determining an upper obstacle detouring distance, a middle obstacle detouring distance and a lower obstacle detouring 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 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.
The controlling the cleaning robot to move along the edge of the obstacle according to the relative position relation and the preset at least two rotating motion states comprises:
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.
Specifically, the relative position relationship of the cleaning robot with respect to the obstacle with a large curvature is constructed through the 3-beam obstacle-detouring laser data in fig. 3, and the specific construction method is shown in table 1, where D = radius of the cleaning robot + obstacle-detouring distance in table 1.
TABLE 1
When the robot moves along the edge of the obstacle, the cleaning robot approaches the outer contour of the obstacle through switching between different rotation states (i.e. rotation tracks with different curvatures, as shown in fig. 4) according to the relative position relationship between the cleaning robot and the obstacle with a larger curvature corresponding to table 1.
As shown in fig. 4, a state transition relationship between the rotational movement state 1 and the rotational movement state 2 is shown, and the state transition is performed according to a relative positional relationship of the cleaning robot and the obstacle.
According to some embodiments of the present application, a state transition relationship between more rotational motion states may also be provided, which is not limited in the present application.
Step S104: and controlling the cleaning robot to move along the edge of the obstacle according to the movement model and the detection data.
The specific control process refers to the construction process of the large-curvature motion model.
According to the control method for the cleaning robot to move along the obstacle, detection data of an obstacle detector on the cleaning robot are obtained; 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; according to the motion model with survey data, control cleaning machines people along the border motion of barrier compares in prior art, and this application can improve the ability that the robot moved along the barrier to realize cleaning machines people's high-efficient autonomic edgewise function of cleaning.
Example two
The embodiment of the application provides a control device for a cleaning robot to move along an obstacle, and the control device for the cleaning robot to move along the obstacle corresponds to the control method for the cleaning robot to move along the obstacle in the first embodiment, and relevant points can be found in the description of the first embodiment. 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 according to an embodiment of the present application, and as shown in fig. 5, the device 10 includes:
an acquisition module 101 for acquiring detection data of an obstacle detector on the cleaning robot;
the identification module 102 is used for identifying the type of an obstacle in front of the movement of the cleaning robot according to the detection data;
a determining module 103, configured to determine a motion model corresponding to the type of the obstacle, where the motion model is constructed in advance according to a position relationship between the cleaning robot and the obstacle and the type of the obstacle;
a control module 104 for controlling the cleaning robot to move along the edge of the obstacle according to the movement model and the detection data.
In some embodiments of the present application, the determining module 103 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 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.
In some embodiments of the present application, the control module 104 is further configured to build a small-curvature motion model, where the small-curvature motion model is built by:
wherein d is 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 parallel direction of the wall body; theta.theta. 0 The included angle between the upper edge laser and the vertical line of the wall body is formed; d is a radical of 0 Representing the distance of the cleaning robot centroid to the wall surface.
In some embodiments of the present application, the control module 104 is further configured to build a large curvature motion model, wherein the large curvature motion model is built 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 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.
In some embodiments of the present application, the control module 104 is specifically configured to:
acquiring the environmental humidity of a plurality of positions separated by preset distances 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.
The control device for the cleaning robot to move along the obstacle obtains 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; according to the motion model with survey data, control cleaning machines people along the border motion of barrier compares in prior art, and this application can improve the ability that the robot moved along the barrier to realize cleaning machines people's high-efficient autonomic edgewise function of cleaning.
EXAMPLE III
As shown in fig. 6, the embodiment of the present application further provides a cleaning robot 20, including: the cleaning robot comprises a memory 201, a processor 202 and a computer program stored on the memory and capable of running on the processor, wherein the processor 202 executes the computer program when running the computer program to realize the control method of the cleaning robot moving along the obstacle according to any one of the first embodiment.
Specifically, the cleaning robot may include: the system comprises a processor, a memory, a bus and a communication interface, wherein the processor, the communication interface and the memory are connected through the bus; the memory stores a computer program that can be run on the processor, and the processor executes the control method for the cleaning robot to move along the obstacle provided by any one of the previous embodiments when running the computer program.
The Memory may include a high-speed Random Access Memory (RAM) 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 network, a metropolitan area network and the like can be used.
The bus may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. The storage is used for storing a program, and the processor executes the program after receiving an execution instruction, and the control method for the cleaning robot to move along the obstacle disclosed by any embodiment of the foregoing application can be applied to or implemented by the processor.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and combines hardware thereof to complete the steps of the method.
The cleaning robot provided by the embodiment of the application and the control method for the cleaning robot to move along the obstacle have the same beneficial effects as the method adopted, operated or realized by the cleaning robot.
Example four
An embodiment of the present application further provides a computer-readable storage medium, please refer to fig. 7, which illustrates the computer-readable storage medium as an optical disc 30, on which computer-readable instructions (i.e., a program product) are stored, where the computer-readable instructions can be executed by a processor to implement the method for controlling a cleaning robot to move along an obstacle according to any one of the embodiments.
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 are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiments of the present application and the control method for the cleaning robot to move along the obstacle provided by the embodiments of the present application have the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer-readable storage medium.
It should be noted that:
in the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the 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 should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. 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 appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any 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 while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The 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 will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the creation apparatus of a virtual machine according to embodiments of the present application. The present application may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments 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 may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the specification and drawings, or any other related technical fields, which are directly or indirectly applied to the present invention, are included in the scope 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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| CN202110384342.8A CN115202330A (en) | 2021-04-09 | 2021-04-09 | Control method for cleaning robot to move along obstacle and cleaning robot |
| PCT/CN2022/077058 WO2022213732A1 (en) | 2021-04-09 | 2022-02-21 | Method for controlling movement of cleaning robot along obstacle, and cleaning robot |
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| CN202110384342.8A CN115202330A (en) | 2021-04-09 | 2021-04-09 | Control method for cleaning robot to move along obstacle and cleaning robot |
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| WO2024093989A1 (en) * | 2022-11-02 | 2024-05-10 | 神顶科技（南京）有限公司 | Obstacle avoidance method and system for robot |
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| CN102541056A (en) * | 2010-12-16 | 2012-07-04 | 莱克电气股份有限公司 | Obstacle processing method for robot |
| JP5880498B2 (en) * | 2013-08-09 | 2016-03-09 | トヨタ自動車株式会社 | Autonomous mobile object, obstacle discrimination method and obstacle avoidance method |
| KR102235270B1 (en) * | 2017-01-18 | 2021-04-01 | 엘지전자 주식회사 | Moving Robot and controlling method |
| WO2021026831A1 (en) * | 2019-08-14 | 2021-02-18 | 珊口（深圳）智能科技有限公司 | Mobile robot, and control method and control system therefor |
| CN110908378B (en) * | 2019-11-28 | 2022-06-21 | 深圳乐动机器人有限公司 | Robot edge method and robot |
| CN111949021B (en) * | 2020-07-30 | 2024-02-09 | 尚科宁家(中国)科技有限公司 | Self-propelled robot and control method thereof |
| CN112415998B (en) * | 2020-10-26 | 2024-06-18 | 珠海一微半导体股份有限公司 | Obstacle classification obstacle avoidance control system based on TOF camera |
| CN112327878B (en) * | 2020-11-25 | 2022-06-10 | 珠海一微半导体股份有限公司 | Obstacle classification and obstacle avoidance control method based on TOF camera |
| CN112363513B (en) * | 2020-11-25 | 2024-06-18 | 珠海一微半导体股份有限公司 | Obstacle classification obstacle avoidance control method based on depth information |
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| WO2024093989A1 (en) * | 2022-11-02 | 2024-05-10 | 神顶科技（南京）有限公司 | Obstacle avoidance method and system for robot |
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