CN115268468B - Method, device, equipment and medium for correcting wall-following coordinates of cleaning robot - Google Patents

Method, device, equipment and medium for correcting wall-following coordinates of cleaning robot Download PDF

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Publication number
CN115268468B
CN115268468B CN202211178060.3A CN202211178060A CN115268468B CN 115268468 B CN115268468 B CN 115268468B CN 202211178060 A CN202211178060 A CN 202211178060A CN 115268468 B CN115268468 B CN 115268468B
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point
wall
cleaning robot
cleaning
matching
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CN115268468A (en
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李伟
谢涛
左海明
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Shenzhen Umouse Technology Development Co Ltd
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Shenzhen Umouse Technology Development Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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

Abstract

The invention discloses a method, a device, equipment and a medium for correcting a wall-following coordinate of a cleaning robot, wherein the method comprises the steps of determining whether the current coordinate of the cleaning robot changes or not, and if the current coordinate of the cleaning robot changes, determining whether a matching point meeting an offset matching condition exists in a preset range of a wall-following cleaning area or not according to a current coordinate point when the cleaning robot walks along a wall; if the matching points exist in the preset range of the wall cleaning area, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching points; and correcting the current coordinate point according to the offset position and the offset direction. Compared with the traditional wall-following cleaning mode, the invention realizes that the coordinate point of the cleaning robot is corrected when the cleaning robot cleans along the wall, avoids the phenomenon of repeated cleaning or missed cleaning, and further improves the working efficiency of the cleaning robot to a great extent.

Description

Method, device, equipment and medium for correcting wall-following coordinates of cleaning robot
Technical Field
The invention belongs to the technical field of cleaning robots, and particularly relates to a wall-following coordinate correction method and device for a cleaning robot, terminal equipment and a computer-readable storage medium.
Background
Nowadays, the appearance of a cleaning robot brings great convenience to the life of people, and whether the cleaning robot can completely clean an area to be cleaned is an important task of the cleaning robot.
The cleaning robot performs navigation in the area to be cleaned by itself and performs cleaning work on all the areas to be cleaned, however, when the cleaning robot performs cleaning work along a wall, the map coordinate is easily deviated in a general cleaning mode of the cleaning robot, and then the cleaning robot performs repeated sweeping or missing sweeping on a certain area in the area to be cleaned, which seriously affects the working efficiency of the cleaning robot.
Disclosure of Invention
The invention mainly aims to provide a method and a device for correcting along-wall coordinates of a cleaning robot, a terminal device and a computer readable storage medium. The coordinate point of the cleaning robot is corrected when the cleaning robot cleans along the wall, the phenomenon of repeated cleaning or missing cleaning is avoided, and therefore the working efficiency of the cleaning robot is improved.
In order to achieve the above object, the present invention provides a wall coordinate correcting method of a cleaning robot, including the steps of:
determining whether the current coordinate of the cleaning robot is changed or not, and if the current coordinate of the cleaning robot is changed, determining whether a matching point meeting an offset matching condition exists in a preset range of a wall-following cleaning area or not according to a current coordinate point when the cleaning robot walks along a wall;
if the matching point exists in the preset range of the wall cleaning area, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point;
and correcting the current coordinate point according to the offset position and the offset direction.
Optionally, the offset matching condition includes: an upward offset matching condition and a downward offset matching condition, the matching points including: a first matching point and a second matching point, the map along the wall cleaning area including: the cleaning robot executes a current obstacle point, a previous obstacle point, a cleaned point and an uncleaned point when walking along a wall;
the step of determining whether a matching point meeting an offset matching condition exists within a preset range of a wall cleaning area according to a current coordinate point of the cleaning robot when the cleaning robot walks along the wall includes:
determining a point within the preset range of the wall-following cleaning area according to a current coordinate point and a current angle of the cleaning robot when the cleaning robot walks along the wall and the wall-following direction of the cleaning robot;
determining whether the first matching point meeting the downward offset matching condition exists in the preset range or not according to the current obstacle point, the previous obstacle point and the cleaned point;
and determining whether the second matching point meeting the upward deviation matching condition exists in the preset range or not according to the current obstacle point, the previous obstacle point and the uncleaned point.
Optionally, the step of determining whether the first matching point satisfying the downward shift matching condition exists within the preset range according to the current obstacle point, the previous obstacle point, and the cleaned point includes:
if it is detected that the distance between the current obstacle point and the previous obstacle point is smaller than a preset distance threshold, the difference between the maximum difference and the minimum difference among the differences between the current obstacle point and the previous obstacle points is smaller than a preset difference threshold, and all the current coordinate point and the previous obstacle point are the cleaned points, determining that the first matching point meeting the downward offset matching condition exists in the preset range;
the step of determining whether there is the second matching point satisfying the upward offset matching condition within the preset range according to the current obstacle point, the previous obstacle point, and the uncleaned point includes:
and if the distance is smaller than the distance threshold value, the difference between the maximum difference value and the minimum difference value is smaller than the difference threshold value, and all the current coordinate point and the previous obstacle point are the points which are not cleaned, determining that the second matching point meeting the upward deviation matching condition exists in the preset range.
Optionally, the offset position comprises: a first offset position and a second offset position, the step of determining an offset position and an offset direction of the cleaning robot at the wall-following cleaning area based on the matching points, comprising:
determining that a deflection direction of the cleaning robot in the wall-following cleaning area is a downward deflection when the matching point is the first matching point, and determining the first deflection position of the cleaning robot in the wall-following cleaning area according to the first matching point;
or, when the matching point is the second matching point, determining that the cleaning robot is offset upward in the offset direction of the wall-following cleaning area, and determining the second offset position of the cleaning robot in the wall-following cleaning area according to the second matching point.
Optionally, before the step of determining the offset position and the offset direction of the cleaning robot at the wall-following cleaning area according to the matching points, the method comprises:
determining whether the current coordinate point deviates from an obstacle point of the cleaning robot when the cleaning robot performs wall-following cleaning in the map of the wall-following cleaning area according to a preset time period;
and if the cleaning robot does not deviate from the obstacle point, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point, and correcting the current coordinate point according to the offset position and the offset direction.
Optionally, the step of determining whether the current coordinate point deviates from an obstacle point of the map of the wall-following cleaning area when the cleaning robot performs wall-following cleaning according to a preset time period includes:
determining a current angle quadrant of the cleaning robot according to a current angle of the cleaning robot when performing wall cleaning in the wall cleaning area within the current time period;
determining whether the current angle quadrant is consistent with a historical angle quadrant, wherein the historical angle quadrant is determined according to an angle when the cleaning robot performs wall-following cleaning in the wall-following cleaning area in the last time period;
if the current angle quadrant is consistent with the historical angle quadrant, determining that the current coordinate point does not deviate from the obstacle point;
and if the current angle quadrant is inconsistent with the historical angle quadrant, determining that the current coordinate point deviates from the obstacle point.
Optionally, before the step of determining the offset position and offset direction of the cleaning robot at the wall-following cleaning area according to the matching point, the method further comprises:
determining the number of matching points continuously meeting the offset matching condition in the wall cleaning area;
if the number of the matching points is larger than a preset number threshold value, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching points, and correcting the current coordinate point according to the offset position and the offset direction;
after the step of correcting for the current coordinate point in accordance with the offset position and the offset direction, the method further includes:
and correcting the current obstacle point of the cleaning robot when the cleaning robot performs the wall cleaning in the map of the wall cleaning area.
In addition, in order to achieve the above object, the present invention also provides a device for correcting coordinates along a wall of a cleaning robot;
the along-wall coordinate correction apparatus of a cleaning robot includes:
a first determining module, configured to determine whether a current coordinate of the cleaning robot changes, and if it is determined that the current coordinate of the cleaning robot changes, determine whether a matching point satisfying an offset matching condition exists within a preset range of a wall-following cleaning area according to a current coordinate point of the cleaning robot when performing wall-following cleaning;
the second determining module is used for determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point if the matching point is determined to exist in the preset range of the wall cleaning area;
and the first correction module is used for correcting the current coordinate point according to the offset position and the offset direction.
In addition, to achieve the above object, the present invention also provides a terminal device, including:
the wall-along coordinate correcting method of the cleaning robot comprises a memory, a processor and a wall-along coordinate correcting program of the cleaning robot, wherein the wall-along coordinate correcting program of the cleaning robot is stored in the memory and can run on the processor, and when the wall-along coordinate correcting program of the cleaning robot is executed by the processor, the steps of the wall-along coordinate correcting method of the cleaning robot are realized.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a wall coordinate correcting program of a cleaning robot, which when executed by a processor, implements the steps of the wall coordinate correcting method of the cleaning robot as described above.
According to the method, the device, the terminal equipment and the computer readable storage medium for correcting the wall-following coordinate of the cleaning robot, whether a matching point meeting an offset matching condition exists in a preset range of a wall-following cleaning area is determined according to a current coordinate point when the cleaning robot walks along a wall or not by determining whether the current coordinate of the cleaning robot changes or not; if the matching point exists in the preset range of the wall cleaning area, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point; and correcting the current coordinate point according to the offset position and the offset direction.
When the technical scheme is applied to a cleaning robot to perform wall-following cleaning work, whether the current coordinate of the cleaning robot is changed or not is determined, if the current coordinate of the cleaning robot is determined to be changed, whether a matching point meeting an offset matching condition exists in a preset range of a cleaning area or not is determined according to the current coordinate point of the cleaning robot when the cleaning robot walks along a wall, if the matching point meeting the offset matching condition exists in the preset range of the wall-following cleaning area, the offset position and the offset direction of the cleaning robot in the wall-following cleaning area are further determined according to the matching point, and finally, the current coordinate point of the cleaning robot is corrected according to the offset position and the offset direction of the wall-following cleaning area.
Compared with the traditional wall cleaning mode of the robot, the wall cleaning method has the advantages that after the current coordinate of the cleaning robot is determined to be changed, the cleaning robot is determined whether the matching point meeting the offset matching condition exists in the preset range of the current coordinate, if the matching point meeting the offset matching condition exists, the offset position and the offset direction of the cleaning robot in the wall cleaning area are confirmed according to the matching point, and finally the current coordinate point of the cleaning robot is corrected according to the offset position and the offset direction. Therefore, the coordinate point of the cleaning robot can be corrected when the cleaning robot cleans along the wall, and the phenomenon of repeated cleaning or missed cleaning is avoided, so that the working efficiency of the cleaning robot is greatly improved.
Drawings
Fig. 1 is a schematic diagram of an apparatus structure of a hardware operating environment of a terminal apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for correcting along-wall coordinates of a cleaning robot according to the present invention;
FIG. 3 is a schematic flow chart illustrating a method for correcting coordinates along a wall of a cleaning robot according to another embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a distribution of downward offset coordinate points of a cleaning robot according to another embodiment of the method for correcting coordinates along a wall of the cleaning robot of the present invention;
FIG. 5 is a schematic view illustrating a distribution of upwardly shifted coordinate points of a cleaning robot according to another embodiment of a method for correcting coordinates along a wall of the cleaning robot according to the present invention;
fig. 6 is a schematic functional block diagram of an embodiment of a wall-following coordinate correction apparatus of a cleaning robot according to the present invention.
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
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a terminal device hardware operating environment according to an embodiment of the present invention.
The terminal device according to the embodiment of the present invention may be a cleaning robot integrated with along-wall coordinate correction, and the terminal device may be a smart phone, a PC (Personal Computer), a tablet Computer, a portable Computer, or the like.
As shown in fig. 1, the terminal device may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory such as a disk memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the terminal device configuration shown in fig. 1 is not intended to be limiting of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an along-wall coordinate correcting program of the cleaning robot.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and communicating data with the background server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be used to invoke the wall coordinate correction program of the cleaning robot stored in the memory 1005 to implement various embodiments of the wall coordinate correction method of the cleaning robot of the present invention. Based on the terminal device, various embodiments of the wall-following coordinate correction method of the cleaning robot are provided. In each embodiment of the along-wall coordinate correcting method of the cleaning robot of the present invention, the along-wall coordinate correcting method of the cleaning robot of the present invention is applied to the along-wall coordinate correction of the cleaning robot.
Please refer to fig. 2, which is a flow chart of a method for correcting the wall-following coordinates of the cleaning robot according to the present invention. In a first embodiment of the wall coordinate correcting method of the cleaning robot of the present invention, the wall coordinate correcting method of the cleaning robot of the present invention includes:
step S10: determining whether the current coordinate of the cleaning robot changes or not, and if so, determining whether a matching point meeting an offset matching condition exists in a preset range of a wall-following cleaning area or not according to a current coordinate point when the cleaning robot walks along a wall;
in this embodiment, when the cleaning robot performs a cleaning operation on the wall-following area, the terminal device determines whether the current coordinate of the cleaning robot is changing, and if it is determined that the current coordinate is changing, determines whether there is a matching point satisfying the offset matching condition among points within a preset range of the wall-following cleaning area according to the current coordinate point when the cleaning robot performs wall-following walking.
It should be noted that, in the present embodiment, the cleaning robot includes an intelligent robot device for home floor cleaning, such as a household cleaning machine, a floor mopping machine, a sweeping and mopping all-in-one machine, and a floor washing machine.
For example, in this embodiment, when the cleaning robot performs a cleaning operation on a wall-following area, the terminal device first confirms that the cleaning robot is currently in the cleaning mode, further confirms whether the cleaning robot is along the wall if the cleaning robot is currently in the cleaning mode, confirms whether the current coordinate of the cleaning robot is changing if the cleaning robot is along the wall if the cleaning robot is confirmed, and determines whether there is a matching point satisfying the offset matching condition within 5 range points adjacent to the current coordinate point in the wall-following cleaning area according to the current coordinate point when the cleaning robot performs wall-following walking if the current coordinate of the cleaning robot is confirmed to be changing.
Optionally, in some possible embodiments, the offset matching condition includes: an upward offset matching condition and a downward offset matching condition, the matching points including: a first matching point and a second matching point, the map along the wall cleaning area comprising: the step of determining whether there is a matching point satisfying the offset matching condition within the preset range of the wall-following cleaning region according to the current coordinate point of the cleaning robot when the cleaning robot performs wall-following traveling in the step S10 may include the steps of:
step S101: determining a point within the preset range of the wall-following cleaning area according to a current coordinate point and a current angle of the cleaning robot when the cleaning robot walks along the wall and the wall-following direction of the cleaning robot;
in this embodiment, when the cleaning robot performs a cleaning operation on a wall-following area, the terminal device determines a point within a preset range of the wall-following cleaning area according to a current coordinate point, a current angle and a wall-following direction of the cleaning robot when the terminal device travels along a wall.
Illustratively, in the embodiment, when the cleaning robot performs a cleaning work for a wall-following area, the terminal device executes a current coordinate point, a current angle and a wall-following direction of the cleaning robot while walking along a wall, and determines points within 5 range points adjacent to the current coordinate point in the wall-following cleaning area.
It should be noted that, in this embodiment, the terminal device obtains a current angle once according to a preset time period during the process that the cleaning robot travels along the wall, where the current angle is a heading angle of the cleaning robot, and the heading angle is an angle at which the visual coordinate system rotates around the origin relative to the indoor reference coordinate system, and specifically, if it is determined that the reference direction when the cleaning robot is started is 0 degree, it is determined that an angle between a current direction in which the cleaning robot is located and the reference direction is the current angle.
Step S102: determining whether the first matching point meeting the downward offset matching condition exists in the preset range according to the current obstacle point, the previous obstacle point and the cleaned point;
in the present embodiment, after the terminal device determines a point within a preset range of a current coordinate point of a cleaning robot in the wall-following cleaning area, it determines whether or not there is a first matching point satisfying a downward offset matching condition within the preset range, based on a current obstacle point, a previous obstacle point, and a swept point included in the wall-following cleaning area at the time of wall-following cleaning by the cleaning robot.
Illustratively, in the present embodiment, after determining a point of 5 range points of a current coordinate point of a cleaning robot in a wall-following cleaning area, the terminal device determines whether there is a first matching point satisfying a downward offset matching condition within the 5 range points of the current coordinate, based on a current obstacle point, a previous obstacle point, and a swept point of the cleaning robot at the time of wall-following cleaning included in the wall-following cleaning area.
Step S103: and determining whether the second matching point meeting the upward deviation matching condition exists in the preset range or not according to the current obstacle point, the previous obstacle point and the uncleaned point.
In this embodiment, in the present embodiment, after the terminal device determines a point within a preset range of a current coordinate point of a cleaning robot in the wall-following cleaning area, it determines whether or not there is a second matching point satisfying the upward shift matching condition within the preset range, based on a current obstacle point, a previous obstacle point, and an uncleaned point at the time of wall-following cleaning of the cleaning robot included in the wall-following cleaning area.
Illustratively, in the present embodiment, after determining a point of 5 range points of a current coordinate point of a cleaning robot in a wall-cleaning area, the terminal device determines whether there is a second matching point satisfying an upward shift matching condition within the 5 range points of the current coordinate point, based on a current obstacle point, a previous obstacle point, and an uncleaned point at the time of wall cleaning by the cleaning robot included in the wall-cleaning area.
Optionally, in some possible embodiments, in the step S102, the following steps may be included:
step S1021: if it is detected that the distance between the current obstacle point and the previous obstacle point is smaller than a preset distance threshold, the difference between the maximum difference and the minimum difference among the differences between the current obstacle point and the previous obstacle points is smaller than a preset difference threshold, and all the current coordinate point and the previous obstacle point are the cleaned points, determining that the first matching point meeting the downward deviation matching condition exists in the preset range;
in this embodiment, after the terminal device determines a point within a preset range of a current coordinate point of the cleaning robot in the wall cleaning area, if it is detected that a distance between a current obstacle point and a previous obstacle point is smaller than a preset distance threshold, a difference between a maximum difference and a minimum difference among differences between the current obstacle point and the previous obstacle points is smaller than a preset difference threshold, and all of the current coordinate point and the previous obstacle point are cleaned points, it is determined that a first matching point satisfying a downward offset matching condition exists within the preset range of the current coordinate point.
It should be noted that, in the present embodiment, the robot is shifted upward by the coordinate point distribution diagram as shown in fig. 5, and the robot is shifted downward by the coordinate point distribution diagram as shown in fig. 4, the obstacle point included in the map along the wall cleaning area during the wall cleaning by the cleaning robot is denoted by x, the cleaned point is denoted by o, and the uncleaned point is denoted by u.
Illustratively, as shown in the robot downward-shift coordinate point distribution diagram of fig. 4, in the present embodiment, after determining points within 5 range points of a current coordinate point of a cleaning robot in a wall cleaning area, if it is detected that a distance between x4 and a previous obstacle point x1 is less than 5 points, a difference between a maximum difference and a minimum difference among differences between a plurality of current obstacle points x4 and a plurality of previous obstacle points x1 is less than 3 points, and all of the current obstacle point x4 and the previous obstacle point x1 are cleaned points o2 and o3, it is determined that there is a first matching point satisfying a downward-shift matching condition within 5 range points of the current coordinate point in the wall cleaning area.
Optionally, in some possible embodiments, in step S103, the following steps may be included:
step S1031: and if the distance is smaller than the distance threshold value, the difference between the maximum difference value and the minimum difference value is smaller than the difference threshold value, and all the current coordinate point and the previous obstacle point are the points which are not cleaned, determining that the second matching point meeting the upward deviation matching condition exists in the preset range.
In this embodiment, after the terminal device determines a point within a preset range of a current coordinate point of the cleaning robot in the wall cleaning area, if it is detected that a distance between the current obstacle point and a previous obstacle point is smaller than a preset distance threshold, a difference between a maximum difference and a minimum difference among differences between a plurality of current obstacle points and a plurality of previous obstacle points is smaller than a preset difference threshold, and all of the current coordinate point and the previous obstacle points are non-cleaning points, it is determined that a second matching point satisfying the upward offset matching condition exists within the preset range of the current coordinate point.
Illustratively, as shown in the schematic diagram of the distribution of coordinate points shifted upward by the robot in fig. 5, in the present embodiment, after the terminal device determines points within 5 range points of a current coordinate point of the cleaning robot in the wall cleaning area, if it is detected that the distance between x4 and a previous obstacle point x1 is less than 5 points, the difference between the maximum difference and the minimum difference among the differences between a plurality of current obstacle points x4 and a plurality of previous obstacle points x1 is less than 3 points, and all of the uncleaned points u3 and u4 are between the current obstacle point x4 and the previous obstacle point x1, it is determined that there is a second matching point satisfying the matching condition shifted upward within 5 range points of the current coordinate point in the wall cleaning area.
Step S20: if the matching point exists in the preset range of the wall cleaning area, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point;
in this embodiment, after determining whether a matching point satisfying an offset matching condition exists within a preset range along a wall cleaning area according to a current coordinate point of the cleaning robot, if it is determined that the matching point satisfying the offset matching condition exists within the preset range along the wall cleaning area, the terminal device determines an offset position and an offset direction of the cleaning robot in the wall cleaning area according to the matching point.
Illustratively, as shown in a flowchart related to another embodiment shown in fig. 3, in this embodiment, after the terminal device determines whether there is a matching point satisfying the offset matching condition within 5 range points adjacent to the current coordinate point along the wall cleaning area according to the current coordinate point of the cleaning robot, if it is determined that there is the matching point satisfying the offset matching condition, it determines the offset position and the offset direction of the cleaning robot along the wall cleaning area according to the matching point.
Optionally, in some possible embodiments, the offset position includes: the first and second offset positions, step S20, may include the steps of:
step S201: determining that a deflection direction of the cleaning robot in the wall-following cleaning area is a downward deflection when the matching point is the first matching point, and determining the first deflection position of the cleaning robot in the wall-following cleaning area according to the first matching point;
in this embodiment, after determining that a matching point satisfying the offset matching condition exists within a preset range of a current coordinate point of the cleaning robot in the wall cleaning area, the terminal device determines that the cleaning robot is offset downward in the offset direction of the wall cleaning area when the matching point is a first matching point, and determines a first offset position of the cleaning robot in the wall cleaning area according to the first matching point.
For example, as shown in fig. 4, in the exemplary embodiment, after determining that there are matching points satisfying the offset matching condition in 5 range points adjacent to the current coordinate point along the wall cleaning area, the terminal device determines that the cleaning robot is offset downward in the offset direction along the wall cleaning area when the matching point is the first matching point, and determines that the cleaning robot is at the first offset position o2 along the wall cleaning area according to the first matching point and the previous obstacle point x 1.
Step S202: determining that the cleaning robot is offset upward in the offset direction of the wall-following cleaning area when the matching point is the second matching point, and determining the second offset position of the cleaning robot in the wall-following cleaning area according to the second matching point.
In this embodiment, after determining that there is a matching point that satisfies the offset matching condition within the preset range of the current coordinate point of the cleaning robot in the wall cleaning area, the terminal device determines that the cleaning robot is offset upward in the offset direction of the wall cleaning area when the matching point is a second matching point, and determines a second offset position of the cleaning robot in the wall cleaning area according to the second matching point.
For example, as shown in fig. 5, in the exemplary embodiment, after determining that there are matching points satisfying the offset matching condition in 5 range points adjacent to the current coordinate point along the wall cleaning area, the terminal device determines that the cleaning robot is offset upward in the offset direction along the wall cleaning area when the matching point is the second matching point, and determines that the cleaning robot is at the second offset position o6 along the wall cleaning area according to the second matching point and the previous obstacle point x 5.
Optionally, in some possible embodiments, before the step of "determining the offset position and the offset direction of the cleaning robot at the wall cleaning area according to the matching point" in step S20, the following steps may be further included:
step S40: determining whether the current coordinate point deviates from an obstacle point of the cleaning robot in the map of the wall-following cleaning area when the cleaning robot performs wall-following cleaning according to a preset time period;
in this embodiment, after determining whether there is a matching point satisfying the offset matching condition within the preset range of the wall-following cleaning area, the terminal device determines whether the current coordinate point deviates from an obstacle point when the cleaning robot performs wall-following cleaning in the map of the wall-following cleaning area at a preset time period.
Illustratively, as shown in a flowchart related to another embodiment shown in fig. 3, in this embodiment, after determining whether there is a matching point satisfying the offset matching condition within 5 range points of the cleaning robot in the wall-following cleaning area, the terminal device determines whether the current coordinate point deviates from an obstacle point x at the time of performing wall-following cleaning by the cleaning robot in the map of the wall-following cleaning area by a preset time period.
Optionally, in some possible embodiments, step S40 may further include the following steps:
step 401: determining a current angle quadrant of the cleaning robot according to a current angle of the cleaning robot when performing wall-following cleaning in the wall-following cleaning area within the current time period;
in this embodiment, after determining whether there is a matching point satisfying the offset matching condition within the preset range of the wall-following cleaning area, the terminal device determines the current angle quadrant of the cleaning robot according to the current angle at which the cleaning robot performs wall-following cleaning in the wall-following cleaning area within the current time period.
For example, in the present embodiment, after determining whether there are matching points satisfying the offset matching condition within 5 range points of the current coordinate point in the wall-following cleaning area, the terminal device determines the current angle quadrant of the cleaning robot according to the current angle at which the cleaning robot performs wall-following cleaning in the wall-following cleaning area within the current time period.
Illustratively, as shown in the flowchart of fig. 3 related to another embodiment, in this embodiment, after determining whether there is a matching point satisfying the offset matching condition within 5 range points of the current coordinate point in the wall-following cleaning area, if the current angle when performing wall-following cleaning in the wall-following cleaning area within the current time period of the cleaning robot is greater than 315 (360-45) degrees and less than 45 (90-45) degrees, the current angle quadrant of the cleaning robot is determined to be the first quadrant, and if the current angle when performing wall-following cleaning in the wall-following cleaning area within the current time period of the cleaning robot is greater than 45 (90-45) degrees and less than 135 (90-45) degrees, the current angle quadrant of the cleaning robot is determined to be the second quadrant, and if the current angle when performing wall-following cleaning in the wall-following cleaning area within the current time period of the cleaning robot is greater than 135 (180-45) degrees and less than 225 (180-45) degrees, the current angle of the cleaning robot is determined to be the third quadrant as 270 degrees, the current angle of the cleaning robot is determined to be greater than 270 degrees.
It should be noted that, in this embodiment, the terminal device may determine the current angle quadrant of the cleaning robot according to the current coordinate point of the cleaning robot, and may also determine the current angle quadrant of the cleaning robot according to the matching point, if the current coordinate point is a coordinate whose horizontal direction is x-axis and whose vertical direction is y-axis, if the angle of the matching point is greater than 315 (360-45) degrees and less than 45 (90-45) degrees, the matching point is determined to be the matching point (x, y + i) of the first quadrant, and if the angle of the matching point is greater than 45 (90-45) degrees and less than 135 (90-45) degrees, the matching point is determined to be the matching point (x + i, y) of the second quadrant, and if the angle of the matching point is greater than 135 (180-45) degrees and less than 225 (180-45) degrees, the matching point is determined to be the matching point (x, y-i) of the third quadrant, and if the angle of the matching point is greater than 225 (270-45) degrees and less than 225 (315 degrees, the matching point is determined to be the third quadrant (x, y-i).
Step 402: determining whether the current angle quadrant is consistent with a historical angle quadrant, wherein the historical angle quadrant is determined according to an angle of the cleaning robot during wall-following cleaning in the wall-following cleaning area in the last time period;
in this embodiment, after determining a current angle quadrant of a current time period according to a current angle of the cleaning robot, the terminal device determines whether the current angle quadrant is consistent with a historical angle quadrant determined according to an angle at which the cleaning robot performs wall-following cleaning in a wall-following cleaning area in a previous time period.
Illustratively, as shown in the flowchart of fig. 3 related to another embodiment, in this embodiment, after determining the current angle quadrant of the current time period according to the current angle of the cleaning robot, the terminal device determines the historical angle quadrant determined according to the angle of the cleaning robot when performing the wall up cleaning in the wall up cleaning area in the last time period, if the historical angle of the cleaning robot when performing the wall up cleaning in the wall up cleaning area in the last time period is greater than 315 (360-45) degrees and less than 45 (90-45) degrees, determines the historical angle quadrant of the cleaning robot to be the first quadrant, and if the historical angle of the cleaning robot when performing the wall up cleaning in the wall up cleaning area in the last time period is greater than 45 (90-45) degrees and less than 135 (90 + 45) degrees, determining the historical angle quadrant of the cleaning robot as a second quadrant, determining the historical angle quadrant of the cleaning robot as a third quadrant if the historical angle of the cleaning robot during the last time period when the cleaning robot performs the wall cleaning in the wall cleaning area is larger than 135 (180-45) degrees and smaller than 225 (180 + 45) degrees, determining the historical angle quadrant of the cleaning robot during the last time period when the cleaning robot performs the wall cleaning in the wall cleaning area is larger than 225 (270-45) degrees and smaller than 315 (270 + 45) degrees, determining the historical angle quadrant of the cleaning robot as a fourth quadrant by the terminal equipment, and finally determining whether the front angle quadrant is consistent with the historical angle quadrant.
Step 403: if the current angle quadrant is consistent with the historical angle quadrant, determining that the current coordinate point does not deviate from the obstacle point;
in this embodiment, after the terminal device determines the current angle quadrant and the historical angle quadrant, if the current angle quadrant is identical to the historical angle quadrant, the terminal device determines that the current coordinate point does not deviate from the obstacle point of the map of the wall cleaning area when the cleaning robot cleans the wall.
For example, in this embodiment, after the terminal device determines that the current angle quadrant is identical to the historical angle quadrant, if the current angle quadrant is identical to the historical angle quadrant, the terminal device determines that the matching point corresponding to the current coordinate point does not deviate from a wall corresponding to the previous obstacle point, or does not deviate from a wall corresponding to the current obstacle point.
Step 404: and if the current angle quadrant is inconsistent with the historical angle quadrant, determining that the current coordinate point deviates from the obstacle point.
In this embodiment, after the terminal device determines the current angle quadrant and the historical angle quadrant, if the current angle quadrant is not consistent with the historical angle quadrant, the terminal device determines that the current coordinate point deviates from an obstacle point of a map of a wall cleaning area of the cleaning robot during wall cleaning.
For example, in this embodiment, after the terminal device determines that the current angle quadrant is identical to the historical angle quadrant, if the current angle quadrant is identical to the historical angle quadrant, the terminal device determines that the matching point corresponding to the current coordinate point deviates from a wall corresponding to a previous obstacle point, or deviates from a wall corresponding to the current obstacle point.
Step S50: and if the cleaning robot does not deviate from the obstacle point, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point, and correcting the current coordinate point according to the offset position and the offset direction.
In this embodiment, if it is determined that the current coordinate point does not deviate from an obstacle point of a map of the cleaning robot along the wall cleaning area in the wall cleaning area, the terminal device determines an offset position and an offset direction of the cleaning robot along the wall cleaning area according to the matching point, and then corrects the current coordinate point according to the sweeping point offset position and the offset direction.
Optionally, in some possible embodiments, before the step of "determining the offset position and the offset direction of the cleaning robot at the wall cleaning area according to the matching point" in step S20, the following steps may be further included:
step S60: determining the number of matching points continuously meeting the offset matching condition in the wall cleaning area;
in this embodiment, after the terminal device determines the matching points within the preset range of the current coordinate point of the cleaning robot in the wall-following area, the terminal device further determines the number of matching points continuously satisfying the offset matching condition within the wall-following cleaning area.
For example, in the present embodiment, after determining the matching points at 5 range points of the current coordinate point of the cleaning robot in the wall-following area, the terminal device further determines the number of matching points that continuously satisfy the offset matching condition within the wall-following cleaning area.
Step S70: if the number of the matching points is larger than a preset number threshold value, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching points, and correcting the current coordinate point according to the offset position and the offset direction;
in this embodiment, if the terminal device determines that the number of the matching points continuously satisfying the offset matching condition in the wall-following cleaning area is greater than the preset threshold value, the terminal device determines the offset position and the offset direction of the cleaning robot in the wall-following cleaning area according to the matching points, and corrects the current coordinate point according to the offset position and the offset direction.
Exemplarily, in this embodiment, the terminal device determines that the number of matching points continuously satisfying the offset matching condition is greater than 5 points within the wall-following cleaning area, determines the offset position and the offset direction of the cleaning robot in the wall-following cleaning area according to the matching points, and then corrects the current coordinate point according to the offset position and the offset direction.
Step S30: and correcting the current coordinate point according to the offset position and the offset direction.
In this embodiment, after determining the offset position and the offset direction of the cleaning robot from the matching point, the terminal device corrects the current coordinate point of the cleaning robot according to the offset position and the offset direction.
Illustratively, as shown in fig. 4, the robot downward-shift coordinate point distribution diagram, the terminal device determines that the shift position of the cleaning robot is o2 according to the first matching point, and corrects the current coordinate point o5 to o2 after the shift direction is downward shift, that is, the cleaning robot determines that the previous obstacle point x1 is a real wall and the current obstacle point x4 is a wall that the cleaning robot mistakenly believes.
Or, exemplarily, as shown in fig. 5, the robot upward-shifting coordinate point distribution diagram, in this embodiment, the terminal device determines that the shifting position of the cleaning robot is o6 according to the second matching point, and corrects the current coordinate point o2 to o6 after the shifting direction is upward shifting, that is, the cleaning robot determines that the previous obstacle point x5 is a real wall, and the current obstacle point x1 is a wall that the cleaning robot mistakenly believes, it should be noted that, in this embodiment, the entire process is executed once according to a preset time interval, specifically, the entire process may be executed once every 50ms, thereby solving the coordinate drift of the cleaning robot, reducing the problem of repeated cleaning by the machine and missed cleaning, and also beautifying the map.
Optionally, in some possible embodiments, after step S30, the following steps may be further included:
step S80: and correcting the current obstacle point of the cleaning robot in the map of the wall cleaning area when the wall cleaning is performed.
In the present embodiment, after the terminal device corrects the current coordinate point of the cleaning robot in accordance with the offset position and the offset direction, the terminal device corrects the current obstacle point when the wall-following cleaning is performed by the cleaning robot in the map of the wall-following cleaning area.
Exemplarily, as shown in the schematic diagram of the robot shifted down the coordinate point distribution in fig. 4, in the present embodiment, after the terminal device corrects the current coordinate point o5 to o2 according to the first matching point, the wall x4 mistakenly recognized by the cleaning robot is corrected to the cleaned point o.
Alternatively, exemplarily, as shown in fig. 5, the robot shifts the coordinate point distribution diagram upward, and in this embodiment, after the terminal device corrects the current coordinate point o2 to o6 according to the second matching point, the wall x1 erroneously recognized by the cleaning robot is corrected to the uncleaned point u, and the current coordinate point o2 is corrected to the uncleaned point u.
In this way, in this embodiment, when the cleaning robot performs a cleaning operation on the wall-following area, the terminal device determines whether the current coordinate of the cleaning robot is changing, and if it is determined that the current coordinate of the cleaning robot is changing, determines whether there is a matching point that satisfies the offset matching condition among points within a preset range of the wall-following cleaning area according to the current coordinate point when the cleaning robot performs wall-following walking; then, after the terminal equipment determines whether a matching point meeting the offset matching condition exists in the preset range of the wall cleaning area according to the current coordinate point of the cleaning robot, if the matching point meeting the offset matching condition exists in the preset range of the wall cleaning area, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point; finally, after determining the offset position and the offset direction of the cleaning robot according to the matching point, the terminal device corrects the current coordinate point of the cleaning robot according to the offset position and the offset direction.
Therefore, the invention realizes that after the current coordinate of the cleaning robot is changed, the cleaning robot is determined whether a matching point meeting the offset matching condition exists in the preset range of the current coordinate, if the matching point meeting the offset matching condition exists, the offset position and the offset direction of the cleaning robot in the wall cleaning area are determined according to the matching point, and finally the current coordinate point of the cleaning robot is corrected according to the offset position and the offset direction. Therefore, the coordinate point of the cleaning robot can be corrected when the cleaning robot cleans along the wall, and the cleaning robot repeatedly cleans or fails to clean, so that the working efficiency of the cleaning robot is greatly improved.
In addition, an embodiment of the present invention further provides a device for correcting a wall coordinate of a cleaning robot, referring to fig. 4, fig. 4 is a schematic diagram of functional modules of an embodiment of the device for correcting a wall coordinate of a cleaning robot according to the present invention, and as shown in fig. 4, the device for correcting a wall coordinate of a cleaning robot according to the present invention includes:
a first determining module 10, configured to determine whether a current coordinate of the cleaning robot changes, and if it is determined that the current coordinate of the cleaning robot changes, determine whether a matching point meeting an offset matching condition exists in a preset range of a wall-following cleaning area according to a current coordinate point of the cleaning robot when the cleaning robot performs wall-following walking;
a second determining module 20, configured to determine, if it is determined that the matching point exists within the preset range of the wall-following cleaning area, an offset position and an offset direction of the cleaning robot in the wall-following cleaning area according to the matching point;
a first correction module 30, configured to correct the current coordinate point according to the offset position and the offset direction.
Optionally, the offset matching condition includes: an upward offset matching condition and a downward offset matching condition, the matching points including: a first matching point and a second matching point, the map along the wall cleaning area comprising: the cleaning robot executes a current obstacle point, a previous obstacle point, a cleaned point and an uncleaned point when walking along a wall;
a first determination module 10 comprising:
a first determination unit configured to determine a point within the preset range of the wall-following cleaning region according to a current coordinate point, a current angle, and a wall-following direction of the cleaning robot when the cleaning robot performs wall-following walking;
a second determining unit, configured to determine whether the first matching point satisfying the downward shift matching condition exists within the preset range or not according to the current obstacle point, the previous obstacle point, and the cleaned point;
a third determining unit, configured to determine whether there is the second matching point that satisfies the upward offset matching condition in the preset range according to the current obstacle point, the previous obstacle point, and the uncleaned point.
Optionally, the second determining unit includes:
a first determining subunit, configured to determine that the first matching point meeting the downward offset matching condition exists within the preset range if it is detected that the distance between the current obstacle point and the previous obstacle point is smaller than a preset distance threshold, and a difference between a maximum difference and a minimum difference among differences between the current obstacle point and the previous obstacle points is smaller than a preset difference threshold, and all of the current coordinate point and the previous obstacle points are the cleaned points;
optionally, the second determining unit includes:
a second determining subunit, configured to determine that there is the second matching point that satisfies the upward deviation matching condition in the preset range if it is detected that the distance is smaller than the distance threshold, the difference between the maximum difference value and the minimum difference value is smaller than the difference threshold, and all of the current coordinate point and the previous obstacle point are the uncleaned points.
Optionally, the offset position comprises: a first offset position and a second offset position, a second determination module 20, comprising:
a fourth determination unit configured to determine that the cleaning robot is offset downward in the offset direction of the wall-following cleaning area when the matching point is the first matching point, and determine the first offset position of the cleaning robot in the wall-following cleaning area according to the first matching point;
a fifth determination unit configured to determine that the cleaning robot is offset upward in the offset direction of the wall-following cleaning area when the matching point is the second matching point, and determine the second offset position of the cleaning robot in the wall-following cleaning area according to the second matching point.
Optionally, the device for correcting coordinates along a wall of the cleaning robot of the present invention further includes:
a third determining module, configured to determine, according to a preset time period, whether the current coordinate point deviates from an obstacle point of the map of the wall-following cleaning area when the cleaning robot performs wall-following cleaning;
and the first execution module is used for determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point if the cleaning robot does not deviate from the obstacle point, and correcting the current coordinate point according to the offset position and the offset direction.
Optionally, the third determining module includes:
a sixth determining unit for determining a current angle quadrant of the cleaning robot according to a current angle of the cleaning robot when performing the wall-following cleaning in the wall-following cleaning area within the current time period;
a seventh determining unit, configured to determine whether the current angle quadrant is consistent with a historical angle quadrant, where the historical angle quadrant is determined according to an angle at which the cleaning robot performs wall-following cleaning in the wall-following cleaning area in a previous time period;
an eighth determining unit, configured to determine that the current coordinate point does not deviate from the obstacle point if the current angle quadrant is consistent with the historical angle quadrant;
a ninth determining unit, configured to determine that the current coordinate point deviates from the obstacle point if the current angle quadrant is inconsistent with the historical angle quadrant.
Optionally, the device for correcting coordinates along a wall of the cleaning robot of the present invention further includes:
and the fourth determination module is used for determining the number of the matching points continuously meeting the offset matching condition in the wall cleaning area.
A second execution module, configured to determine, if it is determined that the number of the matching points is greater than a preset threshold value of the number, an offset position and an offset direction of the cleaning robot in the wall cleaning area according to the matching points, and correct the current coordinate point according to the offset position and the offset direction;
optionally, the along-wall coordinate correction apparatus for a cleaning robot according to the present invention further includes: and the second correction module is used for correcting the current obstacle point of the cleaning robot in the map of the wall cleaning area when the cleaning robot performs wall cleaning.
The present invention also provides a computer-readable storage medium having stored thereon a along-wall coordinate correcting program of a cleaning robot; the wall coordinate correcting program of the cleaning robot is executed by a processor to implement the steps of the wall coordinate correcting method of the cleaning robot according to any one of the above embodiments.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the wall-following coordinate correction method for a cleaning robot, and will not be described herein again.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method for along-the-wall coordinate correction of a cleaning robot as described in any of the above embodiments. The specific embodiment of the computer storage medium of the present invention is substantially the same as the embodiments of the wall-following coordinate correction method of the cleaning robot, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (9)

1. A wall coordinate correction method of a cleaning robot, the wall coordinate correction method of the cleaning robot comprising:
determining whether the current coordinate of the cleaning robot changes, and if so, determining whether a matching point meeting an offset matching condition exists in a preset range of a wall cleaning area according to a current coordinate point when the cleaning robot walks along a wall, wherein the offset matching condition comprises: an upward offset matching condition and a downward offset matching condition, the matching points including: a first matching point and a second matching point, the map along the wall cleaning area comprising: the cleaning robot executes a current obstacle point, a previous obstacle point, a cleaned point and an uncleaned point when walking along a wall;
the step of determining whether a matching point meeting an offset matching condition exists within a preset range of a wall cleaning area according to a current coordinate point of the cleaning robot when the cleaning robot walks along the wall includes:
determining a point within the preset range of the wall-following cleaning area according to a current coordinate point and a current angle of the cleaning robot when the cleaning robot walks along the wall and the wall-following direction of the cleaning robot;
determining whether the first matching point meeting the downward offset matching condition exists in the preset range or not according to the current obstacle point, the previous obstacle point and the cleaned point;
determining whether the second matching point meeting the upward offset matching condition exists in the preset range according to the current obstacle point, the previous obstacle point and the uncleaned point;
if the matching point exists in the preset range of the wall cleaning area, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point;
and correcting the current coordinate point according to the offset position and the offset direction.
2. The wall-following coordinate correction method of a cleaning robot according to claim 1, wherein the step of determining whether the first matching point satisfying the downward shift matching condition exists within the preset range based on the current obstacle point, the previous obstacle point, and the swept point includes:
if it is detected that the distance between the current obstacle point and the previous obstacle point is smaller than a preset distance threshold, the difference between the maximum difference and the minimum difference among the differences between the current obstacle point and the previous obstacle points is smaller than a preset difference threshold, and all the current coordinate point and the previous obstacle point are the cleaned points, determining that the first matching point meeting the downward offset matching condition exists in the preset range;
the step of determining whether the second matching point satisfying the upward shift matching condition exists within the preset range according to the current obstacle point, the previous obstacle point, and the uncleaned point includes:
and if the distance is smaller than the distance threshold value, the difference between the maximum difference value and the minimum difference value is smaller than the difference threshold value, and all the current coordinate point and the previous obstacle point are the points which are not cleaned, determining that the second matching point meeting the upward deviation matching condition exists in the preset range.
3. The along-wall coordinate correcting method of a cleaning robot according to claim 1 or 2, wherein the offset position includes: a first offset position and a second offset position, the step of determining an offset position and an offset direction of the cleaning robot at the wall-following cleaning area based on the matching points, comprising:
determining that a deflection direction of the cleaning robot in the wall-following cleaning area is a downward deflection when the matching point is the first matching point, and determining the first deflection position of the cleaning robot in the wall-following cleaning area according to the first matching point;
or, when the matching point is the second matching point, determining that the cleaning robot is offset upward in the offset direction of the wall-following cleaning area, and determining the second offset position of the cleaning robot in the wall-following cleaning area according to the second matching point.
4. A wall coordinate correction method of a cleaning robot according to claim 1, wherein before the step of determining the offset position and the offset direction of the cleaning robot at the wall cleaning area based on the matching points, the method comprises:
determining whether the current coordinate point deviates from an obstacle point of the cleaning robot in the map of the wall-following cleaning area when the cleaning robot performs wall-following cleaning according to a preset time period;
and if the cleaning robot does not deviate from the obstacle point, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point, and correcting the current coordinate point according to the offset position and the offset direction.
5. The wall coordinate correction method of a cleaning robot according to claim 4, wherein the step of determining whether the current coordinate point deviates from an obstacle point when the cleaning robot performs wall cleaning in the map of the wall cleaning area at a preset time period includes:
determining a current angle quadrant of the cleaning robot according to a current angle of the cleaning robot when performing wall-following cleaning in the wall-following cleaning area within the current time period;
determining whether the current angle quadrant is consistent with a historical angle quadrant, wherein the historical angle quadrant is determined according to an angle when the cleaning robot performs wall-following cleaning in the wall-following cleaning area in the last time period;
if the current angle quadrant is consistent with the historical angle quadrant, determining that the current coordinate point does not deviate from the obstacle point;
and if the current angle quadrant is inconsistent with the historical angle quadrant, determining that the current coordinate point deviates from the obstacle point.
6. The wall coordinate correction method of a cleaning robot according to claim 1, 4 or 5, wherein before the step of determining the offset position and the offset direction of the cleaning robot at the wall cleaning region based on the matching points, the method further comprises:
determining the number of matching points continuously meeting the offset matching condition in the wall cleaning area;
if the number of the matching points is larger than a preset number threshold value, determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching points, and correcting the current coordinate point according to the offset position and the offset direction;
after the step of correcting the current coordinate point according to the offset position and the offset direction, the method further includes:
and correcting the current obstacle point of the cleaning robot in the map of the wall cleaning area when the wall cleaning is performed.
7. A coordinate correcting device along a wall of a cleaning robot, the coordinate correcting device of the cleaning robot comprising:
a first determining module, configured to determine whether a current coordinate of the cleaning robot changes, and if it is determined that the current coordinate of the cleaning robot changes, determine whether a matching point meeting an offset matching condition exists within a preset range of a wall cleaning area according to a current coordinate point of the cleaning robot when the cleaning robot walks along a wall, where the offset matching condition includes: an upward offset matching condition and a downward offset matching condition, the matching points including: a first matching point and a second matching point, the map along the wall cleaning area including: the cleaning robot executes a current obstacle point, a previous obstacle point, a cleaned point and an uncleaned point when walking along a wall;
the first determining module includes:
a first determination unit configured to determine a point within the preset range of the wall-following cleaning region according to a current coordinate point, a current angle, and a wall-following direction of the cleaning robot when the cleaning robot performs wall-following walking;
a second determination unit, configured to determine whether the first matching point meeting the downward offset matching condition exists in the preset range or not according to the current obstacle point, the previous obstacle point, and the cleaned point;
a third determining unit, configured to determine whether the second matching point meeting the upward offset matching condition exists in the preset range according to the current obstacle point, the previous obstacle point, and the uncleaned point;
the second determining module is used for determining the offset position and the offset direction of the cleaning robot in the wall cleaning area according to the matching point if the matching point is determined to exist in the preset range of the wall cleaning area;
and the first correction module is used for correcting the current coordinate point according to the offset position and the offset direction.
8. A terminal device, characterized in that the terminal device comprises: a memory, a processor and a wall coordinate correction program of a cleaning robot stored on the memory and executable on the processor, the wall coordinate correction program of the cleaning robot implementing the steps of the wall coordinate correction method of the cleaning robot according to any one of claims 1 to 6 when executed by the processor.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a wall coordinate correcting program of a cleaning robot, which when executed by a processor, implements the steps of the wall coordinate correcting method of a cleaning robot according to any one of claims 1 to 6.
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