CN116138681A - Base station entering control method, base station entering control equipment, robot, storage medium and cleaning system - Google Patents

Base station entering control method, base station entering control equipment, robot, storage medium and cleaning system Download PDF

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Publication number
CN116138681A
CN116138681A CN202211102564.7A CN202211102564A CN116138681A CN 116138681 A CN116138681 A CN 116138681A CN 202211102564 A CN202211102564 A CN 202211102564A CN 116138681 A CN116138681 A CN 116138681A
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China
Prior art keywords
robot
base station
target point
control method
preset
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CN202211102564.7A
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Chinese (zh)
Inventor
王宇谦
杨永森
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Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
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Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
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Priority to CN202211102564.7A priority Critical patent/CN116138681A/en
Publication of CN116138681A publication Critical patent/CN116138681A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/284—Electromagnetic waves
    • G01F23/292—Light, e.g. infrared or ultraviolet

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Thermal Sciences (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a base station entering control method, equipment, a robot, a storage medium and a cleaning system, wherein the base station entering control method is applied to the robot and comprises the following steps: acquiring a perpendicular bisector of a base station; determining a target point on the midplane and continuously updating the target point; and controlling the robot to move towards the target point. According to the technical scheme, the problem that the base station entering of the robot fails or the charging piece cannot be aligned correctly due to the fact that the robot is offset in the base station entering process is solved.

Description

Base station entering control method, base station entering control equipment, robot, storage medium and cleaning system
Technical Field
The invention relates to the technical field of robots, in particular to a base station entering control method and equipment for a robot, the robot, a storage medium and a cleaning system.
Background
With the development of intelligent home, the cleaning robot is widely applied to families and becomes a small household cleaning helper. The cleaning robot mainly comprises a sweeping robot, a mopping robot and the like, and is correspondingly provided with a base station for being matched with the cleaning robot, wherein the base station and the cleaning robot are independently arranged, and the base station is used for providing nursing such as charging, cleaning a dust box, cleaning a mopping piece and the like for the cleaning robot. In the use process of the cleaning robot, the cleaning robot is often required to return to a base station for nursing such as charging or cleaning.
At present, the entering mode of the cleaning robot returning to the base station is generally as follows: the cleaning robot is moved to a preset position right in front of the entrance of the base station, the advancing direction of the cleaning robot is adjusted to face the entrance of the base station, and finally the cleaning robot directly advances into the base station at a high speed. In the process that the cleaning robot advances towards the entrance of the base station, abnormal conditions such as slipping and the like are easy to occur, so that the advancing direction of the cleaning robot is deviated, and the problem that the station entering is failed or the charging piece cannot be aligned correctly after the station entering is likely to be caused.
Disclosure of Invention
The invention provides a base station entering control method, equipment, a robot, a storage medium and a cleaning system, and aims to solve the problem that the base station entering of the robot fails or a charging piece cannot be aligned correctly due to offset in the base station entering process of the robot.
In order to achieve the above object, the present invention provides a base station entering control method, applied to a robot, comprising:
acquiring a perpendicular bisector of a base station;
determining a target point on the midvertical line and continuously updating the target point;
and controlling the robot to move towards the target point.
In some embodiments, the determining the target point on the mid-vertical line is updated continuously, including:
And updating the target point according to a first preset mode based on the real-time position of the robot.
In some embodiments, the updating the target point in the first preset manner includes:
and determining a projection point of the robot on the midrange, and taking a position point, extending from the projection point to the base station direction by a first preset distance, on the midrange as the target point.
In some embodiments, the updating the target point in the first preset manner includes:
acquiring an angle value of a preset target determination angle according to the current position of the robot;
when the acquired angle value of the target determination angle is not equal to a specific angle, determining the target point according to the acquired angle value of the target determination angle and the distance from the robot to the perpendicular bisector;
and when the acquired angle value of the target determination angle is equal to the specific angle, determining the target point according to a second preset mode.
In some embodiments, the controlling the robot to move toward the target point comprises:
determining corresponding preset position parameters according to the current position of the robot;
substituting the corresponding preset position parameters into a preset kinematic model, and controlling the robot to move according to the output result of the kinematic model.
In some embodiments, the preset location parameters include: the distance between the robot and the target point, the yaw angle of the robot towards the target point, the angle difference between the gesture direction of the robot and the gesture direction of the target point, and the robot angle;
the output results of the kinematic model include a linear velocity and an angular velocity.
In some embodiments, before determining the target point on the midplane and continuously updating, the base station entering control method further comprises:
determining a first position point according to the current position of the robot;
controlling the robot to move towards the first position point;
and when the robot reaches the first position point, executing the step of determining a target point on the midplane and continuously updating the target point.
In some embodiments, the base station entering control method further includes:
and when the distance between the robot and the base station is detected to be smaller than a first threshold value and the included angle between the gesture direction of the robot and the perpendicular bisector is larger than a second threshold value, executing error reporting processing or executing deviation rectifying and adjusting processing.
In some embodiments, the performing a deskew adjustment process includes:
Controlling the robot to retreat by a second preset distance; and/or the number of the groups of groups,
and controlling the robot to rotate in situ by a preset angle, so that the included angle between the linear speed direction of the robot and the perpendicular bisector is smaller than or equal to a second threshold.
In some embodiments, the base station entering control method further includes:
and when the executing end or the charging end of the robot is determined to be away from the base station, controlling the robot to rotate so as to enable the executing end or the charging end of the robot to face the base station.
In some embodiments, the obtaining a perpendicular bisector of the base station comprises: acquiring a perpendicular bisector of a base station in real time;
or, the base station entering control method further comprises the following steps:
acquiring the position information of the base station in real time, and determining whether the position and the posture of the base station change or not;
and updating the perpendicular bisector of the base station when the position or the posture of the base station changes.
In some embodiments, after controlling the robot to move toward the target point, the base station entering control method further includes:
and when the preset feedback signal is detected, determining that the robot finishes entering a station, and controlling the robot to stop moving.
The invention also provides a base station entering control device, which comprises a memory, a controller and a base station entering control program stored on the memory and capable of running on the controller, wherein the base station entering control program realizes the steps of the base station entering control method when being executed by the controller.
The invention also provides a robot comprising the base station entering control equipment.
The present invention also proposes a storage medium having stored thereon a base station entering control program which, when executed by a controller, implements the steps of the base station entering control method as described above.
The invention also provides a cleaning system which comprises the base station and the robot.
According to the technical scheme, the center line of the base station is obtained, and the target point is continuously updated on the center line to guide the traveling direction of the robot, so that the traveling direction of the robot is offset due to slipping or other reasons in the process of entering the base station, the traveling direction of the robot can be corrected through the next updated target point in time, the robot can finally enter the base station to reach the parking position accurately, and the problem that the robot fails to enter the base station or the charging piece cannot be aligned correctly due to offset in the process of entering the base station is effectively solved.
Drawings
FIG. 1 is a schematic diagram of a cleaning system according to an embodiment of the present invention;
fig. 2 is a flowchart of a first embodiment of a base station access control method according to the present invention;
fig. 2a is a schematic diagram of a path of a robot entering a base station in a first embodiment of a base station entering control method according to the present invention;
Fig. 3 is a flowchart of a second embodiment of a base station access control method according to the present invention;
fig. 4 is a flowchart of a third embodiment of a base station access control method according to the present invention;
FIG. 4a is a schematic diagram illustrating a positional relationship among a target determination angle, a robot, and a perpendicular bisector in a third embodiment of a base station control method according to the present invention;
fig. 5 is a flowchart of a fourth embodiment of a base station access control method according to the present invention;
FIG. 5a is a schematic diagram of the coordinates of a kinematic model of the present invention;
fig. 6 is a flowchart of a fifth embodiment of a base station access control method according to the present invention;
FIG. 6a is a schematic diagram illustrating a distribution of the current position of a robot outside a predetermined area according to a fifth embodiment of the present invention;
fig. 7 is a flowchart of a sixth embodiment of a base station control method according to the present invention;
fig. 8 is a flowchart of a seventh embodiment of a base station control method according to the present invention;
fig. 9 is a flowchart of an eighth embodiment of a base station control method according to the present invention;
fig. 10 is a flowchart of a base station entering control method according to a ninth embodiment of the present invention
Fig. 11 is a schematic structural diagram of a base station control device in a hardware operating environment according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a base station entering control method which is applied to a robot; the robot can be a household robot such as a sweeping robot, a floor washing robot, a floor mopping robot, a sweeping and mopping integrated robot, a sterilizing robot, an air purifying robot and the like, and can also be other types of mobile robots.
As shown in fig. 1, taking a cleaning robot as an example, the cleaning system includes one or more cleaning robots 100, and one or more base stations 200. The base station 200 is for use with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a docking position for the cleaning robot 100, and the like. The base station 200 may also clean a mop (not shown) of the cleaning robot 100, wherein the mop is used to mop the floor.
The cleaning system further comprises a control device 300, which control device 300 may be used to implement the steps of the base station control method according to the embodiments of the present application. Optionally, the control device 300 includes a robot controller of the cleaning robot 100 and/or a base station controller of the base station 200, which may be used alone or in combination as the control device 300 to implement the steps of the base station entering control method in the embodiments of the present application; in other embodiments, the cleaning system comprises a separate control device 300 for implementing the steps of the in-base station control method of the embodiments of the present application, which control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control apparatus 300 is not limited thereto, and may be, for example, an apparatus other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control device, and the like.
Taking the base station 200 as an example, in order to facilitate the use of the user, the base station 200 is often used in cooperation with the cleaning robot 100, the base station 200 can be used for charging the cleaning robot 100, and when the electric quantity of the cleaning robot 100 is less than the preset electric quantity threshold value in the cleaning process, the cleaning robot 100 can be moved to the base station 200 for charging. For the cleaning robot 100, the base station 200 may also clean the mop (such as mop), and after the mop of the cleaning robot 100 wipes the target wiping area (such as indoor floor), the mop may become dirty and needs to be cleaned. To this end, the base station 200 may be used to wash the mopping member of the cleaning robot 100. Specifically, the cleaning robot 100 may be moved onto the base station 200 so that the cleaning mechanism on the base station 200 automatically cleans the mopping member of the cleaning robot 100. Besides the above functions, the base station 200 can also maintain and manage the cleaning robot 100 through the base station 200, so that the cleaning robot 100 can be more intelligently controlled in the process of executing the cleaning task, and the working intelligence of the robot is improved. For example, in the process of returning the robot to the base station for charging, cleaning the mopping piece or maintaining and managing, the robot can not accurately dock the base station to complete the tasks of charging, cleaning the mopping piece or maintaining and managing because the robot slips or other reasons cause the robot to shift in the direction of the robot or the base station is moved in a small range; the robot skidding condition is that skidding occurs between a path travelling towards an inlet and an outlet of a base station and the ground, and skidding occurs between a moving wheel of the robot and a bulge and an anti-skidding pad on a cleaning structure in the base station in the process that the robot travels from the inlet and the outlet of the base station to completely enter the base station; or the speed of the robot entering the base station is greatly changed, for example, the situation that the robot enters the base station is firstly decelerated and then accelerated occurs, the entering of the base station is not well controlled, and the motor of the robot is seriously worn. Therefore, the scheme provides a base station entering control method, base station entering control equipment, a robot, a cleaning system and a computer readable storage medium, and the scheme adopts measures for determining a perpendicular bisector and continuously updating a target point on the perpendicular bisector so as to improve the accuracy and stability of the robot entering a base station and the applicability and universality of the robot in the situation treatment of moving the base station and the like.
The terminal for implementing the base station entering control method of the present invention may be a robot or an electronic device, and the base station entering control method will be described in detail herein by taking the robot as an example.
Referring to fig. 1, fig. 1 is a flowchart of a first embodiment of a base station control method according to the present invention.
In this embodiment, the base station access control method includes:
step S10, obtaining a perpendicular bisector of a base station;
in this embodiment, the bottom end of the base station has a parking position for the robot to enter and park, and two common types of parking positions of the base station are respectively built-in and external; wherein, the built-in parking place is arranged in the bottom end of the base station, and only one side is provided with an inlet and an outlet which penetrate through the outer wall of the base station; the external parking place is a parking area in front of one side of the base station, and a charging piece can be arranged on one side of the base station facing the parking area to charge the robot contact of the parking area. Wherein, the perpendicular bisector of the base station refers to a horizontal line extending from an inner side wall (for aspect description, denoted as a first inner side wall) opposite to the access opening to the outside of the access opening vertically, or a horizontal line extending from an outer side wall (denoted as a first inner side wall) opposite to the parking area to the outside of the base station vertically and outwards away from the base station, and the horizontal line approximately passes through the center of the first inner side wall; wherein substantially passing means that the passing point may deviate from the center of the first inner side wall by an amount (e.g., less than 5 mm). Acquiring the perpendicular bisector of the base station is essentially determining the position of the perpendicular bisector in the map, which may include the direction and coordinates of a specific point (including the intersection with the first interior sidewall). The manner of the robot obtaining the perpendicular bisector of the base station may be: 1. the robot receives the position of the perpendicular bisector sent by the base station by sending a request for obtaining the perpendicular bisector to the base station; 2. the robot is used for determining the distribution and the position of the reflective patches of the parking position through laser radar scanning, and further calculating and determining the position of the perpendicular bisector of the base station. 3. The robot and the base station can be provided with the infrared emitter and the infrared receiver, and the base station is also provided with the light reflecting area for reflecting the laser signals sent by the robot, so that the robot can determine the light reflecting area and the center point thereof based on the interaction of the infrared signals with the base station, and the position of the center line of the base station is determined. Of course, in other embodiments, the robot may also acquire the perpendicular bisector of the base station using other schemes.
Step S20, determining a target point on the middle vertical line and continuously updating;
the robot stores a preset rule for updating the target point, and after the position of the perpendicular bisector is acquired, the robot determines the target point on the perpendicular bisector according to the preset rule and continuously updates the target point. The target point is a prospective reference point for guiding the robot to enter the motion direction of the base station, and along with continuous updating of the target point, the target point gradually approaches the first inner side wall and finally reaches the first inner side wall or exceeds the first inner side wall (namely, the distance from the target point to the entrance is larger than that from the first inner side wall to the entrance). The robot can always adjust the body posture according to the forward-looking reference point by continuously updating the target point on the middle vertical line to guide the movement direction of the robot into the base station, when the robot deflects the body posture of the robot due to the direction deviation in the path of the base station, the robot can immediately correct the advancing direction of the robot by guiding the next updated target point so as to correct the body posture, thus the body posture of the robot can be stably maintained in the whole path of the base station, the robot can finally accurately butt-joint the base station, and charging, cleaning and mopping or maintenance and management tasks are normally completed.
Step S30, controlling the robot to move towards the target point.
After updating the target point each time, the robot adjusts or corrects the advancing direction and the body gesture of the robot in time according to the latest direction guide of the target point so as to enable the robot to move towards the target point. Along with the movement of the robot towards the target point direction, the robot gradually approaches the perpendicular bisector and the base station, then the robot reaches the perpendicular bisector, continues to move towards the updated target point direction, and finally, the robot can be accurately docked with the base station when reaching the parking position of the base station.
According to the base station entering control method, the perpendicular bisectors of the base stations are obtained, and the target points are determined on the perpendicular bisectors and updated continuously to guide the running direction of the robot, so that in the base station entering process of the robot, the running direction of the robot and the body gesture of the robot can be corrected timely through the next updated target point due to slipping or other reasons, the robot can finally accurately enter the parking position of the base stations and accurately abut against the base stations, and the problem that the base station entering failure of the robot or the charging piece cannot be aligned correctly due to the fact that the base station entering process of the robot is offset or the base station position changes is solved effectively.
In addition, in the existing base station entering mode of the robot, the speed is changed greatly in the base station entering process, the situations of decelerating and accelerating are frequently caused, the base station entering speed is not well controlled, the motor of the robot is seriously worn, and the service life of the motor of the robot is reduced. The base station entering control method is to continuously update the target point, and enter the base station by controlling the movement of the robot in a closed loop manner, so that the movement speed of the robot is controlled slowly, the situation of decelerating and accelerating again does not occur basically, the problem of serious motor abrasion is well solved, and the service life of the motor of the robot is effectively prolonged. In addition, compared with the situation that the prior art can contact a charging piece to charge when the robot just reaches the base station parking position, but because of incomplete alignment, the charging piece is not fully aligned, the charging piece is easily powered off, and even the charging piece can be damaged even if the charging piece is long-time, the base station entering control method of the embodiment can ensure that the charging piece of the robot is accurately aligned and contacted with the charging piece of the base station when the robot returns to the base station parking position due to the gentle control of the movement speed of the robot, the charging piece of the robot is well contacted, the charging stability of the robot returning to the base station is effectively improved, and meanwhile, the problem that the charging piece is damaged due to the fact that the charging piece is not aligned and contacted for a long time is also avoided.
Optionally, in some embodiments, step S10 of the base station entering control method of the present application includes: and acquiring the perpendicular bisector of the base station in real time. Therefore, when the base station is moved to cause the position change and/or posture change (such as the change of the position of the parking position) of the base station in the process of moving the robot into the base station, the target point is confirmed and updated according to the latest perpendicular bisector acquired in real time, so that the movement direction of the robot is corrected according to the direction guide of the latest target point on the latest perpendicular bisector, the robot is ensured to accurately reach the parking position of the base station, and the robot is accurately docked with the base station, so that the tasks of charging, cleaning and mopping or maintaining and managing are normally completed.
Referring to fig. 2, fig. 2 is a flow chart of a second embodiment of the base station control method according to the present invention.
In this embodiment, step S20 of the base station entering control method includes:
step S21, updating the target point according to a first preset mode based on the real-time position of the robot.
The real-time position of the robot may be real-time coordinates of the robot; because the robot always moves towards the target point direction, the position of the robot always changes, and therefore, the current relative position state of the robot and the perpendicular bisector or the base station is determined by determining the real-time position of the robot, and then the target point is updated according to a first preset mode, so that the robot can be guided into the base station more accurately.
In some embodiments, the step of updating the target point in a first preset manner includes: and determining a projection point of the robot on the midrange, and taking a position point, extending from the projection point to the base station direction by a first preset distance, on the midrange as a target point.
After the real-time position of the robot is determined, the projection point of the robot on the midrange line can be determined according to the direction of the midrange line, and as the robot is an object with a certain volume, the projection of the robot on the midrange line has a certain length, the projection point of the robot on the midrange line can be defined as one end point of the projection of the robot close to the base station, one end point of the projection of the robot far away from the base station, the center point of the projection of the robot or any other preset point, or the projection point of the robot on the midrange line can be determined by projecting the front end or the tail end of the running direction of the robot or the center of the robot or any point of the robot. The target point is a position point on the middle vertical line, which extends from the projection point to the direction of the base station by a first preset distance, namely the target point is positioned in front of the projection point in the direction of the base station; the first preset distance may be a preset distance value or may be defined according to a diameter of the robot, for example, the first preset distance is 7cm, 10cm, 15cm, 20cm.
Optionally, in some embodiments, step S21 may further include determining a value of the first preset distance according to a real-time relative positional relationship between the robot and the base station or the perpendicular bisector, determining a projection point of the robot on the perpendicular bisector, and taking a position point on the perpendicular bisector, where the projection point extends from the projection point to the base station by the first preset distance, as the target point. In this embodiment, the first preset distance is not a fixed value, and may change along with the real-time relative positional relationship between the robot and the base station or the perpendicular bisector, so that the update mode of the target point may be adjusted more adaptively along with the actual requirements and the scene. Determining a value of a first preset distance according to a real-time relative position relationship between the robot and the base station or the perpendicular bisector, for example, storing a first mapping relationship between a distance between the robot and the base station and the value of the first preset distance in the robot, so that a current value of the first preset distance can be determined according to the real-time distance between the robot and the base station and the first mapping relationship; for another example, a second mapping relation between the distance between the robot and the perpendicular bisector and the value of the first preset distance is stored in the robot, so that the current value of the first preset distance can be determined according to the real-time distance between the robot and the perpendicular bisector and according to the second mapping relation. For example, the first preset distance may be smaller and smaller along with the movement of the robot toward the target point.
Referring to fig. 4, fig. 4 is a flowchart of a third embodiment of the base station control method according to the present invention.
The step of updating the target point according to the preset manner in the base station entering control method of the present embodiment based on the technical solution of the second embodiment includes:
step S212, acquiring an angle value of a preset target determination angle according to the current position of the robot;
the preset target determination angle is an included angle preset in the robot 100, and is used for determining the position of the next updated target point. Referring to fig. 4a, the target determination angle is, for example, an angle c (an angle range of 0 to 90 °, for example, 30 °, 40 °, 50 °, 60 °, 70 °,80 °, 90 °) between a connection of a preset point (for example, a center point, a front end point, a rear end point, or other preset points on a connection of the front end point and the rear end point) of the robot 100 to a next updated target point b1 or b2 and a perpendicular of the preset point to the perpendicular L1 of the robot 100, or an angle d (an angle range of 0 to 90 °, for example, 80 °, 70 °, 60 °, 50 °, 40 °,30 °, 20 °, 10 °, 0 °) between a connection of a preset point of the robot 100 to the next updated target point b1 or b2 and the perpendicular L1. The mapping relation between the target determination angle and the distance from the preset point of the robot 100 to the perpendicular bisector L1 is preset in the robot 100, after the real-time position (coordinates) of the robot 100 are determined, the distance from the preset point of the robot 100 to the perpendicular bisector L1 can be obtained according to the real-time position of the robot 100, and then the angle value of the preset target determination angle can be obtained according to the preset mapping relation of the robot 100.
In step S213, when the obtained angle value of the target determination angle is not equal to the specific angle, the target point is determined according to the obtained angle value of the target determination angle and the distance from the robot to the perpendicular bisector.
When the target determination angle is an angle c between a line from a preset point of the robot 100 to the next updated target point b1 or b2 and a perpendicular line from the preset point of the robot 100 to the perpendicular line L1, the specific angle is 90 °, and when the target determination angle is an angle d between a line from the preset point of the robot 100 to the next updated target point b1 or b2 and the perpendicular line L1, the specific angle is 0 °. After the angle value of the target determination angle is obtained and the angle value is determined to be not equal to the specific angle, a triangle is necessarily formed by the preset point of the robot 100 and the projection point a1 or a2 of the preset point on the perpendicular bisector L1, and the next updated target point b1 or b2, so that the coordinate of the next updated target point b1 or b2 can be determined according to the triangle geometry and the distance between the robot 100 and the perpendicular bisector L1 (i.e., the distance between the preset point of the robot 100 and the perpendicular bisector L1), and the distance between the next updated target point b1 or b2 and the projection point a1 or a2 of the preset point on the perpendicular bisector L1 (i.e., the distance between b1 and a1 or the distance between b2 and a 2).
In step S214, when the obtained angle value of the target determination angle is equal to the specific angle, the target point is determined according to the second preset manner.
When it is determined that the angle value of the target determination angle is equal to a specific angle (i.e., the angle c is equal to 90 ° or the angle d is equal to 0 °), it is indicated that the robot 100 has reached the perpendicular bisector L1, and at this time, the preset point of the robot 100 coincides with the projection point a1 or a2 of the preset point on the perpendicular bisector L1, and cannot form a triangle with the next updated target point b1 or b2, i.e., the target point cannot be determined by the triangle geometry, and the target point is determined in the second preset manner. The second preset mode may be: 1. determining a position point on the perpendicular bisector L1 at a fixed distance (which may be preset) to a preset point of the robot 100 as a target point; 2 determining a distance value (for example, determined by a preset mapping relation) from a next updated target point to a preset point according to a distance from the robot to a first inner side wall of the base station (for example, a distance from a preset point of the robot to the first inner side wall), and determining coordinates of the next updated target point according to the determined distance value.
In this embodiment, the update of the target point is associated with the real-time position of the robot, and the update of the target point changes according to the real-time position change of the robot, so that more accurate movement direction guidance can be better provided for the robot, and the robot can enter the parking position of the base station more stably and more accurately.
In some embodiments, continuously updating the target point on the midplane may also be: and gradually updating the target point to the direction of the first inner side wall of the base station according to a preset updating interval and a preset updating period from a point with a certain distance from the base station on the midrange. Of course, in other embodiments, other schemes may be used to continuously update the target point on the midplane.
Referring to fig. 5, fig. 5 is a flowchart of a fourth embodiment of the base station control method according to the present invention.
In the base station entering control method of the present embodiment, step S30 includes:
step S31, corresponding preset position parameters are determined according to the current position of the robot;
and S32, substituting the corresponding preset position parameters into a preset kinematic model, and controlling the robot to move according to the output result of the kinematic model.
The robot stores a pre-established kinematic model, wherein the input of the kinematic model is a preset position parameter, and the output of the kinematic model is a kinematic parameter of the robot. After determining the current position (i.e. the current coordinates) of the robot and the position (coordinates) of the target point, the preset position parameters (e.g. distance, direction, etc.) of the robot and the target point in the coordinate system can be determined, and then the obtained preset position parameters are input into the kinematic model to obtain the current motion parameters of the robot, and the robot is controlled to move with the motion parameters. According to the method, the kinematic model is adopted to calculate and output the motion parameters of the robot based on the real-time preset position parameters between the robot and the target point, so that the robot can perform real-time motion control adjustment according to the real-time position and the latest target point position, the offset angle of the robot can be corrected in real time in the base station entering process, and the robot can enter the base station more accurately.
Referring to fig. 5a, in this embodiment, the preset position parameters may include: the robot comprises a distance rho between a robot and a target point, a yaw angle alpha of the robot towards the target point, an angle difference beta between the gesture direction of the robot and the gesture direction of the target point and the robot angle theta; the output result of the kinematic model may include a linear velocity v and an angular velocity ω, i.e., the robot is controlled to move according to the linear velocity v and the angular velocity ω output in real time by the kinematic model.
The preset kinematic model is constructed as follows:
1. converting the position coordinates (x, y) of the robot into polar coordinates with the origin at the target point to obtain:
Figure BDA0003841217850000111
α＝-θ+arctan2(Δy,Δx) (3.51)
β＝-θ-α (3.52)
2. using the matrix equation, in the new polar coordinate system, a description of the system is obtained:
Figure BDA0003841217850000121
3. and designing a linear control rate and an angle control rate to obtain:
v＝k ρ ρ (3.54)
ω＝k α α+k β β (3.55)
wherein k is ρ 、k α 、k β The ratio coefficient can be preset, or can be determined according to a preset algorithm or a preset mapping relation according to the current position coordinates of the robot;
4. substituting the linear control rate formulas (3.54) and (3.55) into equation (3.53) yields the following closed loop system:
Figure BDA0003841217850000122
the closed loop system has no singular at ρ=0 and has a unique balance point at ρ=0. Thus, controlling the robot motion according to the output of the kinematic model drives the robot to the target point.
Referring to fig. 6, fig. 6 is a flowchart of a fifth embodiment of the base station control method according to the present invention.
In this embodiment, before step S20, the base station entering control method further includes:
step S40, determining a first position point according to the current position of the robot;
step S50, controlling the robot to move towards a first position point;
step S60, when it is determined that the robot reaches the first position point, step S20 is performed.
Since the robot has no great influence on the following movement process from the position close to the center vertical line to the parking position entering the base station even when the direction deviation occurs during the movement from the position far from the center vertical line to the position close to the center vertical line, when the current position of the robot is positioned at the position far from the center vertical line, the movement process of the robot entering the base station can be divided into two stages by determining a first position point close to the base station and close to the center vertical line of the base station, wherein the first stage is the process of the robot moving from the current position to the first position point, and the second stage is the process of the robot moving from the first position point to the parking position of the base station; the base station entering process of the robot is divided into two stages, the first stage can be controlled without continuously updating the target point and continuously correcting the advancing direction of the robot, and the second stage can be controlled to move towards the continuously updated target point on the middle vertical line, so that the robot can accurately enter the base station, the system load of the robot in the first stage can be reduced, the service life of the robot is prevented from being shortened due to the fact that the robot is in a high system load state for a long time, and the service life of the robot is prolonged.
In this embodiment, the first position point may be a position point closer to the perpendicular bisector, and the first position point may be determined according to a preset manner according to a current position of the robot and a position of the perpendicular bisector, for example, a midpoint of a distance between the current position of the robot and the perpendicular bisector is taken as the first position point; or, according to the current position of the robot, combining the position of the preset area, determining a first position point in the preset area, wherein the determination rule of the first position point can comprise that the moving path of the robot to the first position point is shortest, the steering angle is minimum in the moving process, the steering frequency is minimum in the moving process, and the like. The preset area is an area within a preset range, for example, all areas where the distance from two sides of the perpendicular bisector to the perpendicular bisector is smaller than a preset length (for example, 0.5m, 0.8m, 1 m), a circular area with the perpendicular bisector as a diameter, an area with a preset shape around the perpendicular bisector (refer to fig. 6 a), and the like.
First, it may be analytically determined whether the distance from the current position of the robot to the center vertical line is long or whether the path is long, for example, whether the current position of the robot is within a preset area around the center vertical line or whether the distance from the current position of the robot to the center vertical line is greater than a preset threshold, etc. Referring to fig. 6a, taking an example of analyzing whether the current position of the robot 100 is within the preset area S around the perpendicular bisector L1, if the analysis determines that the robot 100 is outside the preset area S, it is illustrated that the robot 100 may be far away from the perpendicular bisector L1, or the robot 100 may be in a region with a large angle (may reach the perpendicular bisector L1 along a long path) deviating from the perpendicular bisector L1, and may even be on the backside of the access of the base station 200, for example, when the robot is at the position A, B, C, D, E in fig. 6 a; at this time, if the robot 100 is directly controlled to move toward the target point (i.e. step S30 is performed), the robot 100 may take a relatively long time to complete the task of entering the base station 200, which is inefficient, and the robot may operate in a high system load state for a long time, and may not complete the task of entering the base station 200 even due to an excessively large angle of shifting the perpendicular bisector L1. Therefore, at this time, a first location point (for example, the F location point in fig. 6 a) is determined first, and the first location point is taken as an example of a point in the preset area S; then, after the first position point is determined, the robot 100 is controlled to move toward the first position point, or the robot 100 is controlled to move to the first position point at a preset speed according to the shortest route, or the robot 100 is controlled to move to the first position point according to the minimum steering times, or the like; finally, after determining that the movement of the robot 100 reaches the first position point, step S30 is performed again to ensure that the robot 100 accurately enters the base station 200 and accurately interfaces with the base station 200.
Before the robot 100 performs step S20, the present embodiment first analyzes whether the robot 100 is currently within the preset area S around the perpendicular bisector L1 or outside the preset area S, and if it is determined that the robot 100 is currently located outside the preset area S around the perpendicular bisector L1, first controls the robot 100 to move the first position point to move into the preset area S around the perpendicular bisector L1, and then performs step S20; if it is determined that the robot 100 is currently located within the preset area S around the perpendicular bisector L1, step S20 may be directly performed.
According to the embodiment, after the robot obtains the perpendicular bisector, the position relation between the current position of the robot and the preset area around the perpendicular bisector is analyzed first, whether the robot is located in the preset area or not is determined, when the robot is determined to be located outside the preset area around the perpendicular bisector, the robot is controlled to move into the preset area first, after the robot is determined to be located in the preset area, the follow-up step of guiding the robot to enter the base station by continuously updating the target point is executed, the efficiency and success rate of entering the base station by the robot are guaranteed, the running time of the robot in a high-system load state is shortened, and the service life of the robot is prolonged.
Referring to fig. 7, fig. 7 is a flowchart of a sixth embodiment of a base station control method according to the present invention.
In this embodiment, the base station access control method further includes:
and step S70, when the distance between the robot and the base station is detected to be smaller than a first threshold value and the included angle between the linear speed direction of the robot and the perpendicular bisector is larger than a second threshold value, error reporting processing or deviation correcting and adjusting processing is executed.
In this embodiment, when the robot is located outside the access opening of the base station, the distance between the robot and the base station may be the distance between the robot and the access opening of the base station or the first inner sidewall of the parking place; when the robot is located in the parking place of the base station, the distance of the robot from the base station is the distance of the robot to the first inner side wall of the parking place. Wherein the first threshold is a preset distance value (e.g., 3 cm), and the second threshold is a preset angle value (e.g., 30 °). When the distance from the robot to the base station is smaller than a first threshold value and the included angle between the linear speed direction of the robot and the perpendicular bisector is larger than a second threshold value, judging that the current state is that the robot cannot normally enter the base station or cannot accurately enter the base station; at this time, the robot executes error reporting processing to remind or feed back to the user, so that the user can timely process the abnormal situation; or the robot executes deviation rectifying and adjusting processing, and the gesture of the robot is rectified and adjusted according to a preset mode, so that the robot is separated from the current state, namely the distance from the robot to the base station is not smaller than a first threshold value, and/or the included angle between the linear speed direction of the robot and the perpendicular bisector is not larger than a second threshold value, so that the robot can enter the base station normally and enter the base station accurately.
In some embodiments, performing the deskew adjustment processing in step S70 includes:
1. controlling the robot to retreat by a second preset distance to enable the distance from the robot to the base station to be larger than or equal to a first threshold value; and/or the number of the groups of groups,
2. and controlling the robot to rotate in situ by a preset angle, so that the included angle between the linear speed direction of the robot and the perpendicular bisector is smaller than or equal to a second threshold value.
Of course, in other embodiments, the deskew adjustment process may be performed in other ways.
Referring to fig. 8, fig. 8 is a flowchart of a seventh embodiment of a base station control method according to the present invention.
In this embodiment, the base station access control method further includes:
in step S80, when it is determined that the execution end or the charging end of the robot faces away from the base station, the robot is controlled to rotate so that the execution end or the charging end of the robot faces toward the base station.
The execution end of the robot is one end of the robot, such as one end of the robot provided with a cleaning piece, a water tank and a dust collecting box, and the execution end is one end of the robot which needs to enter a base station frequently to carry out treatment such as nursing, cleaning and the like. Since the purpose of the robot entering the base station is generally to clean the cleaning member and the cleaning member, or to perform nursing such as charging, water replenishing, dust collecting, etc., the robot needs to enter the base station from the execution end or the charging end. Therefore, in the process of the base station of the robot (for example, when the robot arrives at the center line, or when the robot arrives at the entrance and exit position of the base station, or when the distance between the robot and the first inner side wall of the base station is smaller than or equal to a preset value), the robot determines the direction of the execution end or the charging end of the robot according to the care task (for example, cleaning the cleaning part, charging, adding water, cleaning the dust box, etc.) required to enter the base station, when the execution end or the charging end of the robot is determined to be away from the base station, the robot is controlled to rotate, and the rotating angle can be determined according to the current body posture of the robot (for example, the angle of the execution end or the charging end deviating from the direction towards the base station), so that the execution end or the charging end of the robot faces the base station, and the regular entering of the execution end or the charging end of the robot towards the base station is ensured, and the care operations such as normal entering of the robot, cleaning part, adding water, cleaning the dust box, etc. are ensured.
Referring to fig. 9, fig. 9 is a flowchart of an eighth embodiment of a base station control method according to the present invention.
In actual use, the base station is usually not fixed but can be moved, so that a user can conveniently adjust the position of the base station according to actual requirements. If the robot moves into the base station, when the user moves the base station or accidentally bumps the base station to change the position or the posture of the base station, if the robot updates the target point according to the determined perpendicular bisector before the base station moves and controls the robot to move towards the target point, the robot cannot accurately enter the base station, if the range of the moved change of the base station is large, the robot cannot enter the base station, and the base station fails. For this reason, the present embodiment is based on the technical solution of any one of the foregoing embodiments, and the base station access control method of the present embodiment further includes:
step S90, acquiring the position information of the base station in real time, and analyzing whether the position and the posture of the base station change or not;
step S100, when the position or the posture of the base station is determined to change, updating the perpendicular bisector of the base station.
The position information of the base station includes the position (coordinate) of the base station and the posture of the base station, and the posture of the base station may be the direction of a perpendicular bisector of the base station, or the direction of an entrance and an exit of the base station, or the direction of any outer side wall of the base station.
The method comprises the steps of acquiring the position information of a base station in real time, and comparing the position and the gesture in the position information of the base station with the position and the gesture in the position information of the base station acquired last time respectively, so as to determine whether the position and the gesture of the base station change; if the current position and posture of the base station are consistent with the previous position and posture, the position and posture of the base station are indicated to be unchanged, otherwise, the position and/or posture of the base station are indicated to be changed, namely the base station is moved. When the position or the posture of the base station is determined to be changed, the perpendicular bisector of the base station is updated, so that the steps 20 and 30 are executed according to the updated perpendicular bisector, and when the base station entering control method according to the embodiment controls the robot to enter the base station, even if the base station is moved, the robot can be ensured to accurately enter the parking position of the base station, so that the tasks of charging, cleaning and cleaning the towed objects or maintaining and managing the towed objects can be normally completed.
Of course, when it is determined that neither the position nor the posture of the base station has changed, no processing may be performed or other operations may be performed.
Referring to fig. 10, fig. 10 is a flowchart of a ninth embodiment of the base station control method according to the present invention.
In this embodiment, after step S30, the base station entering control method further includes:
Step S110, when a preset feedback signal is detected, the robot is determined to finish entering a station, and the robot is controlled to stop moving.
In this embodiment, the preset feedback signal may be an electrical signal generated when the charging piece of the robot and the charging piece of the base station are in normal contact, or an electrical signal generated when a sensor on the robot detects a corresponding sensing piece on the base station, or an in-place signal that the robot triggers a switch in the base station to enable the base station to send to the robot, etc. When the robot detects a preset feedback signal, the robot is determined to successfully and accurately enter the base station, and at the moment, the robot is controlled to stop moving, so that the task of entering the base station is completed.
In addition, in the solutions of all the above embodiments of the base station control method, the above embodiments may be arbitrarily combined or combined to form a new embodiment when there is no contradictory conflict between them.
Referring to fig. 11, fig. 11 is a schematic structural diagram of a base station control device in a hardware operation environment according to an embodiment of the present invention.
The base station entering control equipment of the embodiment of the invention can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a server and the like. As shown in fig. 10, the base station entering control apparatus may include: a controller 1001 (e.g., a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a 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., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the controller 1001 described above.
It will be appreciated by those skilled in the art that the in-base station control apparatus structure shown in fig. 10 is not limiting of the in-base station control apparatus and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
As shown in fig. 11, an operating system, a network communication module, a user interface module, and a base station control program may be included in the memory 1005 as one type of computer storage medium.
In the base station entering control device shown in fig. 11, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the controller 1001 may be used to invoke the in-base station control program stored in the memory 1005.
Based on the base station entering control program provided by the foregoing embodiment, the present invention also provides a storage medium storing the base station entering control program, where the base station entering control program is executed by the controller to implement the base station entering control method described in the foregoing embodiment.
The invention also provides a robot which comprises the base station entering control equipment, and because the specific structure of the base station entering control equipment refers to the embodiment, the robot adopts all the technical schemes of all the embodiments of the base station entering control equipment, and therefore, the robot at least has all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted herein.
The invention also provides a cleaning system which comprises a base station and the robot, and the specific structure of the robot refers to the embodiment, and as the cleaning system adopts all the technical schemes of all the embodiments of the robot, at least has all the beneficial effects brought by the technical schemes of the embodiments, and is not repeated here.
In the several embodiments provided in the present application, it should be understood that the disclosed methods and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.

Claims (15)

1. A base station entering control method applied to a robot, comprising the following steps:
acquiring a perpendicular bisector of a base station;
determining a target point on the midvertical line and continuously updating the target point;
and controlling the robot to move towards the target point.
2. The base station entering control method according to claim 1, wherein the determining the target point on the midplane is updated continuously, comprising:
and updating the target point according to a first preset mode based on the real-time position of the robot.
3. The base station entering control method according to claim 2, wherein the updating the target point in the first preset manner includes:
and determining a projection point of the robot on the midrange, and taking a position point, extending from the projection point to the base station direction by a first preset distance, on the midrange as the target point.
4. The base station entering control method according to claim 2, wherein the updating the target point in the first preset manner includes:
acquiring an angle value of a preset target determination angle according to the current position of the robot;
when the acquired angle value of the target determination angle is not equal to a specific angle, determining the target point according to the acquired angle value of the target determination angle and the distance from the robot to the perpendicular bisector;
and when the acquired angle value of the target determination angle is equal to the specific angle, determining the target point according to a second preset mode.
5. The base station entering control method according to claim 1, wherein the controlling the robot to move toward the target point direction includes:
determining corresponding preset position parameters according to the current position of the robot;
substituting the corresponding preset position parameters into a preset kinematic model, and controlling the robot to move according to the output result of the kinematic model.
6. The base station access control method according to claim 5, wherein the preset location parameters include: the distance between the robot and the target point, the yaw angle of the robot towards the target point, the angle difference between the gesture direction of the robot and the gesture direction of the target point, and the robot angle;
The output results of the kinematic model include a linear velocity and an angular velocity.
7. The base station entering control method according to claim 1, wherein before determining the target point on the midplane and continuously updating, the base station entering control method further comprises:
determining a first position point according to the current position of the robot;
controlling the robot to move towards the first position point;
and when the robot reaches the first position point, executing the step of determining a target point on the midplane and continuously updating the target point.
8. The base station entering control method according to claim 1, further comprising:
and when the distance between the robot and the base station is detected to be smaller than a first threshold value and the included angle between the gesture direction of the robot and the perpendicular bisector is larger than a second threshold value, executing error reporting processing or executing deviation rectifying and adjusting processing.
9. The base station entering control method according to claim 8, wherein said performing a deskew adjustment process includes:
controlling the robot to retreat by a second preset distance; and/or the number of the groups of groups,
and controlling the robot to rotate in situ by a preset angle, so that the included angle between the linear speed direction of the robot and the perpendicular bisector is smaller than or equal to a second threshold.
10. The base station entering control method according to claim 1, characterized in that the base station entering control method further comprises:
and when the executing end or the charging end of the robot is determined to be away from the base station, controlling the robot to rotate so as to enable the executing end or the charging end of the robot to face the base station.
11. The base station entering control method according to any one of claims 1 to 10, wherein the acquiring the center line of the base station includes: acquiring a perpendicular bisector of a base station in real time;
or, the base station entering control method further comprises the following steps:
acquiring the position information of the base station in real time, and determining whether the position and the posture of the base station change or not;
and updating the perpendicular bisector of the base station when the position or the posture of the base station changes.
12. A base station entering control device, characterized in that it comprises a memory, a controller and a base station entering control program stored on said memory and executable on said controller, said base station entering control program, when executed by said processor, implementing the steps of the base station entering control method according to any of claims 1 to 11.
13. A robot comprising the base station control apparatus of claim 12.
14. A storage medium having stored thereon a base station entering control program which, when executed by a controller, implements the steps of the base station entering control method according to any one of claims 1 to 11.
15. A cleaning system comprising a base station and the robot of claim 13.
CN202211102564.7A 2022-09-09 2022-09-09 Base station entering control method, base station entering control equipment, robot, storage medium and cleaning system Pending CN116138681A (en)

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