CN116266060A - Cleaning control method, cleaning control system and cleaning robot - Google Patents
Cleaning control method, cleaning control system and cleaning robot Download PDFInfo
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- 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
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Abstract
The embodiment of the invention discloses a cleaning control method, a cleaning control system and a cleaning robot. The cleaning control method controls the cleaning robot to identify the threshold in the working process and controls the cleaning robot to pass through the threshold only after the current area is cleaned, so that the frequency of climbing the sliding door rail or the passing step can be reduced, the cleaning efficiency of the cleaning robot in the whole house is improved, and the slipping phenomenon of the cleaning robot in the sliding door rail or the passing step is reduced as much as possible.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a cleaning control method, a cleaning control system and a cleaning robot.
Background
Along with the development of information technology and the continuous improvement of people's requirements for quality of life, intelligent home products gradually appear in people's daily life, and wherein, representative cleaning robot is more and more favored by people, and cleaning robot can replace the people to carry out the cleaning work to the region.
The home area is generally divided into different areas according to functions, such as a kitchen area, a living room area and the like, and a threshold, such as a sliding door sliding rail or a passing step, is often arranged between the different areas. Currently, when cleaning, a cleaning robot often needs to shuttle between different areas to complete the cleaning task of the whole home area. The cleaning robot can climb the sliding door rail or the passing step arranged between the cross regions when traversing different regions each time. Because the sliding door sliding rail or the passing step has a certain height drop, the cleaning robot climbs over the sliding door sliding rail or the passing step, which is equivalent to crossing an obstacle, can consume a certain time and more energy, and sometimes even the phenomenon that the walking module of the cleaning robot is blocked in the sliding door sliding rail or the passing step can occur.
Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to provide a working method capable of reducing the frequency of climbing the sliding rail of the sliding door or passing the step, so as to improve the cleaning efficiency of the cleaning robot in a whole house and reduce the slipping phenomenon of the cleaning robot in the sliding rail of the sliding door or the step.
In a first aspect, the present invention provides a cleaning control method of a cleaning robot, including:
controlling the cleaning robot to clean a cleaning area, and acquiring ground characteristic data in the cleaning direction of the cleaning robot in real time;
when the ground characteristic data accords with a threshold condition, controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning the current area;
when the cleaning robot finishes cleaning the current area, the cleaning robot is controlled to pass through the ground meeting the threshold condition so as to clean the area to be cleaned on the other side.
In some embodiments, the acquiring, in real time, floor characteristic data in a cleaning direction of the cleaning robot includes:
acquiring ground high-protruding characteristic data in a cleaning direction of the cleaning robot;
and acquiring obstacle data in the cleaning direction of the cleaning robot.
In some embodiments, after the acquiring of the floor characteristic data in the cleaning direction of the cleaning robot in real time, the method includes: and if the ground high-protruding feature data show that the ground high feature is approximately linear and the height accords with a preset threshold range, and the barrier data show that barrier walls exist on two sides of the ground high-protruding feature, judging that the ground feature data accord with the threshold condition.
In some embodiments, the acquiring the floor elevation feature data in the cleaning direction of the cleaning robot includes: the floor in the cleaning direction is scanned by a line laser sensor to obtain the floor elevation feature data.
In some embodiments, the acquiring the obstacle wall data in the cleaning direction of the cleaning robot includes: and acquiring obstacle data in the cleaning direction through a laser radar sensor.
In some embodiments, the method further comprises: and when the ground characteristic data is judged to meet the threshold condition, recording the position information of the ground with the ground characteristic data.
In some embodiments, when the cleaning robot completes cleaning of the current area, controlling the cleaning robot to pass over the floor surface meeting the threshold condition comprises:
when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to move to a position corresponding to the position information according to the recorded position information;
and controlling the cleaning robot to pass through the position so as to clean the area to be cleaned on the other side.
In a second aspect, the present invention provides a cleaning control system for a cleaning robot, comprising:
the ground characteristic data acquisition module is configured to acquire ground characteristic data in the cleaning direction of the cleaning robot in real time;
the judging module is in communication connection with the ground characteristic data acquisition module and is configured to judge whether the ground characteristic data meets a threshold condition or not;
the control module is in communication connection with the judging module and is used for controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning of the current area under the condition that the ground characteristic data is judged to meet the threshold condition; and the cleaning robot is used for controlling the cleaning robot to pass through the ground conforming to the threshold condition under the condition that the cleaning robot finishes cleaning the current area so as to clean the area to be cleaned on the other side.
In some embodiments, the ground characteristic data acquisition module comprises:
a line laser sensor and a lidar sensor;
the line laser sensor is used for scanning the ground in the cleaning direction to obtain ground high-protruding characteristic data;
the laser radar sensor is used for acquiring obstacle wall data in the cleaning direction.
In some embodiments, the determining whether the ground characteristic data meets a threshold condition comprises: and if the ground high-protruding feature data show that the ground high feature is approximately linear and the height accords with the preset threshold range, and the barrier data show that barrier walls exist on two sides of the ground high-protruding feature, judging that the ground feature data accord with the threshold condition.
In a third aspect, the present invention provides a cleaning robot comprising:
the main body of the robot is provided with a plurality of grooves,
a cleaning control system provided on the robot main body;
wherein the purge control system is configured to perform the following operations:
controlling the cleaning robot to clean a cleaning area, and acquiring ground characteristic data in the cleaning direction of the cleaning robot in real time;
judging whether the ground characteristic data accords with a threshold condition or not; wherein the ground conforming to the threshold condition is a ground through which the cleaning robot can pass;
when the ground characteristic data is judged to be in accordance with the threshold condition, controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning of the current area;
when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to pass through the ground meeting the threshold condition so as to clean the area to be cleaned on the other side
The technical scheme provided by the embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a cleaning control method, a cleaning control module and a cleaning robot for identifying a threshold in the working process, and controlling the cleaning robot to pass through the threshold only after the current area is cleaned, so that the frequency of climbing a sliding door rail or a step passing through the sliding door can be reduced, the cleaning efficiency of the cleaning robot in a whole house is improved, and the skidding phenomenon of the cleaning robot in the sliding door rail or the step passing through the sliding door is reduced as much as possible.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a cleaning control method of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a cleaning control system according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a cleaning robot according to an embodiment of the present invention.
Reference numerals:
100. a cleaning robot; 10. a line laser sensor; 20. a laser sensor;
200. a cleaning control system; 210. a ground characteristic acquisition module;
230. a judging module; 250. and a control module.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In the present invention, unless otherwise indicated, the following examples are merely illustrative and are not intended to limit the embodiments of the present invention to the particular steps, values, conditions, data, sequences, etc. Those skilled in the art can, upon reading the present specification, make and use the concepts of the invention to construct further embodiments not mentioned in the specification.
The embodiment provides a cleaning control method of a cleaning robot. When the method is concretely implemented, the method is applied to a cleaning robot which autonomously executes cleaning tasks, and the method can be a sweeping robot, a mopping robot or a sweeping and mopping integrated robot.
In a specific implementation scenario, the cleaning robot performs a cleaning work covering a cleaning area in a cleaning area, where the cleaning area generally covers a plurality of functional areas of a household, such as a kitchen area, a living room area, etc., and a threshold is often set between different areas, such as a sliding door rail or a passing step. The cleaning robot can climb the sliding door rail or the passing step arranged between the cross regions when traversing different regions each time. Because the sliding door sliding rail or the passing step has a certain height drop, the cleaning robot climbs over the sliding door sliding rail or the passing step, which is equivalent to crossing an obstacle, can consume a certain time and more energy, and sometimes even the phenomenon that the walking module of the cleaning robot is blocked in the sliding door sliding rail or the passing step can occur.
In order to solve the above-described problems, the present embodiment provides a cleaning control method of a cleaning robot. As shown in fig. 1, the method, when embodied, comprises the following steps:
and S100, controlling the cleaning robot to clean the cleaning area, and acquiring the ground characteristic data in the cleaning direction of the cleaning robot in real time.
The cleaning area may be a room to be cleaned specified by a user, such as a kitchen, a bedroom, a living room, and/or a combination of multiple functional areas thereof. Accordingly, the cleaning process of the cleaning robot is an automatic cleaning process covering the room.
The ground characteristic data of the cleaning robot in the cleaning direction is acquired, and the real-time sampling acquisition mode is adopted, so that the ground characteristic data in the cleaning direction is ensured to be acquired timely. The cleaning direction specifically refers to the advancing direction of the cleaning robot when performing cleaning work. The step of 'real-time acquisition' is not continuous acquisition in absolute sense, but rather has shorter sampling interval, so that the cleaning robot can timely identify the ground characteristic data in the running process.
And S200, when the ground characteristic data meets the threshold condition, controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning the current area.
The threshold condition corresponds to a threshold characteristic in an actual application scene, namely common characteristics of different threshold types such as a sliding door rail or a passing step. When the ground characteristic data meets the threshold condition, the ground with the ground characteristic data corresponds to the threshold in the actual application scene. In the embodiment of the invention, a threshold is taken as a boundary, and an area where the cleaning robot is positioned is defined as a current area; the area of the other side of the threshold where the cleaning robot is not located is defined as the area to be cleaned on the other side.
The cleaning robot switches the direction before the ground with the ground characteristic data, and controls the cleaning robot to turn or turn around before the ground with the ground characteristic data so as to continuously execute the cleaning task of the current area. Therefore, the cleaning robot can be prevented from crossing the threshold, the consumption of time and energy is avoided, and the frequency of the slipping phenomenon that a walking module of the cleaning robot is clamped in a sliding door sliding rail or a passing step is reduced.
And S300, when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to clean the area to be cleaned on the other side through the ground meeting the threshold condition.
When the cleaning robot finishes cleaning the current area, the cleaning robot is controlled to pass through the ground meeting the threshold condition so as to cross the threshold and enter the area to be cleaned on the other side.
In the embodiment, the cleaning control method controls the cleaning robot to identify the threshold in the working process, and controls the cleaning robot to pass through the threshold only after the current area is cleaned, so that the frequency of climbing the sliding door rail or the passing step can be reduced, the cleaning efficiency of the cleaning robot in the whole house is improved, and the slipping phenomenon of the cleaning robot in the sliding door rail or the passing step is reduced as much as possible.
In a working scene, the threshold generally presents a feature above the ground and large-area obstacles such as walls are generally present on both sides of the threshold. In an alternative embodiment, in the step S100, the step of acquiring the ground characteristic data in the cleaning direction of the cleaning robot in real time specifically includes the following steps:
s110, acquiring the ground high-protruding characteristic data in the cleaning direction of the cleaning robot.
S120, obstacle data in the cleaning direction of the cleaning robot is acquired.
The ground characteristic data includes ground high protruding characteristic data and obstacle data. The ground high-protruding characteristic data corresponds to the height of the threshold which is higher than the ground; the obstacle data corresponds to large-area obstacles such as walls on both sides of the threshold.
In an alternative embodiment, the floor surface in the cleaning direction is scanned by a line laser sensor to obtain the floor surface elevation feature data. The line laser sensor irradiates laser to the area in the cleaning direction of the cleaning robot, the laser is shot by the sensor (such as a laser camera) after being reflected, and after a laser picture is shot by the camera, the coordinate analysis is carried out on the bright spots in the picture, so that the ground high-protruding characteristic data are obtained. The line laser sensor has data accurate characteristics and is adapted to acquire data having a continuous length and height like a threshold. In other alternative embodiments, the ground elevation feature data may be obtained in other forms, such as an image sensor other than a laser sensor, such as a threshold data marker performed in advance in the cleaning area, or the like.
In an alternative embodiment, the obstacle data in the cleaning direction is acquired by a lidar sensor (LDS). The laser radar sensor can acquire the distance of the obstacle in the cleaning direction of the cleaning robot, obtains the line shape of the obstacle according to the distance of the obstacle, and correspondingly recognizes the obstacle data as an obstacle wall if the obstacle has a linear line shape. The laser radar sensor has the advantages of accurate ranging and high data acquisition speed. In other alternative embodiments, the method of acquiring the obstacle data may also use other sensor methods, such as an image sensor, an infrared ranging sensor, and the like.
In order to better understand how to determine whether the ground characteristic data meets the threshold condition in step S200, the following technical scheme may be optionally adopted: in an embodiment, after the step of acquiring the floor characteristic data in the cleaning direction of the cleaning robot in real time, the method specifically includes the steps of:
and S210, if the ground high-protruding feature data show that the ground high feature is approximately linear and the height accords with a preset threshold range, and barrier walls exist on two sides of the ground high-protruding feature data show that the ground feature data accord with threshold conditions.
In an alternative embodiment, in the step S210, the method for determining whether the ground height feature data indicates that the ground height feature is substantially linear includes the following steps:
s212, judging whether a plurality of values which belong to the ground high-protruding characteristic data are equal or whether respective difference values among the plurality of values are in a preset difference value range, and if the values are equal or the difference values are in the preset difference value range, determining that the ground high-protruding characteristic data display the ground height characteristic to be approximately linear.
In an alternative embodiment, in step S200, the method further includes the steps of:
s220, when the ground characteristic data is judged to meet the threshold condition, recording the position information of the ground with the ground characteristic data.
Accordingly, in an alternative embodiment, in step S300, "when the cleaning robot completes cleaning of the current area, the cleaning robot is controlled to pass the floor surface meeting the threshold condition", specifically including the following steps:
and S320, when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to move to a position corresponding to the position information according to the recorded position information.
And S340, controlling the cleaning robot to pass through the position so as to clean the area to be cleaned on the other side.
When the cleaning robot finishes cleaning the current area, the cleaning robot firstly inquires the record information, finds the position information of the ground with the ground characteristic data, and then navigates to the ground with the ground characteristic data according to the position information, namely, the threshold position in the actual scene. The cleaning robot passes through the position, i.e. the cleaning robot spans the threshold to enter the area to be cleaned on the other side.
In an alternative embodiment, in the step S220, the "position information" is map position information corresponding to a map in the cleaning robot, or the "position information" is three-dimensional coordinate position information corresponding to the cleaning area.
In this embodiment, the cleaning control method controls the cleaning robot to record the position information of the ground with the ground characteristic data during the working process, and when the cleaning robot finishes cleaning the current area, the cleaning robot is controlled to move to the position corresponding to the position information directly according to the recorded position information. The cleaning control method effectively improves the efficiency of the cross-region work of the cleaning robot and effectively reduces the navigation time of the cleaning robot.
As shown in fig. 2, the embodiment of the invention further provides a cleaning control system of the cleaning robot. The cleaning control system 200 includes a floor characteristic data acquisition module 210, a determination module 230, and a control module 250.
The floor characteristic data acquisition module 210 is configured to acquire, in real time, floor characteristic data in a cleaning direction of the cleaning robot.
The determination module 230 is communicatively coupled to the ground characteristic data acquisition module 210. The determination module 230 is configured to determine whether the ground characteristic data satisfies a threshold condition.
The control module 250 is communicatively coupled to the determination module 230. The control module 250 is used for controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning the current area under the condition that the ground characteristic data is judged to meet the threshold condition; the control module 250 is further configured to control the cleaning robot to pass through the floor surface meeting the threshold condition to clean the area to be cleaned on the other side, if the cleaning robot completes the cleaning of the current area.
In an alternative embodiment, the ground characteristic data acquisition module 210 includes a line laser sensor 10 and a lidar sensor 20.
The line laser sensor 10 is used to scan the floor in the cleaning direction to acquire floor elevation feature data. The line laser sensor irradiates laser to the area in the cleaning direction of the cleaning robot, the laser is shot by the sensor (such as a laser camera) after being reflected, and after a laser picture is shot by the camera, the coordinate analysis is carried out on the bright spots in the picture, so that the ground high-protruding characteristic data are obtained. The line laser sensor has data accurate characteristics and is adapted to acquire data having a continuous length and height like a threshold. In other alternative embodiments, the ground elevation feature data may be obtained in other forms, such as an image sensor other than a laser sensor, such as a threshold data marker performed in advance in the cleaning area, or the like.
The lidar sensor 20 is used to acquire obstacle wall data in the cleaning direction. The laser radar sensor acquires distances in different directions of the cleaning direction of the cleaning robot, and if the linear distances in different directions show the linear characteristics of the obstacle, the obstacle data corresponds to the obstacle wall. The laser radar sensor has the advantages of accurate ranging and high data acquisition speed. In other alternative embodiments, the method of acquiring the obstacle data may also use other sensor methods, such as an image sensor, an infrared ranging sensor, and the like.
In an alternative embodiment, the rules for determining whether the ground characteristic data meets the threshold condition, which are preset in the determining module 230, include the following rules: if the ground high-protruding feature data show that the ground high feature is approximately linear, the height accords with a preset threshold range, and the obstacle data show that obstacle walls exist on two sides of the ground high-protruding feature, determining that the ground feature data accord with a threshold condition.
In an alternative embodiment, the rule for determining whether the ground high profile data indicates that the ground high profile is substantially linear includes the following rules: and judging whether a plurality of values which belong to the ground high-protruding characteristic data are equal or whether respective differences among the plurality of values are in a preset difference range, and if the values are equal or the differences are in the preset range, determining that the ground high-protruding characteristic data display the ground high-protruding characteristic to be approximately linear.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
In the embodiment, the cleaning control system controls the cleaning robot to identify the threshold in the working process, and controls the cleaning robot to pass through the threshold only after the current area is cleaned, so that the frequency of climbing the sliding door rail or the passing step can be reduced, the cleaning efficiency of the cleaning robot in the whole house is improved, and the slipping phenomenon of the cleaning robot in the sliding door rail or the passing step is reduced as much as possible.
The cleaning control system of the cleaning robot provided in this embodiment corresponds to the cleaning control method of the cleaning robot, and functions of each module in the cleaning control system of the cleaning robot in this embodiment are described in detail in the corresponding method embodiments, which are not described in detail herein.
As shown in fig. 3, an embodiment of the present invention also provides a cleaning robot 100. The cleaning robot 100 may be a floor cleaning robot, a floor mopping robot, or a robot with a floor cleaning function. In this embodiment, the cleaning robot 100 includes a robot body and a cleaning control system.
The cleaning control system is arranged on the robot main body; wherein the purge control system is configured to perform the following operations: controlling the cleaning robot 100 to clean the cleaning region and acquiring ground characteristic data in the cleaning direction of the cleaning robot 100 in real time; judging whether the ground characteristic data accords with a threshold condition or not; wherein the ground conforming to the threshold condition is a ground through which the cleaning robot can pass; when the ground characteristic data is judged to be in accordance with the threshold condition, controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning of the current area; and when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to pass through the ground conforming to the threshold condition so as to clean the area to be cleaned on the other side.
In the embodiment, the cleaning robot identifies the threshold in the working process, and only passes through the threshold after the current area is cleaned, so that the frequency of climbing the sliding door rail or the passing step can be reduced, the cleaning efficiency of the cleaning robot in the whole house is improved, and the slipping phenomenon of the cleaning robot in the sliding door rail or the passing step is reduced as much as possible.
The application entity of the cleaning robot cleaning control method provided by the embodiment of the invention corresponds to the cleaning control method of the cleaning robot and the cleaning robot control system, and the functions of each module of the cleaning robot in the embodiment are described in detail in the corresponding method embodiments and are not described in detail herein.
It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, where the program may be stored in a computer readable storage medium, and the program may include the above-described embodiment method when executed. The storage medium may be a magnetic Disk, an optical disc, a Read-Only Memory (ROM), a Random access Memory (Random AccessMemory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present invention.
Claims (11)
1. A cleaning control method of a cleaning robot, comprising:
controlling the cleaning robot to clean a cleaning area, and acquiring ground characteristic data in the cleaning direction of the cleaning robot in real time;
when the ground characteristic data accords with a threshold condition, controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning the current area;
when the cleaning robot finishes cleaning the current area, the cleaning robot is controlled to pass through the ground meeting the threshold condition so as to clean the area to be cleaned on the other side.
2. The cleaning control method of the cleaning robot according to claim 1, wherein the acquiring of the floor characteristic data in the cleaning direction of the cleaning robot in real time includes:
acquiring ground high-protruding characteristic data in a cleaning direction of the cleaning robot;
and acquiring obstacle data in the cleaning direction of the cleaning robot.
3. The cleaning control method of the cleaning robot according to claim 2, characterized by comprising, after the acquiring of the floor characteristic data in the cleaning direction of the cleaning robot in real time:
and if the ground high-protruding feature data show that the ground high feature is approximately linear and the height accords with a preset threshold range, and the barrier data show that barrier walls exist on two sides of the ground high-protruding feature, judging that the ground feature data accord with the threshold condition.
4. The cleaning control method of the cleaning robot according to claim 2, wherein the acquiring of the floor surface high-protruding feature data in the cleaning direction of the cleaning robot includes:
the floor in the cleaning direction is scanned by a line laser sensor to obtain the floor elevation feature data.
5. The cleaning control method of the cleaning robot according to claim 2, wherein the acquiring of the obstacle wall data in the cleaning direction of the cleaning robot includes:
and acquiring obstacle data in the cleaning direction through a laser radar sensor.
6. The cleaning control method of a cleaning robot according to claim 1, characterized in that the method further comprises:
and when the ground characteristic data is judged to meet the threshold condition, recording the position information of the ground with the ground characteristic data.
7. The cleaning control method of the cleaning robot according to claim 6, wherein controlling the cleaning robot to pass the floor surface conforming to the threshold condition when the cleaning robot completes cleaning of the current area, comprises:
when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to move to a position corresponding to the position information according to the recorded position information;
and controlling the cleaning robot to pass through the position so as to clean the area to be cleaned on the other side.
8. A cleaning control system for a cleaning robot, comprising:
the ground characteristic data acquisition module is configured to acquire ground characteristic data in the cleaning direction of the cleaning robot in real time;
the judging module is in communication connection with the ground characteristic data acquisition module and is configured to judge whether the ground characteristic data meets a threshold condition or not;
the control module is in communication connection with the judging module and is used for controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning of the current area under the condition that the ground characteristic data is judged to meet the threshold condition; and the cleaning robot is used for controlling the cleaning robot to pass through the ground conforming to the threshold condition under the condition that the cleaning robot finishes cleaning the current area so as to clean the area to be cleaned on the other side.
9. The cleaning control system of claim 8, wherein the floor characteristic data acquisition module comprises:
a line laser sensor and a lidar sensor;
the line laser sensor is used for scanning the ground in the cleaning direction to obtain ground high-protruding characteristic data;
the laser radar sensor is used for acquiring obstacle wall data in the cleaning direction.
10. The cleaning control system of the cleaning robot according to claim 9, wherein the determining whether the ground characteristic data meets a threshold condition includes:
and if the ground high-protruding feature data show that the ground high feature is approximately linear and the height accords with the preset threshold range, and the barrier data show that barrier walls exist on two sides of the ground high-protruding feature, judging that the ground feature data accord with the threshold condition.
11. A cleaning robot, comprising:
the main body of the robot is provided with a plurality of grooves,
a cleaning control system provided on the robot main body;
wherein the purge control system is configured to perform the following operations:
controlling the cleaning robot to clean a cleaning area, and acquiring ground characteristic data in the cleaning direction of the cleaning robot in real time;
judging whether the ground characteristic data accords with a threshold condition or not; wherein the ground conforming to the threshold condition is a ground through which the cleaning robot can pass;
when the ground characteristic data is judged to be in accordance with the threshold condition, controlling the cleaning robot to change the direction before the ground with the ground characteristic data so as to continue cleaning of the current area;
and when the cleaning robot finishes cleaning the current area, controlling the cleaning robot to pass through the ground conforming to the threshold condition so as to clean the area to be cleaned on the other side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111550617.7A CN116266060A (en) | 2021-12-17 | 2021-12-17 | Cleaning control method, cleaning control system and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111550617.7A CN116266060A (en) | 2021-12-17 | 2021-12-17 | Cleaning control method, cleaning control system and cleaning robot |
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| CN202111550617.7A Pending CN116266060A (en) | 2021-12-17 | 2021-12-17 | Cleaning control method, cleaning control system and cleaning robot |
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| Country | Link |
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