CN117179642A - Cleaning robot, control method and device thereof, and storage medium - Google Patents
Cleaning robot, control method and device thereof, and storage medium Download PDFInfo
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- CN117179642A CN117179642A CN202311267753.4A CN202311267753A CN117179642A CN 117179642 A CN117179642 A CN 117179642A CN 202311267753 A CN202311267753 A CN 202311267753A CN 117179642 A CN117179642 A CN 117179642A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 309
- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 239000002689 soil Substances 0.000 claims abstract description 47
- 239000007788 liquid Substances 0.000 claims abstract description 43
- 238000011065 in-situ storage Methods 0.000 claims abstract description 37
- 239000000428 dust Substances 0.000 claims description 40
- 230000008569 process Effects 0.000 claims description 28
- 230000000694 effects Effects 0.000 abstract description 10
- 230000000712 assembly Effects 0.000 abstract description 6
- 238000000429 assembly Methods 0.000 abstract description 6
- 238000001035 drying Methods 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 11
- 238000010408 sweeping Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003058 natural language processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The application discloses a cleaning robot and a control method, a device and a storage medium thereof, wherein an image sensor is arranged on the front side wall or the top of a machine body of the cleaning robot to collect images of a surface to be cleaned, and a mop assembly is arranged at the bottom of the rear end of the machine body, and the method comprises the following steps: identifying a soil area, including liquid soil and/or dry soil, from the acquired image; stopping the robot from traveling and rotating in situ to face away from the stained area when the stained area is at a first range threshold relative to the cleaning robot; the cleaning robot retreats until the mop assembly enters the spot area, and then reciprocates left and right in situ to drive the mop assembly to clean the spot area. The application can find out the spot area in advance, and the mop component firstly contacts the spot by retreating into the spot area, thereby avoiding scattering liquid spot or drying the spot and wearing parts such as side brush. The cleaning effect is improved by adopting a mode of in-situ left-right reciprocating rotation, and the gap areas in the middle of different mop assemblies can be covered and cleaned.
Description
Technical Field
The application relates to the technical field of natural language processing, in particular to a cleaning robot, a control method and device thereof and a storage medium.
Background
With the development of sensors and the energization of AI, more and more movable robots are widely applied to production and living. The movable robot is a robot having an autonomous movement capability and capable of performing a setting operation, and is a common movable robot such as a cleaning robot, a transfer robot, a companion robot, or the like.
Taking a cleaning robot as an example, the cleaning robot gathers ground floating dust and sundries near a dust collection opening in a mode of combining brushing and dust collection, sucks the garbage into a dust collection box through suction force generated by a dust collection assembly, and cleans the dust collection box through a mopping assembly at the tail part, so that the cleaning function of the ground is realized. However, when the cleaning robot faces liquid stains and dries the stains, the conventional cleaning mode of the cleaning robot is easy to cause problems, namely when the cleaning robot faces the liquid stains, the suction force generated by the dust collection assembly is easy to suck the liquid stains into the dust collection box after the cleaning robot runs to the liquid stains area, so that the dust collection box is wet and mildewed, and the side brush and the rolling brush of the cleaning robot are positioned in front of the robot, so that the liquid is easy to scatter when the cleaning robot contacts the liquid stains, and the cleaning difficulty is increased. When facing dry stains, the dry stains are relatively stubborn, difficult to clean through side brushes, rolling brushes and the like, and the side brushes and the rolling brushes are easy to wear, so that the service life is reduced.
Disclosure of Invention
The present application has been made in view of the above problems, and has as its object to provide a cleaning robot, a control method, a device, and a storage medium thereof, which solve the above problems of the existing cleaning robots when facing liquid stains and dry stains. The specific scheme is as follows:
in a first aspect, a cleaning robot control method is provided, wherein an image sensor is arranged on the front side wall or the top of a machine body of the cleaning robot, a mop assembly is arranged at the bottom of the rear end of the machine body, and the method comprises the following steps:
identifying a stain area on the front surface to be cleaned according to the image of the surface to be cleaned, wherein the stain area comprises liquid stains and/or dry stains;
when the stain area is in a first range threshold relative to the cleaning robot, controlling the cleaning robot to stop travelling and rotating from a current first pose to a first orientation facing away from the stain area in situ;
and controlling the cleaning robot to retreat until part or all of the mop assembly enters the spot area, and then controlling the cleaning robot to reciprocally rotate left and right in situ so as to drive the mop assembly to clean the spot area.
Preferably, the method further comprises:
determining the center coordinates of the stained area;
a process of controlling the cleaning robot to rotate in situ from a current first pose to a first orientation facing away from the stained area, comprising:
and controlling the cleaning robot to rotate from the current first pose to a first orientation facing away from the central coordinate of the spot area.
Preferably, controlling the cleaning robot to back until part or all of the mop assembly enters the soil region comprises:
the cleaning robot is controlled to back until the center of the mop assembly is at the center of the soil area.
Preferably, when the identified stain area is dry stain, after controlling the cleaning robot to back until part or all of the mop assembly enters the stain area, the cleaning robot further comprises:
and controlling the cleaning robot to keep the current pose for a set time length so that the mop assembly is fully contacted with the stain area, and executing the step of controlling the cleaning robot to rotate left and right in a reciprocating manner in situ after the set time length is reached.
Preferably, the process of controlling the cleaning robot to reciprocate left and right in situ includes:
Controlling the cleaning robot to rotate a first angle from a current pose to a first direction, and then repeating the rotation for a plurality of times according to a mode of alternating a second direction and the first direction, wherein the second direction is opposite to the first direction, and the second angle is twice as large as the first angle after each rotation for a second angle until a set repeated ending condition is reached;
or alternatively, the first and second heat exchangers may be,
and controlling the cleaning robot to rotate a first angle from the current pose to a first direction, and repeating the rotation for a plurality of times according to the mode that the second direction and the first direction are alternated until the preset repeated ending condition is reached, and rotating the cleaning robot to return to the current pose, wherein the angle of each rotation in the repeated rotation process is sequentially increased or reduced according to the time sequence.
Preferably, before controlling the cleaning robot to rotate from the current first pose to a first orientation facing away from the stained area, further comprising:
judging whether the spot area can be cleaned at one time according to the coverable size of the mop assembly and the identified size of the spot area;
if not, based on the coverable size of the mop assembly, dividing the stain area into a plurality of stain sub-areas, wherein each stain sub-area can be cleaned once, so as to clean each stain sub-area in turn.
Preferably, the method further comprises:
and according to the recognized dirt degree of the dirt area, after the whole cleaning of the dirt area is finished or after the cleaning of a part of the dirt area is finished, controlling the cleaning robot to return to a base station to clean the mop assembly, and controlling the mop assembly to lift away from the surface to be cleaned in the process of returning to the base station.
Preferably, the method further comprises:
after the cleaning of the stain area is completed, controlling the cleaning robot to return to the first pose;
the dirty area is regarded as a cleaned area, a subsequent cleaning path is re-planned, and the cleaning robot is controlled to travel according to the re-planned cleaning path; or, ignoring the stain cleaning area, and continuing to travel according to the original cleaning path.
Preferably, the first range threshold is:
and according to the minimum external connection area which can be contacted with the whole cleaning robot, and expanding outwards to set a distance to obtain a first range threshold value.
Preferably, the process of controlling the cleaning robot to rotate from the current first pose to a first orientation facing away from the stained area comprises:
controlling the cleaning robot to rotate in situ from the current first pose to a first direction opposite to the stain area according to a first direction;
The first direction is the direction in which the rotation angle is the smallest among the clockwise and counterclockwise directions.
Preferably, when the identified soil region is a liquid soil, controlling a process of retreating the cleaning robot includes:
and controlling the cleaning robot to retreat according to a first speed, reducing the rotating speed and/or vibration frequency of the mop assembly in the retreating process, and closing a dust suction fan of the cleaning robot, wherein the first speed is a set low speed value.
In a second aspect, there is provided a cleaning robot control device, the front end of the body of the cleaning robot is provided with an image sensor, the bottom of the rear end of the body is provided with a mop assembly, the device comprising:
the image recognition unit is used for recognizing a stain area on the front surface to be cleaned according to the image of the surface to be cleaned, which is acquired by the image sensor, wherein the stain area comprises liquid stains and/or dry stains;
a first motion control unit for controlling the cleaning robot to stop traveling and to rotate in situ from a current first pose to a first orientation facing away from the dirty region when the dirty region is at a first range threshold relative to the cleaning robot;
And the second motion control unit is used for controlling the cleaning robot to retreat until part or all of the mop assembly enters the spot area, and then controlling the cleaning robot to reciprocate left and right in situ so as to drive the mop assembly to clean the spot area.
In a third aspect, there is provided a cleaning robot including:
the dust collection device comprises a machine body, an image sensor arranged on the front side wall or the top of the machine body, a processor arranged in the machine body, a mop assembly arranged at the bottom of the rear end of the machine body, a travelling part and a dust collection assembly, wherein the dust collection assembly is communicated with a dust collection opening, and the dust collection opening is positioned in front of the mop assembly along the longitudinal central axis direction of the machine body;
the processor is used for executing each step of the cleaning robot control method.
In a fourth aspect, a storage medium is provided, which may store a program adapted to be executed by a processor for performing the steps of the aforementioned cleaning robot control method.
By means of the technical scheme, the image sensor is arranged on the front side wall or the top of the cleaning robot body, the mop assembly is arranged at the bottom of the rear end of the cleaning robot body, images of the surface to be cleaned in the front view angle of the cleaning robot body can be collected through the image sensor, the soil area on the front surface to be cleaned is identified through the images, the soil area comprises liquid soil and/or dry soil, and because the front soil area can be identified in advance through the image sensor at the front end or the top of the cleaning robot body, when the cleaning robot forwards runs until the soil area is located at a first range threshold relative to the cleaning robot, the cleaning robot can be controlled to stop advancing, namely the edge brush, the rolling brush and the like at the front end of the cleaning robot are prevented from contacting the soil area, and the liquid soil is prevented from being intended or worn by the dry soil. On the basis, the cleaning robot is controlled to rotate from the current first pose to a first orientation opposite to the spot area, namely the rear end of the cleaning robot is aligned to the spot area, further the cleaning robot is controlled to retreat until part or all of the mop assembly at the tail enters the spot area, and then the cleaning robot is controlled to rotate back and forth in place to drive the mop assembly to clean the spot area at fixed points. By adopting the scheme of the application, when the stain area is liquid stains, the mop assembly at the tail part of the cleaning robot is firstly contacted with the liquid stains and cleaned, so that the liquid stains are prevented from being sucked into the dust collecting box through the dust collecting opening, and the service life of the dust collecting box is prolonged; when the area of the spot is dry spot, because the mop component firstly contacts the dry spot, the side brush and the rolling brush are prevented from being worn by the dry spot, and the mop component can infiltrate the dry spot, so that the dry spot can be cleaned more effectively.
Further, when the cleaning robot is used for cleaning the spot area, the cleaning robot is controlled to reciprocate left and right in situ, so that the mop assembly is driven to clean the spot area, a manual sweeping mode for liquid spots and dry spots is simulated, the spot area can be cleaned more effectively, the cleaning effect is greatly improved, and when a plurality of mop assemblies are arranged, coverage cleaning of gap areas in the middle of different mop assemblies can be realized through reciprocating left and right, the condition of missing sweeping is avoided, and the cleaning integrity is improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a control method of a cleaning robot according to an embodiment of the present application;
FIG. 2 illustrates a bottom view of a cleaning robot;
FIG. 3 illustrates a schematic view of a cleaning robot scenario;
FIG. 4 illustrates a schematic view of a scenario in which a cleaning robot is retracted toward a dirty region;
FIG. 5 illustrates a side-to-side reciprocating rotational schematic view of a cleaning robot in situ;
FIG. 6 illustrates another schematic view of a cleaning robot in-situ reciprocating side-to-side rotation;
fig. 7 is a schematic structural diagram of a cleaning robot control device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The application provides a cleaning robot and a control scheme thereof, as shown in fig. 2-3:
the cleaning robot is provided with an image sensor 11 on the front side wall or top of the body (the image sensor is provided on the front side wall of the body in the example of fig. 3) capable of capturing an image of the surface to be cleaned in the front view angle. The bottom of the rear end of the machine body is provided with a mop assembly 12. By adopting the control scheme of the cleaning robot, the cleaning effect of the cleaning robot when facing liquid stains and drying the stains can be improved, the loss of the cleaning robot parts caused by the liquid stains and the drying the stains is reduced, and the service life of the cleaning robot is prolonged.
The present application may be realized by a cleaning robot, or may be realized by a base station or a terminal communicating with the cleaning robot, and in the following embodiments, the cleaning robot is taken as a main body for implementing the control scheme.
Next, as described in connection with fig. 1, the cleaning robot control method of the present application may include the steps of:
step S100, according to the image of the surface to be cleaned acquired by the image sensor, identifying a stain area on the front surface to be cleaned, wherein the stain area comprises liquid stains and/or dry stains.
It will be appreciated that if the cleaning robot detects a type of stain, such as a liquid stain or a dry stain, after entering the stain area, the side brush 15 of the cleaning robot, the roller brush in the cleaning assembly 14, etc. will already be in contact with the stain, which may be prone to break up the liquid stain or to wear by contact with the dry stain. In addition, if the spot area is liquid spot, the dust absorption mouth also can inhale the dust collecting box with liquid spot, leads to the dust collecting box moldy, influences life. For this reason, in this embodiment, a scheme is designed that can identify in advance the dirty region on the surface to be cleaned in front of the cleaning robot, that is, the image sensor 11 is disposed on the front side wall of the cleaning robot body, or on the top of the cleaning robot body, and the image of the surface to be cleaned in the front view angle range is collected by the image sensor 11. Based on the information, whether the image contains the stained area or not and the information such as the stain type, the size and the stain degree of the stained area can be identified through an image identification algorithm. Further, the distance, direction and other information of the stain area relative to the cleaning robot can be obtained through an inverse perspective transformation algorithm.
In this embodiment, whether textures, graphics, colors and the like meeting preset rules appear in the image or not may be identified through a rule matching manner, so as to determine whether the image contains a stain area, a stain type, a stain size and a stain degree. In addition, a deep learning algorithm may be used to train the soil identification model. Specifically, a large number of training images with different stain types, different sizes and different stain degrees can be collected in advance, and corresponding stain type, size and stain degree labels are marked on the training images, so that the training data is used for training a stain recognition model. Based on the trained stain identification model, an image acquired by the image sensor can be input into the model to obtain a judging result of whether the image output by the model contains a stain area or not, and when the image contains the stain area, the information such as the stain type, the size and the stain degree of the stain area is further output.
In this step, the identified soil areas may include both liquid soil and dry soil types. For these two types of stained areas, there is a problem with the conventional cleaning mode, and the present application can provide a new cleaning control strategy for these two types of stained areas, specifically as follows steps S110-S120.
And step S110, when the stain area is in a first range threshold relative to the cleaning robot, controlling the cleaning robot to stop travelling, and rotating the cleaning robot from the current first pose to a first direction opposite to the stain area in situ.
As shown in connection with fig. 3, the cleaning robot may monitor the relative distance of the identified spot area from the cleaning robot during traveling along the planned path.
In order to avoid the cleaning robot from directly entering the stained area, the present application may preset a first range threshold, which may be a set range threshold with the center of the cleaning robot as an origin, for example, a first range threshold obtained by expanding a set distance outwards according to a minimum external area that the cleaning robot can contact as a whole, where the set distance may be 5cm or other values. The minimum circumscribing area which the cleaning robot can contact as a whole can be a minimum circumscribing circle or a minimum circumscribing rectangle, and the minimum circumscribing circle or the minimum circumscribing rectangle is specific to the shape of the cleaning robot.
When it is detected that the spot area is at a first range threshold relative to the cleaning robot, the spot area is about to, but has not yet, come into contact with the cleaning robot's robot-body cleaning component, at which point the cleaning robot is controlled to stop traveling and rotate in place to a first orientation facing away from the spot area.
As shown in fig. 3, after the cleaning robot is rotated to face away from the spot area, the mop member 12 at the rear is positioned closer to the spot area than the cleaning member 14 and the side brush 15 at the front.
In this step, in controlling the cleaning robot to rotate in place to the area facing away from the soil, the cleaning robot may be controlled to rotate in place to a first direction facing away from the soil according to a first direction, which may be clockwise or counterclockwise, and may be specifically set or randomly selected according to a system (in the case of counterclockwise rotation illustrated in fig. 3). Further, the rotation angles at the time of rotation in the clockwise direction and the counterclockwise direction may be calculated, respectively, and the direction in which the rotation angle is smallest may be selected as the first direction.
And step S120, controlling the cleaning robot to retreat until part or all of the mop assembly enters the spot area, and then controlling the cleaning robot to reciprocally rotate left and right in situ so as to drive the mop assembly to clean the spot area.
Referring to fig. 4, after the cleaning robot rotates to face away from the dirty region, the cleaning robot is controlled to reverse backward, i.e. the cleaning robot tail travels toward the dirty region, and the mop assembly 12 at the tail enters the dirty region first. In this embodiment, the continued retraction may be stopped when the cleaning robot is retracted, either by detecting that part or all of the mop assembly 12 has entered the soil area. And then the cleaning robot is controlled to rotate left and right in situ, as shown in fig. 5 and 6, the cleaning robot can drive the mop assembly to clean the spot area, and the cleaning effect of the mop assembly on the spot area can be improved through the left and right reciprocating rotation.
The cleaning robot may be retracted at a first speed, which may be a preset low speed value, may be smaller than a moving speed of the cleaning robot in a normal cleaning mode, for example, the first speed may be 0.1m/s or other values.
By controlling the cleaning robot to reverse at a lower speed, so that the mop assembly slowly contacts the spot area, especially when the spot area is liquid spot, the cleaning robot is prevented from scattering the liquid spot too fast.
Further optionally, the rotational speed and/or vibration frequency of the mop assembly 12 may be further reduced during the control of the cleaning robot in the reverse direction, preventing the mop assembly 12 from easily scattering liquid stains when the rotational speed or vibration frequency is too high.
Because the mop assembly 12 is in preferential contact with the dirt area, when the dirt area is liquid dirt, the mop assembly 12 can wipe out the liquid dirt, avoiding the liquid dirt from being sucked into the dust box through the dust collection opening. Of course, in order to improve the reliability, the dust suction fan of the cleaning robot may be turned off during the control of the cleaning robot to retreat. In addition, if the cleaning robot further includes a side brush and a rolling brush, the side brush and the rolling brush may be turned off synchronously, or the rolling brush may be lifted.
According to the cleaning robot control method provided by the embodiment of the application, the image sensor is arranged on the front side wall or the top of the cleaning robot body, the mop component is arranged at the bottom of the rear end of the cleaning robot body, images of the surface to be cleaned in the front view angle of the cleaning robot body can be collected through the image sensor, the soil area on the front surface to be cleaned is identified through the images, the soil area comprises liquid soil and/or dry soil, and because the front soil area can be identified in advance through the image sensor at the front end or the top of the cleaning robot body, when the cleaning robot moves forwards until the soil area is in a first range threshold relative to the cleaning robot, the cleaning robot can be controlled to stop advancing, namely, the edge brush, the rolling brush and the like at the front end of the cleaning robot are not contacted with the soil area, and the liquid soil is not intended or worn by the dry soil. On the basis, the cleaning robot is controlled to rotate from the current first pose to a first orientation opposite to the spot area, namely the rear end of the cleaning robot is aligned to the spot area, further the cleaning robot is controlled to retreat until part or all of the mop assembly at the tail enters the spot area, and then the cleaning robot is controlled to rotate back and forth in place to drive the mop assembly to clean the spot area at fixed points. By adopting the scheme of the application, when the stain area is liquid stains, the mop assembly at the tail part of the cleaning robot is firstly contacted with the liquid stains and cleaned, so that the liquid stains are prevented from being sucked into the dust collecting box through the dust collecting opening, and the service life of the dust collecting box is prolonged; when the area of the spot is dry spot, because the mop component firstly contacts the dry spot, the side brush and the rolling brush are prevented from being worn by the dry spot, and the mop component can infiltrate the dry spot, so that the dry spot can be cleaned more effectively.
Further, when the cleaning robot is used for cleaning the spot area, the cleaning robot is controlled to reciprocate left and right in situ, so that the mop assembly is driven to clean the spot area, a manual sweeping mode for liquid spots and dry spots is simulated, the spot area can be cleaned more effectively, the cleaning effect is greatly improved, and when a plurality of mop assemblies are arranged, coverage cleaning of gap areas in the middle of different mop assemblies can be realized through reciprocating left and right, the condition of missing sweeping is avoided, and the cleaning integrity is improved.
In some embodiments of the application, the cleaning robot may be controlled to return to the first pose after cleaning of the stained area is completed.
Further, the stained area can be regarded as a cleaned area, a subsequent cleaning path can be re-planned, and the cleaning robot can be controlled to travel according to the re-planned cleaning path, so that secondary pollution is avoided.
Alternatively, the dirty cleaning region may be omitted and travel continued along the intended cleaning path. Cleaning efficiency can be improved since there is no need to re-plan the cleaning path.
In some embodiments of the present application, after identifying the spot area on the surface to be cleaned, the center coordinates of the spot area may be further determined, and based on this, step S110 may specifically include the step of controlling the cleaning robot to rotate from the current first pose to a first orientation facing away from the spot area:
The cleaning robot is controlled to pivot from a current first pose to a first orientation facing away from a central coordinate of the dirty region.
Step S120 controls the cleaning robot to retract until part or all of the mop assembly enters the stained area, and may specifically include:
the cleaning robot is controlled to retract until the center of the mop assembly is at the center of the dirt area.
In this embodiment, the center coordinates of the stain area are determined, so that the cleaning robot can be controlled to rotate to a first direction opposite to the center of the stain area, and can retreat to the center of the stain area during subsequent retreating, so as to avoid deviating from the stain area. When the cleaning robot retreats until the mop assembly is positioned at the center of the spot area, the cleaning robot stops retreating, and then the cleaning robot rotates in a left-right reciprocating manner in situ, so that the mop assembly moves in a left-right reciprocating manner from the center of the spot area, the spot area can be cleaned to the greatest extent, and the cleaning integrity is ensured.
Further, if the stain area is a dry stain, in order to further improve the cleaning effect on the dry stain, after the cleaning robot is controlled to retreat until part or all of the mop assembly enters the stain area in step S120, the cleaning robot may be controlled to maintain the current pose for a set period of time, for example, the current pose is maintained for 10S, so that the mop assembly is fully contacted with the stain area, the dry stain is infiltrated, and then a process of controlling the cleaning robot to reciprocally rotate around the spot is performed. As the process of infiltrating the stain area is increased, the cleaning force on the dry and stubborn stains can be improved, and the cleaning effect is improved. In addition, if the cleaning robot is provided with the mop lifting mechanism, in the process of controlling the cleaning robot to keep the current pose for a set period of time, the mop assembly can be pressed by the mop lifting mechanism, so that the pressure of the mop assembly on the surface to be cleaned is improved, and the soaking effect on dry stains is further improved.
Referring to fig. 5 and 6, a process of controlling the cleaning robot to reciprocally rotate left and right in situ in step S120 is described in this embodiment.
Two alternative implementations are illustrated in this embodiment, one of which is illustrated in fig. 5, namely:
and controlling the cleaning robot to rotate a first angle from the current pose to a first direction, and repeating the rotation for a plurality of times according to a mode that a second direction and the first direction are alternated, and rotating the cleaning robot for a second angle each time until the preset repeated ending condition is reached, and then rotating the cleaning robot to return to the current pose.
Wherein the second direction is opposite to the first direction, and the second angle is twice the first angle.
After the robot retreats to the mop component and enters the stain area, the robot can randomly select a clockwise direction or a counterclockwise direction as a first direction, rotate by a first angle theta to the first direction, then rotate by a second angle 2 theta to the second direction, then rotate by the second angle 2 theta to the first direction, and repeat for a plurality of times until a set repeat ending condition is reached, for example, the repeat times reach a set threshold value, or the in-situ rotation time of the cleaning robot reaches a set duration threshold value, and the like, and at the moment, the cleaning robot still deviates from the pose before starting rotation, so that the cleaning robot can rotate by the first angle theta to the opposite direction again for centering.
In the manner shown in fig. 5, the cleaning robot performs left-right alternate rotation at a constant-amplitude rotation angle.
Another implementation is illustrated in fig. 6, namely:
and controlling the cleaning robot to rotate a first angle from the current pose to a first direction, and repeating the rotation for a plurality of times according to the mode that the second direction and the first direction are alternated until the preset repeated ending condition is reached, and rotating the cleaning robot to the current pose, wherein the angle of each rotation in the repeated rotation process is sequentially increased or decreased according to the time sequence.
Fig. 6 illustrates a case where the rotation angles are sequentially increased.
It will be appreciated that, in addition to the two rotation modes illustrated in fig. 5 and 6, there may be a variety of different rotation modes, so as to ensure that the cleaning robot can reciprocally rotate left and right in situ.
In some embodiments of the present application, there is further provided another cleaning robot control method, in particular:
in an actual scene, the area of the spot area may be too large, so that the cleaning robot cannot clean the whole spot area at one time. For example, if the size of the stained area exceeds the coverable size of the mop assembly, it may be considered that the stained area cannot be cleaned at one time; or if the size of the stained area exceeds the coverable size of the mop assembly and the difference between the two is greater than the set difference threshold, the stained area can be considered to be unable to be cleaned at one time.
When judging that the spot area can not be cleaned once, the spot area can be divided into a plurality of spot subareas based on the coverable size of the mop assembly, and each spot subarea can be cleaned once so as to clean each spot subarea in sequence.
On this basis, the process of controlling the cleaning robot to rotate from the current first pose to the first orientation facing away from the stained area in step S110 may be:
and controlling the cleaning robot to rotate from the current first pose to a first orientation opposite to the nearest spot sub-region, so as to facilitate controlling the cleaning robot to retreat towards the nearest spot sub-region in step S120 and realizing the cleaning task of the nearest spot sub-region.
After the last spot sub-area has been cleaned, the process of steps S110-S120 described above may be repeated for each remaining spot sub-area.
In some embodiments of the present application, after the soil area is identified, the dirt degree of the soil area can be further identified, and further, according to the identified dirt degree of the soil area, after the whole cleaning of the soil area is completed, or after the cleaning of a part of the soil area is completed, the cleaning robot is controlled to return to the base station to clean the mop assembly, and in the process of returning to the base station, the mop assembly is controlled to lift off the surface to be cleaned, so that secondary pollution is avoided.
In an alternative example, if it is identified that the soil level of the soiled area exceeds a set soil level threshold, it may be determined that the cleaning of the entire soiled area is to be completed before it is necessary to return to the base station to clean the mop assembly.
Or based on the scheme of dividing the soil subarea into the soil subareas, the dirt degree of each soil subarea can be identified, and whether the mop assembly needs to be cleaned by returning to the base station after the integral cleaning of the soil subarea is completed is judged according to the dirt degree of the soil subarea. If the dirt degree of the dirt subarea exceeds the set dirt degree threshold, the cleaning task of the dirt subarea is judged to be completed, and then the cleaning task is required to be returned to the base station to clean the mop assembly. According to the scheme of the embodiment, the cleaning effect of each spot subarea can be ensured, and the problem that the cleaning effect is poor and even secondary pollution is caused by cleaning the spot subarea by using the dirty mop component is avoided.
The cleaning robot control device provided by the embodiment of the application is described below, and the cleaning robot control device described below and the cleaning robot control method described above can be referred to correspondingly.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a cleaning robot control device according to an embodiment of the present application.
As shown in fig. 7, the apparatus may include:
an image recognition unit 100, configured to recognize a stain area on the front surface to be cleaned according to the image of the surface to be cleaned acquired by the image sensor, where the stain area includes liquid stains and/or dry stains;
a first motion control unit 110 for controlling the cleaning robot to stop traveling and to rotate in place from a current first pose to a first orientation facing away from the dirty region when the dirty region is at a first range threshold relative to the cleaning robot;
and the second motion control unit 120 is used for controlling the cleaning robot to retreat until part or all of the mop assembly enters the spot area, and then controlling the cleaning robot to reciprocate left and right in situ so as to drive the mop assembly to clean the spot area.
Optionally, the apparatus of the present application may further include:
a stain region center determining unit configured to determine a center coordinate of the stain region;
a first motion control unit controls the cleaning robot to rotate from a current first pose to a first orientation facing away from the stained area, comprising:
And controlling the cleaning robot to rotate from the current first pose to a first orientation facing away from the central coordinate of the spot area.
Further, the second motion control unit controls the cleaning robot to retract until part or all of the mop assembly enters the stained area, comprising:
the cleaning robot is controlled to back until the center of the mop assembly is at the center of the soil area.
Optionally, when the identified stain area is a dry stain, the device of the present application may further include:
and the third motion control unit is used for controlling the cleaning robot to keep the current pose for a set time period after the second motion control unit controls the cleaning robot to retreat until part or all of the mop assembly enters the stain area, so that the mop assembly is fully contacted with the stain area, and executing the step of controlling the cleaning robot to reciprocate left and right in situ after the set time period is reached.
Optionally, the second motion control unit controls the process of the in-situ left-right reciprocating rotation of the cleaning robot, including:
controlling the cleaning robot to rotate a first angle from a current pose to a first direction, and then repeating the rotation for a plurality of times according to a mode of alternating a second direction and the first direction, wherein the second direction is opposite to the first direction, and the second angle is twice as large as the first angle after each rotation for a second angle until a set repeated ending condition is reached;
Or alternatively, the first and second heat exchangers may be,
and controlling the cleaning robot to rotate a first angle from the current pose to a first direction, and repeating the rotation for a plurality of times according to the mode that the second direction and the first direction are alternated until the preset repeated ending condition is reached, and rotating the cleaning robot to return to the current pose, wherein the angle of each rotation in the repeated rotation process is sequentially increased or reduced according to the time sequence.
Optionally, the apparatus of the present application may further include:
the first motion control unit is used for controlling the cleaning robot to rotate from a current first pose to a first direction opposite to the stain area in situ, and judging whether the stain area can be cleaned at one time according to the coverable size of the mop assembly and the size of the identified stain area;
the cleaning device comprises a dirt area dividing unit, a cleaning unit and a cleaning unit, wherein the dirt area dividing unit is used for dividing the dirt area into a plurality of dirt subareas based on the coverable size of the mop assembly when the dirt area can not be cleaned once, and each dirt subarea can be cleaned once so as to clean each dirt subarea in sequence.
Optionally, the apparatus of the present application may further include:
and the fourth motion control unit is used for controlling the cleaning robot to return to the base station to clean the mop component according to the recognized dirt degree of the dirt area after the whole cleaning of the dirt area or after the cleaning of a part of the dirt area is completed, and controlling the mop component to lift away from the surface to be cleaned in the process of returning to the base station.
Optionally, the apparatus of the present application may further include:
a fifth motion control unit for controlling the cleaning robot to return to the first pose after cleaning of the stained area is completed; the dirty area is regarded as a cleaned area, a subsequent cleaning path is re-planned, and the cleaning robot is controlled to travel according to the re-planned cleaning path; or, ignoring the stain cleaning area, and continuing to travel according to the original cleaning path.
Optionally, the process of controlling the cleaning robot to rotate from the current first pose to a first direction facing away from the stain area by the first motion control unit includes:
controlling the cleaning robot to rotate in situ from the current first pose to a first direction opposite to the stain area according to a first direction;
The first direction is the direction in which the rotation angle is the smallest among the clockwise and counterclockwise directions.
Optionally, when the identified stain area is a liquid stain, the second motion control unit controls the retreating process of the cleaning robot, including:
and controlling the cleaning robot to retreat according to a first speed, reducing the rotating speed and/or vibration frequency of the mop assembly in the retreating process, and closing a dust suction fan of the cleaning robot, wherein the first speed is a set low speed value.
The embodiment of the application also provides a cleaning robot, as shown in fig. 2-3, the cleaning robot has four opposite directions, namely front, back, left and right, and the cleaning robot can comprise:
the cleaning machine comprises a machine body, an image sensor 11 arranged on the front side wall or the top of the machine body, a processor (not shown in the figure) arranged in the machine body, a mop assembly 12 arranged at the bottom of the rear end of the machine body, a travelling part 13 and a dust collection assembly 14 (the dust collection assembly can comprise a rolling brush and a dust collection opening), wherein the dust collection assembly 14 is communicated with the dust collection opening, and the dust collection opening is positioned in front of the mop assembly 12 along the longitudinal central axis direction of the machine body;
the processor is used to perform the steps of the cleaning robot control method in the foregoing embodiment.
Wherein the number of mop assemblies 12 may be one or more, two being illustrated in fig. 2.
The embodiment of the present application also provides a storage medium storing a program adapted to be executed by a processor for executing the respective steps of the aforementioned cleaning robot control method.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (14)
1. The cleaning robot control method is characterized in that an image sensor is arranged on the front side wall or the top of the cleaning robot body, a mop assembly is arranged at the bottom of the rear end of the cleaning robot body, and the method comprises the following steps:
identifying a stain area on the front surface to be cleaned according to the image of the surface to be cleaned, wherein the stain area comprises liquid stains and/or dry stains;
When the stain area is in a first range threshold relative to the cleaning robot, controlling the cleaning robot to stop travelling and rotating from a current first pose to a first orientation facing away from the stain area in situ;
and controlling the cleaning robot to retreat until part or all of the mop assembly enters the spot area, and then controlling the cleaning robot to reciprocally rotate left and right in situ so as to drive the mop assembly to clean the spot area.
2. The method as recited in claim 1, further comprising:
determining the center coordinates of the stained area;
a process of controlling the cleaning robot to rotate in situ from a current first pose to a first orientation facing away from the stained area, comprising:
and controlling the cleaning robot to rotate from the current first pose to a first orientation facing away from the central coordinate of the spot area.
3. The method according to claim 2, wherein controlling the cleaning robot to back until part or all of the mop assembly enters the soil area comprises:
the cleaning robot is controlled to back until the center of the mop assembly is at the center of the soil area.
4. The method of claim 1, wherein when the identified stain area is a dry stain, after controlling the cleaning robot to back until part or all of the mop assembly enters the stain area, further comprising:
and controlling the cleaning robot to keep the current pose for a set time length so that the mop assembly is fully contacted with the stain area, and executing the step of controlling the cleaning robot to rotate left and right in a reciprocating manner in situ after the set time length is reached.
5. The method of claim 1, wherein controlling the cleaning robot to reciprocally rotate left and right in situ comprises:
controlling the cleaning robot to rotate a first angle from a current pose to a first direction, and then repeating the rotation for a plurality of times according to a mode of alternating a second direction and the first direction, wherein the second direction is opposite to the first direction, and the second angle is twice as large as the first angle after each rotation for a second angle until a set repeated ending condition is reached;
or alternatively, the first and second heat exchangers may be,
and controlling the cleaning robot to rotate a first angle from the current pose to a first direction, and repeating the rotation for a plurality of times according to the mode that the second direction and the first direction are alternated until the preset repeated ending condition is reached, and rotating the cleaning robot to return to the current pose, wherein the angle of each rotation in the repeated rotation process is sequentially increased or reduced according to the time sequence.
6. The method of claim 1, further comprising, prior to controlling the cleaning robot to rotate from the current first pose in situ to a first orientation facing away from the stained area:
judging whether the spot area can be cleaned at one time according to the coverable size of the mop assembly and the identified size of the spot area;
if not, based on the coverable size of the mop assembly, dividing the stain area into a plurality of stain sub-areas, wherein each stain sub-area can be cleaned once, so as to clean each stain sub-area in turn.
7. The method as recited in claim 1, further comprising:
and according to the recognized dirt degree of the dirt area, after the whole cleaning of the dirt area is finished or after the cleaning of a part of the dirt area is finished, controlling the cleaning robot to return to a base station to clean the mop assembly, and controlling the mop assembly to lift away from the surface to be cleaned in the process of returning to the base station.
8. The method as recited in claim 1, further comprising:
after the cleaning of the stain area is completed, controlling the cleaning robot to return to the first pose;
The dirty area is regarded as a cleaned area, a subsequent cleaning path is re-planned, and the cleaning robot is controlled to travel according to the re-planned cleaning path; or, ignoring the stain cleaning area, and continuing to travel according to the original cleaning path.
9. The method of claim 1, wherein the first range threshold is:
and according to the minimum external connection area which can be contacted with the whole cleaning robot, and expanding outwards to set a distance to obtain a first range threshold value.
10. The method of claim 1, wherein controlling the cleaning robot to rotate from the current first pose in situ to a first orientation facing away from the stained area comprises:
controlling the cleaning robot to rotate in situ from the current first pose to a first direction opposite to the stain area according to a first direction;
the first direction is the direction in which the rotation angle is the smallest among the clockwise and counterclockwise directions.
11. The method according to any one of claims 1-10, wherein controlling the cleaning robot to recede when the identified stained area is a liquid stain comprises:
and controlling the cleaning robot to retreat according to a first speed, reducing the rotating speed and/or vibration frequency of the mop assembly in the retreating process, and closing a dust suction fan of the cleaning robot, wherein the first speed is a set low speed value.
12. The utility model provides a cleaning robot controlling means which characterized in that, cleaning robot's fuselage front end is provided with image sensor, and fuselage rear end bottom is provided with the mop subassembly, and the device includes:
the image recognition unit is used for recognizing a stain area on the front surface to be cleaned according to the image of the surface to be cleaned, which is acquired by the image sensor, wherein the stain area comprises liquid stains and/or dry stains;
a first motion control unit for controlling the cleaning robot to stop traveling and to rotate in situ from a current first pose to a first orientation facing away from the dirty region when the dirty region is at a first range threshold relative to the cleaning robot;
and the second motion control unit is used for controlling the cleaning robot to retreat until part or all of the mop assembly enters the spot area, and then controlling the cleaning robot to reciprocate left and right in situ so as to drive the mop assembly to clean the spot area.
13. A cleaning robot, comprising:
the dust collection device comprises a machine body, an image sensor arranged on the front side wall or the top of the machine body, a processor arranged in the machine body, a mop assembly arranged at the bottom of the rear end of the machine body, a travelling part and a dust collection assembly, wherein the dust collection assembly is communicated with a dust collection opening, and the dust collection opening is positioned in front of the mop assembly along the longitudinal central axis direction of the machine body;
The processor for performing the respective steps of the cleaning robot control method of any one of claims 1 to 11.
14. A storage medium, characterized in that the storage medium can store a program adapted to be executed by a processor for executing the respective steps of the cleaning robot control method according to any one of claims 1 to 11.
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| CN118452746A (en) * | 2024-07-11 | 2024-08-09 | 安徽科讯锦瑟科技有限公司 | Cleaning control method, cleaning robot, and storage medium |
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| CN118452746A (en) * | 2024-07-11 | 2024-08-09 | 安徽科讯锦瑟科技有限公司 | Cleaning control method, cleaning robot, and storage medium |
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