CN117378966A - Robot control method, system, cleaning robot and storage medium - Google Patents
Robot control method, system, cleaning robot and storage medium Download PDFInfo
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- CN117378966A CN117378966A CN202210777008.3A CN202210777008A CN117378966A CN 117378966 A CN117378966 A CN 117378966A CN 202210777008 A CN202210777008 A CN 202210777008A CN 117378966 A CN117378966 A CN 117378966A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 314
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 228
- 230000008569 process Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000004590 computer program Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 241001122767 Theaceae Species 0.000 description 3
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- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a robot control method, a robot control system, a cleaning robot and a storage medium. The method is applied to a cleaning robot, and a detection sensor with a lifting function is arranged on the top surface of the cleaning robot; the method comprises the following steps: acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot; when the current clean space is detected to be a low space, controlling the detection sensor to reduce the height of the current clean space and enter the low space; and controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor. The invention can solve the problem that the cleaning robot with the protruding detection sensor arranged at the top end in the prior art cannot enter the space below the suspended object to clean because the protruding detection sensor collides with the suspended object when entering the short space below part of the suspended object.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a robot control method, a system, a cleaning robot and a storage medium.
Background
With the continuous development of automation technology and artificial intelligence technology, various cleaning robots such as floor washing machines and sweeping machines are increasingly widely used. In the conventional technology, some sweeper are provided with a detection sensor such as a protruding laser radar at the top end for scanning and mapping and navigating the area to be cleaned. However, when the cleaning robot with the protruding detection sensor at the top end enters a short space below a part of suspended objects (such as a tea table), the protruding detection sensor collides with the suspended objects, so that the cleaning robot cannot enter the space below the suspended objects to clean.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is that the cleaning robot with the protruding detection sensor at the top end in the traditional technology can collide with the suspended object when entering a low space below part of suspended objects, so that the cleaning robot cannot enter the space below the suspended objects to clean.
In order to solve the technical problems, the invention provides a robot control method which is applied to a cleaning robot, wherein the top surface of the cleaning robot is provided with a detection sensor with a lifting function;
The method comprises the following steps:
acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
when the current clean space is detected to be a low space, controlling the detection sensor to reduce the height of the current clean space and enter the low space;
and controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.
Optionally, the acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot includes:
acquiring a space height value of a current cleaning space in the advancing direction of the cleaning robot;
and judging the current cleaning space as a low space when detecting that the space height value of the current cleaning space is larger than the first height value of the body of the cleaning robot and smaller than the second height value of the detection sensor on the top surface of the cleaning robot.
Optionally, the acquiring the space height value of the current cleaning space in the advancing direction of the cleaning robot includes:
acquiring detection information of an obstacle in the advancing direction of the cleaning robot;
determining the type of the obstacle according to the detection information of the obstacle;
When the obstacle is a spatial obstacle, determining a spatial feature of the spatial obstacle; the spatial features include at least a spatial bottom surface and a spatial top surface;
and determining the space height value of the space obstacle according to the space characteristics.
Optionally, the controlling the detection sensor to reduce its height and enter the low space includes:
determining a descending height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor;
and controlling the detection sensor to descend according to a preset rule according to the descending height value, and controlling the cleaning robot to smoothly enter the interior of the short space.
Optionally, the controlling the detecting sensor to descend according to the descending height value and a preset rule includes:
according to the descending height value, controlling the detection sensor to reduce the height value at a preset fixed lifting speed; or,
and according to the descending height value, the temporary lifting speed of the detection sensor is obtained according to the current distance between the cleaning robot and the short space and the current moving speed of the cleaning robot, and the detection sensor is controlled to reduce the height value of the detection sensor at the temporary lifting speed.
Optionally, before the detecting sensor is controlled to descend according to a preset rule, the method further includes:
and controlling the cleaning robot to move in a decelerating way or stop moving.
Optionally, the controlling the cleaning robot to clean the low space includes:
after the cleaning robot enters the short space, adjusting the angle of the detection sensor to detect the short space;
and controlling the cleaning robot to clean the short space.
Optionally, the adjusting the angle of the detection sensor to detect the short space includes:
adjusting the angle of the detection sensor so that the detection direction of the detection sensor is adjusted to be a vertical upward direction;
and controlling the detection sensor to detect the upper part of the short space, and acquiring the internal space information of the short space.
Optionally, the controlling the cleaning robot to move out of the low space and restore the height of the detection sensor includes:
controlling the cleaning robot to move from the inside of the low space to the outside thereof;
in the moving process of the cleaning robot, acquiring a real-time distance value between the detection sensor and the inner top surface of the short space in real time;
And when the real-time distance values obtained in the preset time period are all larger than the preset distance value, controlling the detection sensor to rise to the specified height value, and adjusting the detection direction of the detection sensor to be consistent with the movement direction of the cleaning robot.
In addition, the invention also provides a robot control system which is applied to the cleaning robot, wherein the top surface of the cleaning robot is provided with a detection sensor with a lifting function;
the system comprises:
the space detection module is used for acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
the sensor descending control module is in communication connection with the space detection module and is used for controlling the detection sensor to reduce the height of the detection sensor and enter the short space when the current clean space is detected to be the short space;
the sensor ascending control module is in communication connection with the sensor descending control module, controls the cleaning robot to clean the short space, then controls the cleaning robot to move out of the short space and recovers the height of the detection sensor.
In addition, the invention also provides a cleaning robot, which comprises:
A robot body;
the detection sensor is arranged on the top surface of the robot body;
the lifting mechanism is arranged on the robot body and is connected with the detection sensor; the method comprises the steps of,
the controller is arranged on the robot body and is connected with the detection sensor and the lifting mechanism;
wherein the controller is configured to:
acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
when the current clean space is detected to be a low space, controlling the detection sensor to reduce the height of the current clean space and enter the low space;
and controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.
Furthermore, the invention proposes a computer-readable storage medium in which computer-executable instructions are stored, which computer-executable instructions, when executed by a processor, are adapted to carry out all or part of the method steps of a robot control method as described above.
The technical scheme provided by the invention has the following advantages:
the robot control method provided by the invention is applied to a cleaning robot with a liftable detection wound safety on the top surface. When the cleaning robot cleans an area to be cleaned, the space type of the current cleaning space in the advancing direction of the cleaning robot can be detected and analyzed to judge whether a low space exists in the advancing direction; if the low space exists, the detection sensor on the top surface of the cleaning robot is controlled to descend, so that the cleaning robot can enter the low space, and the area where the low space is located is convenient to clean; after cleaning is completed, the cleaning robot can be controlled to come out of the short space, and the detection sensor on the top surface of the cleaning robot is controlled to ascend and reset. Therefore, the cleaning robot with the protruding detection sensor arranged at the top end can clean the low space below the suspended object (obstacle) in the cleaning process of the cleaning area, and even if the cleaning robot encounters the low space below the suspended object (obstacle), the detection sensor can be lifted, so that the cleaning robot can normally enter the low space below the suspended object to clean, the cleaning robot cannot be damaged due to collision with the suspended object, the low space below the suspended object cannot be cleaned, the safety of equipment can be guaranteed, and the cleaning efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic and simplified flow chart of the steps of a robot control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram Jian Kuangtu of a robot control system according to an embodiment of the present invention;
fig. 3 is a schematic view Jian Kuangtu of a cleaning robot according to an embodiment of the present invention;
fig. 4 is a schematic and schematic perspective view of a cleaning robot according to an embodiment of the present invention.
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, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.
In the conventional art, when a cleaning robot with a protruding detection sensor at the top end enters a short space below a part of suspended objects (such as a tea table), the protruding detection sensor collides with the suspended objects, so that the cleaning robot cannot enter the space below the suspended objects to clean. In order to solve the technical problems, the invention provides a robot control method, a robot control system and a cleaning robot.
Example 1
The embodiment provides a robot control method which is applied to a cleaning robot, and a detection sensor with a lifting function is arranged on the top surface of the cleaning robot. As shown in fig. 1, the robot control method may include the steps of:
S100, acquiring the space type of a current cleaning space in the advancing direction of the cleaning robot;
s200, when the current clean space is detected to be a low space, controlling the detection sensor to reduce the height of the detection sensor and enter the low space;
s300, controlling the cleaning robot to clean the short space, and then controlling the cleaning robot to move out of the short space and recovering the height of the detection sensor.
The robot control method provided by the embodiment is applied to the cleaning robot with the liftable detection sensor on the top surface. When the cleaning robot cleans an area to be cleaned, the space type of the current cleaning space in the advancing direction of the cleaning robot can be detected and analyzed to judge whether a low space exists in the advancing direction; if the low space exists, the detection sensor on the top surface of the cleaning robot is controlled to descend, so that the cleaning robot can enter the low space, and the area where the low space is located is convenient to clean; after cleaning is completed, the cleaning robot can be controlled to come out of the short space, and the detection sensor on the top surface of the cleaning robot is controlled to ascend and reset. Therefore, the cleaning robot with the protruding detection sensor arranged at the top end can clean the low space below the suspended object (obstacle) in the cleaning process of the cleaning area, and even if the cleaning robot encounters the low space below the suspended object (obstacle), the detection sensor can be lifted, so that the cleaning robot can normally enter the low space below the suspended object to clean, the cleaning robot cannot be damaged due to collision with the suspended object, the low space below the suspended object cannot be cleaned, the safety of equipment can be guaranteed, and the cleaning efficiency is improved.
Further, in step S100, the space type of the current cleaning space in the advancing direction of the cleaning robot is acquired, and specifically may include the steps of:
s110, acquiring a space height value of a current cleaning space in the advancing direction of the cleaning robot.
By detecting the space height value of the current cleaning space in the advancing direction of the cleaning robot, whether the current cleaning space belongs to a low space or not can be judged according to the space height value so as to determine whether the detection sensor on the top surface of the cleaning robot needs to be lifted or not, so that the cleaning robot can normally enter the current cleaning space.
And S120, judging that the current cleaning space is a low space when the space height value of the current cleaning space is detected to be larger than the first height value of the body of the cleaning robot and smaller than the second height value of the detection sensor on the top surface of the cleaning robot. The second height value of the detection sensor is the height value of the top end of the detection sensor (namely the distance value between the top end of the detection sensor and the ground) when the detection sensor normally protrudes out of the top surface of the cleaning robot; the first height value of the body of the cleaning robot is a height value of the top surface of the body (i.e., a distance value between the top surface of the body and the floor).
Namely, when the current cleaning space is detected to be enough to accommodate the body of the lower cleaning robot, but the detection sensor which normally stretches out cannot be accommodated, the cleaning robot cannot enter the current cleaning space under normal conditions, but the cleaning robot can smoothly enter the current cleaning space by descending the height of the detection sensor, and then the current cleaning space can be judged to be a low space.
And S130, judging the current cleaning space as a conventional cleaning space when detecting that the space height value of the current cleaning space is larger than the second height value of the detection sensor on the top surface of the cleaning robot.
Namely, when the current cleaning space is detected, not only the body of the lower cleaning robot but also the detection sensor which normally stretches out can be accommodated, the cleaning robot can be determined to smoothly enter the current cleaning space under normal conditions, the detection sensor which protrudes out of the top surface of the cleaning robot is not required to descend, and then the current cleaning space can be judged to be a conventional cleaning space.
And S140, judging that the current cleaning space is an unconventional space when the space height value of the current cleaning space is detected to be smaller than or equal to the first height value of the body of the cleaning robot.
That is, when the current cleaning space is detected to be incapable of accommodating the body of the lower cleaning robot, the cleaning robot is proved to not only normally enter the current cleaning space, but also smoothly enter the current cleaning space even though the height of the cleaning robot is lowered, and then the current cleaning space can be judged to be an unconventional space incapable of being cleaned by the cleaning robot.
Generally, the low space is formed by the space under various obstacles, such as low suspended objects (obstacles) like a low desk, a stool, a tea table, a sofa, etc. Therefore, if a space height value of a current cleaning space in the forward direction of the cleaning robot is obtained, obstacle information in the forward direction of the cleaning robot is obtained first so as to determine whether the obstacle is an obstacle forming a short space based on the obstacle information. In this embodiment, the obstacle forming the short space may be referred to as a space obstacle. Accordingly, in step S110, a space height value of the current cleaning space in the advancing direction of the cleaning robot is acquired, and specifically, the method may include the steps of:
s112, acquiring detection information of the obstacle in the advancing direction of the cleaning robot.
The obstacle in the advancing direction of the cleaning robot can be detected by a detection sensor arranged on the top surface of the cleaning robot or/and a detection sensor arranged on the side surface of the cleaning robot so as to obtain image information or laser point cloud information of the obstacle.
S114, determining the type of the obstacle according to the detection information of the obstacle.
According to the image information or the laser point cloud information of the obstacle, determining whether the type of the obstacle belongs to a common physical obstacle or a spatial obstacle with a lower space by means of machine learning (for example, intelligent learning by using a neural network system) or/and manual labeling.
S116, when the obstacle is a space obstacle, determining the space characteristics of the space obstacle; the spatial features include at least a spatial bottom surface and a spatial top surface.
When it is detected that the obstacle in the forward direction of the cleaning robot is a space obstacle having a space below the space obstacle, it is necessary to further determine information such as a space bottom surface and a space top surface of the space below the space obstacle. In addition, the space sides of both sides of the space below the space obstacle may also be determined.
S118, determining the space height value of the space obstacle according to the space characteristics.
According to the space bottom surface and the space top surface of the space below the space obstacle, the distance between the space bottom surface and the space top surface can be determined, and then the space height value of the space obstacle can be obtained. In addition, the space width value of the space obstacle may be determined based on the space side surfaces on both sides of the space below the space obstacle.
Also, in step S200, the control detecting sensor lowers its height and enters a short space, and may specifically include the steps of:
s210, determining a descending height value of the detection sensor according to the space height value of the short space and the second height value of the detection sensor.
In order to make the cleaning robot smoothly enter the short space, the descending height value of the detection sensor protruding from the top surface of the cleaning robot may be determined. In addition, the descending height value of the detection sensor can be a first difference value between the second height value of the detection sensor and the space height value of the low space, so that the cleaning robot can descend to the space height value of the low space, the cleaning robot can conveniently and rapidly descend and enter the low space, and the electric quantity consumption can be reduced; in addition, the descending height value of the detection sensor can also be a second difference value between the second height value of the detection sensor and the first height value of the machine body, and the cleaning robot can be descended to the first height value of the machine body at the moment, so that the cleaning robot can safely enter a low space and move in the low space; in addition, the descending height value of the detection sensor can be any value between the first difference value and the second difference value, and the advantages of the two conditions can be achieved.
S220, controlling the detection sensor to descend according to a descending height value and a preset rule, and controlling the cleaning robot to smoothly enter the interior of the short space.
After determining the descending height value of the detection sensor, the detection sensor can be controlled to descend according to the descending height value, so that the cleaning robot can smoothly enter the interior of the short space.
Further, in step S220, according to the descent height value, the descent of the detection sensor is controlled according to a preset rule, which may specifically include the following steps:
s222, controlling the detection sensor to reduce the height value of the detection sensor at a preset fixed lifting speed according to the descending height value. That is, when the control detecting sensor descends, a fixed lifting speed can be preset to descend, so that the height value of the cleaning robot before entering a short space is lower than the space height value.
Or S224, according to the descending height value and according to the current distance between the cleaning robot and the short space and the current moving speed of the cleaning robot, obtaining the temporary lifting speed of the detection sensor, and controlling the detection sensor to reduce the height value at the temporary lifting speed.
At this time, the cleaning robot may be moved while lowering the height of the detection sensor such that the height value of the cleaning robot before entering the short space is lower than the space height value. Also, the falling speed of the detection sensor may be determined according to the falling height value and a temporary falling time, which is a real-time moving time taken for the cleaning robot to move from the current position to the edge position of the short space. Also, the real-time moving time of the cleaning robot is a time in which the cleaning robot moves a current distance at a current moving speed, and the current distance is a distance between a current position of the cleaning robot to an edge position of a short space.
Furthermore, before the detecting sensor is controlled to descend according to the preset rule in step S220, the method may further include the steps of:
the cleaning robot is controlled to move in a decelerating manner or to stop moving. That is, before the detection sensor is controlled to descend, the cleaning robot is stopped moving or decelerated so that the detection sensor has enough time to reduce the descending height value, and the detection sensor is prevented from being impacted with the space obstacle in the short space because the height value of the detection sensor is still larger than the space height value when the cleaning robot moves to the edge of the short space.
Further, in step S300, controlling the cleaning robot to clean the low space may include the steps of:
and S310, after the cleaning robot enters the short space, adjusting the angle of the detection sensor to detect the short space.
After the cleaning robot enters the short space, whether the cleaning robot leaves the short space needs to be detected in real time, and at the moment, the detection angle of the detection sensor needs to be adjusted, so that the detection of the inner top surface of the short space is facilitated, and whether the cleaning robot is located in the short space is confirmed.
S320, controlling the cleaning robot to clean the short space. Moreover, the interior of the short space is detected, and the area where the short space is located is cleaned. Moreover, this step may be performed simultaneously with step S310.
Further, in step S310, adjusting the angle of the detection sensor to detect a short space may include the following steps:
s312, adjusting the angle of the detection sensor so that the detection direction of the detection sensor is adjusted to be vertical upwards. Since the inner top surface of the short space needs to be detected, the detection direction of the detection sensor needs to be adjusted from the moving direction (generally horizontal direction) of the cleaning robot to the vertically upward direction to detect the distance between the top of the cleaning robot and the inner top surface of the short space. In addition, the detection direction of the detection sensor may be adjusted to an obliquely upward direction.
S314, controlling the detection sensor to detect the upper part of the short space, and acquiring the internal space information of the short space. After the detection direction of the detection sensor is adjusted, the inner space information of the low space can be detected, so that the distance between the top of the cleaning robot and the inner top surface of the low space can be obtained.
Also, in step S300, controlling the cleaning robot to move out of the short space and restore the height of the detection sensor may include the steps of:
s330, controlling the cleaning robot to move from the inside of the low space to the outside of the low space. The cleaning robot can be controlled to move to the outside of the short space while cleaning the region of the short space.
S340, acquiring a real-time distance value between the detection sensor and the inner top surface of the short space in real time in the moving process of the cleaning robot.
And S350, when a plurality of real-time distance values obtained in a preset time period are all larger than the preset distance value, controlling the detection sensor to rise to a specified height value, and adjusting the detection direction of the detection sensor to be consistent with the movement direction of the cleaning robot.
In a certain period of time, the real-time distance value between the detection sensor and the inner top surface of the short space (which may have a gap on the top surface of the short space, so that a certain detection result is inaccurate, and therefore multiple detection is needed) obtained multiple times is larger than the preset distance value (such as the descending height value of the detection sensor or the first difference value between the second height value of the detection sensor and the space height value of the short space), so that the cleaning robot is proved to be moved out of the short space. At this time, the height of the detection sensor on the top surface of the cleaning robot can be restored to the original height (i.e., the first height value); in addition, the detection direction of the detection sensor may be adjusted to the original direction (i.e., the direction coincident with the movement direction of the cleaning robot).
Further, it should be noted that, in the present embodiment, the robot control method is performed by a cleaning robot, and further, a control unit (e.g., a controller) of the cleaning robot.
Moreover, in the present embodiment, the minimum width value of the default short space is larger than the maximum width value of the cleaning robot, and only the space height value of the short space needs to be considered.
Example 2
The present embodiment provides a robot control system 100, which is applied to a cleaning robot, and the top surface of the cleaning robot is provided with a detection sensor with a lifting function. Also, as shown in fig. 2, the robot control system 100 may include:
a space detection module 102 for acquiring a space type of a current cleaning space in a forward direction of the cleaning robot;
the sensor descending control module 104 is in communication connection with the space detection module 102 and is used for controlling the detection sensor to reduce the height of the current clean space and enter the short space when the current clean space is detected to be the short space;
the sensor ascent control module 106 is in communication with the sensor descent control module 104, and controls the cleaning robot to clean the low space, and then controls the cleaning robot to move out of the low space and recover the height of the detection sensor.
Further, the space detection module 102 may be configured to, when acquiring a space type of a current cleaning space in an advancing direction of the cleaning robot, be specifically applicable to:
acquiring a space height value of a current cleaning space in the advancing direction of the cleaning robot;
when the space height value of the current cleaning space is detected to be larger than the first height value of the body of the cleaning robot and smaller than the second height value of the detection sensor on the top surface of the cleaning robot, judging that the current cleaning space is a low space;
when the space height value of the current cleaning space is detected to be larger than the second height value of the detection sensor on the top surface of the cleaning robot, judging that the current cleaning space is a conventional cleaning space;
when the space height value of the current cleaning space is detected to be smaller than or equal to the first height value of the body of the cleaning robot, judging that the current cleaning space is an unconventional space.
Still further, the space detection module 102, when configured to acquire a space height value of a current cleaning space in the advancing direction of the cleaning robot, is specifically usable for:
acquiring detection information of an obstacle in the forward direction of the cleaning robot;
determining the type of the obstacle according to the detection information of the obstacle;
When the obstacle is a spatial obstacle, determining the spatial characteristics of the spatial obstacle; the spatial features include at least a spatial bottom surface and a spatial top surface;
based on the spatial characteristics, a spatial height value of the spatial obstacle is determined.
Moreover, the sensor descent control module 104 is configured to control the detection sensor to lower its height and enter a low space, and is specifically operable to:
determining a descending height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor;
and controlling the detection sensor to descend according to a descending height value and a preset rule, and controlling the cleaning robot to smoothly enter the interior of the short space.
Further, the sensor descent control module 104 is configured to control the sensor descent according to a preset rule according to the descent height value, and is specifically configured to:
according to the descending height value, controlling the detection sensor to reduce the height value at a preset fixed lifting speed;
or according to the descending height value, the temporary lifting speed of the detection sensor is obtained according to the current distance between the cleaning robot and the short space and the current moving speed of the cleaning robot, and the detection sensor is controlled to reduce the height value at the temporary lifting speed.
Moreover, the sensor descent control module 104 is configured to control the sensor descent detection according to a preset rule before being further operable to:
the cleaning robot is controlled to move in a decelerating manner or to stop moving.
Further, the sensor elevation control module 106 is configured to control the cleaning robot to clean a low space, and is operable to:
after the cleaning robot enters the short space, the angle of the detection sensor is adjusted to detect the short space;
and controlling the cleaning robot to clean the short space.
Further, the sensor elevation control module 106 is configured to adjust the angle of the detection sensor to detect a low space, and is operable to:
adjusting the angle of the detection sensor so that the detection direction of the detection sensor is adjusted to be a vertical upward direction;
and controlling the detection sensor to detect the upper part of the short space, and acquiring the internal space information of the short space.
Further, the sensor elevation control module 106 is configured to control the cleaning robot to move out of the low space and restore the height of the detection sensor, and is operable to:
controlling the cleaning robot to move from the inside of the low space to the outside thereof;
in the moving process of the cleaning robot, obtaining a real-time distance value between the detection sensor and the inner top surface of the short space in real time;
When the real-time distance values obtained in the preset time period are all larger than the preset distance value, the detection sensor is controlled to rise to the designated height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.
The robot control system 100 in this embodiment corresponds to the above-mentioned robot control method, and the functions of each module in the robot control system 100 in this embodiment are described in detail in the corresponding method embodiments, which are not described herein.
Example 3
The present embodiment provides a cleaning robot 10, as shown in fig. 3, including a robot body 12, a detection sensor 16 provided on the top surface of the robot body 12, a lifting mechanism 18 provided on the robot body 12 and connected to the detection sensor 16, and a controller 14 provided on the robot body 12 and connected to both the detection sensor 16 and the lifting mechanism 18.
The controller 14 may control the robot body 12 of the cleaning robot 10 to clean an area to be cleaned, and may control the detection sensor 16 to detect obstacle information of the area to be cleaned during the cleaning process, and may determine the type of obstacle of the area to be cleaned to determine whether a suspended obstacle (i.e., a space obstacle) having a short space exists. When the space obstacle exists in the area to be cleaned, whether the cleaning robot can normally enter and exit the low space of the space obstacle can be further judged, if the height of the detection sensor 16 needs to be reduced to smoothly enter the low space, the controller 14 can control the lifting mechanism 18 to descend the detection sensor so as to reduce the height of the detection sensor; when the cleaning of the low space below the space obstacle is completed, the cleaning robot 10 is controlled to be moved out of the low space, and the lifting mechanism 18 is controlled to lift and reset the height thereof by the controller 14. Also, in the present embodiment, the detection sensor may be set as a lidar.
Specifically, the controller 16 may be configured to:
acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
when the current cleaning space is detected to be a low space, controlling the detection sensor to reduce the height of the detection sensor and enter the low space;
the cleaning robot is controlled to clean the low space, and then the cleaning robot is controlled to move out of the low space and recover the height of the detection sensor.
Further, when the controller 14 is configured to acquire the space type of the current cleaning space in the advancing direction of the cleaning robot, it is specifically available to:
acquiring a space height value of a current cleaning space in the advancing direction of the cleaning robot;
when the space height value of the current cleaning space is detected to be larger than the first height value of the body of the cleaning robot and smaller than the second height value of the detection sensor on the top surface of the cleaning robot, judging that the current cleaning space is a low space;
when the space height value of the current cleaning space is detected to be larger than the second height value of the detection sensor on the top surface of the cleaning robot, judging that the current cleaning space is a conventional cleaning space;
when the space height value of the current cleaning space is detected to be smaller than or equal to the first height value of the body of the cleaning robot, judging that the current cleaning space is an unconventional space.
Still further, when the controller 14 is configured to acquire the space height value of the current cleaning space in the advancing direction of the cleaning robot, it is specifically applicable to:
acquiring detection information of an obstacle in the forward direction of the cleaning robot;
determining the type of the obstacle according to the detection information of the obstacle;
when the obstacle is a spatial obstacle, determining the spatial characteristics of the spatial obstacle; the spatial features include at least a spatial bottom surface and a spatial top surface;
based on the spatial characteristics, a spatial height value of the spatial obstacle is determined.
Moreover, the controller 14 is configured to control the detection sensor to lower its height and enter a low space, and is particularly useful for:
determining a descending height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor;
and controlling the detection sensor to descend according to a descending height value and a preset rule, and controlling the cleaning robot to smoothly enter the interior of the short space.
Further, the controller 14 is configured to control the detecting sensor to descend according to a preset rule according to the descent height value, and is specifically applicable to:
according to the descending height value, controlling the detection sensor to reduce the height value at a preset fixed lifting speed;
Or according to the descending height value, the temporary lifting speed of the detection sensor is obtained according to the current distance between the cleaning robot and the short space and the current moving speed of the cleaning robot, and the detection sensor is controlled to reduce the height value at the temporary lifting speed.
Moreover, the controller 14 is configured to control the detecting sensor to descend in accordance with a preset rule, and is further operable to:
the cleaning robot is controlled to move in a decelerating manner or to stop moving.
Further, the controller 14 is configured to control the cleaning robot to clean a low space, and is operable to:
after the cleaning robot enters the short space, the angle of the detection sensor is adjusted to detect the short space;
and controlling the cleaning robot to clean the short space.
Further, the controller 14 is configured to adjust the angle of the detection sensor to detect a short space, and is operable to:
adjusting the angle of the detection sensor so that the detection direction of the detection sensor is adjusted to be a vertical upward direction;
and controlling the detection sensor to detect the upper part of the short space, and acquiring the internal space information of the short space.
Moreover, the controller 14 is configured to control the cleaning robot to move out of the low space and restore the height of the detection sensor, and is operable to:
Controlling the cleaning robot to move from the inside of the low space to the outside thereof;
in the moving process of the cleaning robot, obtaining a real-time distance value between the detection sensor and the inner top surface of the short space in real time;
when the real-time distance values obtained in the preset time period are all larger than the preset distance value, the detection sensor is controlled to rise to the designated height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.
Similarly, in the present embodiment, the controller 14 may be used for the cleaning robot to implement each step in the above-mentioned robot control method, and the specific implementation manner may refer to the specific content of the above-mentioned robot control method, which is not described herein again.
Further, in the present embodiment, the cleaning robot may be provided as a sweeper having a protruding detection sensor on the top surface. The cleaning robot may be a cleaning device such as a floor cleaning machine or a floor washing machine having a protruding detection sensor on the top surface.
Furthermore, the invention proposes a computer-readable storage medium in which computer-executable instructions are stored, which computer-executable instructions, when executed by a processor, are adapted to carry out all or part of the method steps of a robot control method as described above.
The present invention may be implemented by implementing all or part of the above-described method flow, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
Based on the same inventive concept, the embodiments of the present application further provide an electronic device, including a memory and a processor, where the memory stores a computer program running on the processor, and when the processor executes the computer program, the processor implements all or part of the method steps in the above method.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being a control center of the computer device, and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or models, and the processor implements various functions of the computer device by running or executing the computer programs and/or models stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the handset. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (12)
1. The robot control method is applied to a cleaning robot, and a detection sensor with a lifting function is arranged on the top surface of the cleaning robot;
characterized in that the method comprises:
acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
when the current clean space is detected to be a low space, controlling the detection sensor to reduce the height of the current clean space and enter the low space;
and controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.
2. The robot control method according to claim 1, wherein the acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot includes:
acquiring a space height value of a current cleaning space in the advancing direction of the cleaning robot;
and judging the current cleaning space as a low space when detecting that the space height value of the current cleaning space is larger than the first height value of the body of the cleaning robot and smaller than the second height value of the detection sensor on the top surface of the cleaning robot.
3. The robot control method according to claim 2, wherein the acquiring the space height value of the current cleaning space in the advancing direction of the cleaning robot includes:
acquiring detection information of an obstacle in the advancing direction of the cleaning robot;
determining the type of the obstacle according to the detection information of the obstacle;
when the obstacle is a spatial obstacle, determining a spatial feature of the spatial obstacle; the spatial features include at least a spatial bottom surface and a spatial top surface;
and determining the space height value of the space obstacle according to the space characteristics.
4. The robot control method according to claim 2, wherein the controlling the detection sensor to lower its height and enter the low space includes:
determining a descending height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor;
and controlling the detection sensor to descend according to a preset rule according to the descending height value, and controlling the cleaning robot to smoothly enter the interior of the short space.
5. The robot control method according to claim 4, wherein the controlling the descent of the detection sensor according to the descent height value and a preset rule includes:
According to the descending height value, controlling the detection sensor to reduce the height value at a preset fixed lifting speed; or,
and according to the descending height value, the temporary lifting speed of the detection sensor is obtained according to the current distance between the cleaning robot and the short space and the current moving speed of the cleaning robot, and the detection sensor is controlled to reduce the height value of the detection sensor at the temporary lifting speed.
6. The robot control method according to claim 4, wherein before the detecting sensor is controlled to descend according to a preset rule, further comprising:
and controlling the cleaning robot to move in a decelerating way or stop moving.
7. The robot control method according to any one of claims 1 to 6, wherein the controlling the cleaning robot to clean the low space includes:
after the cleaning robot enters the short space, adjusting the angle of the detection sensor to detect the short space;
and controlling the cleaning robot to clean the short space.
8. The robot control method of claim 7, wherein the adjusting the angle of the detection sensor to detect the short space comprises:
Adjusting the angle of the detection sensor so that the detection direction of the detection sensor is adjusted to be a vertical upward direction;
and controlling the detection sensor to detect the upper part of the short space, and acquiring the internal space information of the short space.
9. The robot control method according to any one of claims 1 to 6, wherein the controlling the cleaning robot to move out of the low space and restore the height of the detection sensor includes:
controlling the cleaning robot to move from the inside of the low space to the outside thereof;
in the moving process of the cleaning robot, acquiring a real-time distance value between the detection sensor and the inner top surface of the short space in real time;
and when the real-time distance values obtained in the preset time period are all larger than the preset distance value, controlling the detection sensor to rise to the specified height value, and adjusting the detection direction of the detection sensor to be consistent with the movement direction of the cleaning robot.
10. The robot control system is applied to a cleaning robot, and a detection sensor with a lifting function is arranged on the top surface of the cleaning robot;
characterized in that the system comprises:
The space detection module is used for acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
the sensor descending control module is in communication connection with the space detection module and is used for controlling the detection sensor to reduce the height of the detection sensor and enter the short space when the current clean space is detected to be the short space;
the sensor ascending control module is in communication connection with the sensor descending control module, controls the cleaning robot to clean the short space, then controls the cleaning robot to move out of the short space and recovers the height of the detection sensor.
11. A cleaning robot, comprising:
a robot body;
the detection sensor is arranged on the top surface of the robot body;
the lifting mechanism is arranged on the robot body and is connected with the detection sensor; the method comprises the steps of,
the controller is arranged on the robot body and is connected with the detection sensor and the lifting mechanism;
wherein the controller is configured to:
acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot;
when the current clean space is detected to be a low space, controlling the detection sensor to reduce the height of the current clean space and enter the low space;
And controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein computer-executable instructions for implementing all or part of the method steps of the robot control method as claimed in claims 1-9 when being executed by a processor.
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| CN202210777008.3A CN117378966A (en) | 2022-07-04 | 2022-07-04 | Robot control method, system, cleaning robot and storage medium |
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| CN202210777008.3A CN117378966A (en) | 2022-07-04 | 2022-07-04 | Robot control method, system, cleaning robot and storage medium |
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