WO2022156746A1 - 机器人的清洁控制方法、装置以及机器人 - Google Patents

机器人的清洁控制方法、装置以及机器人 Download PDF

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Publication number
WO2022156746A1
WO2022156746A1 PCT/CN2022/073009 CN2022073009W WO2022156746A1 WO 2022156746 A1 WO2022156746 A1 WO 2022156746A1 CN 2022073009 W CN2022073009 W CN 2022073009W WO 2022156746 A1 WO2022156746 A1 WO 2022156746A1
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WO
WIPO (PCT)
Prior art keywords
robot
cleaning
obstacle
area
along
Prior art date
Application number
PCT/CN2022/073009
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English (en)
French (fr)
Inventor
李昂
郭盖华
Original Assignee
深圳乐动机器人有限公司
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Publication of WO2022156746A1 publication Critical patent/WO2022156746A1/zh

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Classifications

    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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

Definitions

  • the present application belongs to the technical field of cleaning robots, and in particular relates to a cleaning control method, device and robot for a robot.
  • the cleaning robot can be used for autonomous cleaning of the area to be cleaned, and the cleaning robot is provided with a driving device to make it travel, and an obstacle sensor that senses obstacles. Driven by the driving device, the cleaning robot can move autonomously according to the preset cleaning path, and at the same time, the obstacle sensor can sense obstacles so that the cleaning robot can avoid obstacles and perform autonomous cleaning.
  • Existing robots can clean the cleaning area first, and then clean the wall and other obstacles along the edge, or first clean the wall and other obstacles along the edge, and then clean the cleaning area. These cleaning solutions are not conducive to construction. Figure positioning and edge cleaning coverage is not high. Therefore, improving the edge cleaning coverage of cleaning robots has become an important problem that needs to be solved urgently.
  • Embodiments of the present application provide a cleaning control method, device and robot for a robot, which can improve the cleaning rate and cleaning coverage of the robot.
  • an embodiment of the present application provides a cleaning control method for a robot, where the cleaning control method includes:
  • the robot If an obstacle is detected when the robot is cleaning along the first travel direction, the robot is controlled to clean the obstacle along the edge, and the first distance between the robot and the straight line in the first travel direction is acquired in real time;
  • the robot is controlled to clean in the second travel direction.
  • an embodiment of the present application provides a cleaning control device for a robot, and the cleaning control device includes:
  • a distance acquisition module is used to control the robot to clean the obstacles along the edge if an obstacle is detected when the robot is cleaning along the first travel direction, and obtain the location of the robot and the first travel direction in real time the first distance of the straight line;
  • a direction determination module configured to determine the direction in which the position of the robot at the current moment points to the starting point of the first travel direction as the second travel direction when the first distance is equal to a preset distance
  • a cleaning control module configured to control the robot to clean along the second travel direction.
  • an embodiment of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, which is implemented when the processor executes the computer program The steps of the cleaning control method of the robot according to the above-mentioned first aspect.
  • an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the cleaning of the robot according to the first aspect above is implemented. The steps of the control method.
  • an embodiment of the present application provides a computer program product that, when the computer program product runs on a robot, causes the robot to perform the steps of the cleaning control method for a robot according to any one of the first aspects above.
  • the robot is firstly controlled to clean the obstacle along the edge, and at the same time, the first distance between the robot and the straight line where the first travel direction is located is obtained. Edge cleaning is performed when obstacles are encountered, which reduces the phenomenon of edge sweeping.
  • the first distance is equal to the preset distance, it is determined that the position of the robot at the current moment points to the starting point of the first travel direction as the second travel direction.
  • the first travel direction and the second travel direction can be determined. The intersection improves the edge-to-edge cleaning coverage of the robot.
  • the robot is controlled to clean along the second travel direction. It can be seen from the above that the technical solution of the present application can take into account the edge cleaning while performing regional cleaning, and the use of a rotating path in the cleaning process is more conducive to mapping and positioning, and improves the cleaning rate and cleaning coverage of the robot.
  • FIG. 1 is a schematic flowchart of a cleaning control method for a robot provided in Embodiment 1 of the present application;
  • FIG. 2 is a schematic flowchart of a cleaning control method for a robot provided in Embodiment 2 of the present application;
  • FIG. 3 is a schematic diagram of an application scenario of a cleaning control method for a robot provided by the present application
  • FIG. 4 is a schematic diagram of an application scenario where the robot detects an obstacle in the first travel direction
  • 5 is a schematic diagram of an application scenario where the robot detects an obstacle in the second travel direction
  • FIG. 6 is a schematic diagram of another application scenario where the robot detects an obstacle in the second travel direction
  • FIG. 7 is a schematic structural diagram of a cleaning control device for a robot provided in Embodiment 3 of the present application.
  • FIG. 8 is a schematic structural diagram of a robot according to Embodiment 4 of the present application.
  • the term “if” may be contextually interpreted as “when” or “once” or “in response to determining” or “in response to detecting “.
  • the phrases “if it is determined” or “if the [described condition or event] is detected” may be interpreted, depending on the context, to mean “once it is determined” or “in response to the determination” or “once the [described condition or event] is detected. ]” or “in response to detection of the [described condition or event]”.
  • references in this specification to "one embodiment” or “some embodiments” and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application.
  • appearances of the phrases “in one embodiment,” “in some embodiments,” “in other embodiments,” “in other embodiments,” etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean “one or more but not all embodiments” unless specifically emphasized otherwise.
  • the terms “including”, “including”, “having” and their variants mean “including but not limited to” unless specifically emphasized otherwise.
  • the cleaning control method for a robot provided by this application can be applied to a scenario where a robot cleans a preset cleaning area, where the preset cleaning area can be set by the user.
  • the preset cleaning area may include a living room , kitchen, bedroom and dining room, etc., you can also set the preset cleaning area to the entire indoor area.
  • the execution body of the cleaning control method of the robot can be a cleaning robot that can automatically complete the cleaning of the ground by means of certain artificial intelligence, such as a sweeping robot, a mopping robot or a sweeping and mopping integrated machine, wherein the above-mentioned cleaning robot can also be based on a point laser
  • the cleaning robot and/or the gyroscope cleaning robot, and the point laser cleaning robot may refer to setting one or more single-point ranging sensors on the robot, the ranging scanning range of which is less than 360 degrees.
  • the cleaning control method of the robot includes:
  • the robot is controlled to clean the first obstacle along the edge, and the first distance between the robot and the straight line where the first travel direction is located is obtained in real time;
  • the robot is controlled to clean the second obstacle along the edge, and the second distance between the robot and the straight line in the first travel direction is obtained in real time;
  • the first obstacle may also refer to the obstacle in step 101, and when the robot detects the first obstacle when cleaning along the first travel direction, the robot is controlled to perform edgewise movement on the first obstacle.
  • the specific implementation method of cleaning and obtaining the first distance between the robot and the straight line where the first traveling direction is located in real time is the same as that of step 101, which can be referred to each other, and will not be repeated in this embodiment.
  • the first preset distance may also refer to the preset distance in step 101, and when the first distance is equal to the first preset distance, it is determined that the position of the robot at the current moment points to the first travel
  • the specific implementation method in which the direction of the starting point of the direction is the second traveling direction is the same as that of step 102, which can be referred to each other, and will not be repeated in this embodiment.
  • step 103 the specific implementation manner of controlling the robot to clean along the first travel direction is the same as that of step 103, which can be referred to each other, and will not be repeated in this embodiment.
  • the second obstacle may also refer to the obstacle in step 204, and if the second obstacle is detected when the robot is controlled to clean along the second travel direction, the robot is controlled to detect the second obstacle.
  • the specific implementation of performing edgewise cleaning and acquiring in real time the second distance between the robot and the straight line where the first traveling direction is located is the same as that of step 204 , which can be referred to each other, and will not be repeated in this embodiment.
  • the specific implementation of determining that the position of the robot at the current moment points to the first travel direction is the same as that of step 205, and you can refer to each other. This will not be repeated here.
  • step 206 the specific implementation manner of controlling the robot to clean along the first traveling direction is the same as that of step 206 , which can be referred to each other, and will not be repeated here in this embodiment.
  • controlling the robot to perform edgewise cleaning on the third obstacle including:
  • the robot is controlled to perform edge cleaning on the third obstacle until it returns to the second travel direction and continues to move forward.
  • the third obstacle may also refer to the fact that the robot in step 204 detects an obstacle before cleaning along the second travel direction to the starting point of the first travel direction, and if the robot cleans along the second travel direction before the obstacle is detected If the third obstacle is detected before the starting point of the first travel direction, the robot is controlled to clean the third obstacle along the edge until it returns to the second travel direction and continues to move forward. When an obstacle is detected before the starting point of the first travel direction is cleaned in the travel direction, the robot can be controlled to clean the obstacle along the edge and then return to the second travel direction to continue cleaning.
  • the specific implementation is the same, you can refer to each other, this embodiment It is not repeated here.
  • controlling the robot to perform edge cleaning on the third obstacle until it returns to the second travel direction and continues to move forward including:
  • the specific implementation scenario of controlling the robot to clean the third obstacle along the edge until it returns to the second travel direction and continues to move forward can refer to the robot detects an obstacle in the second travel direction as shown in FIG. 5 .
  • Schematic diagram of an application scenario of in which the control robot starts from point 9 along the third obstacle (that is, the obstacle in step 204) to perform edgewise cleaning, and travels through point 10 and point 11 to the position of point 13, at this time point 13
  • the distance to the first travel direction is equal to the preset distance. Since point 12 is located on the straight line connecting point 8 and point 14, and is located on the edge of the obstacle, control the robot to return to the position of point 12 and rotate to the first position. 2. Travel direction, continue to the direction of point 14.
  • controlling the robot to perform edgewise cleaning on the third obstacle until it returns to the second travel direction and continues to move forward further comprising:
  • the robot is controlled to perform edgewise cleaning on the third obstacle in the opposite direction of the area cleaning direction, and when the robot edgewise reaches a position capable of traveling toward the second traveling direction, it rotates to the second traveling direction and continues to move forward.
  • FIG. 6 A schematic diagram of another application scenario, in which, when the robot detects a third obstacle in the second travel direction, the robot is first controlled to clean the obstacle in the opposite direction of the area cleaning direction.
  • the circle number 16 in 6, the following points 16 all represent the circle number 16 in FIG. 6) and proceed to point 17 (that is, the circle number 17 in FIG. 6, the following points 17 all represent the circle number 17 in FIG. 6). Since the point 17 is located on the straight line connecting the point 15 with the point 18 (that is, the circle number 18 in FIG. 6, the following points 18 all represent the circle number 18 in FIG. At this time, the robot is controlled to rotate directly to the second travel direction, and continue to travel in the direction of point 18.
  • the robot is controlled to perform edgewise cleaning on the third obstacle in the opposite direction of the area cleaning direction, including:
  • the previous cleaning row may refer to a cleaning row that is parallel to the current cleaning row of the robot and separated by a first preset distance, wherein the cleaning row refers to the horizontal line shown in FIG. 6 , and the cleaning column refers to vertical line as shown in Figure 6.
  • the cleaning row refers to the horizontal line shown in FIG. 6
  • the cleaning column refers to vertical line as shown in Figure 6.
  • controlling the robot to perform edge cleaning on the fourth obstacle including:
  • the robot is controlled to perform edge cleaning on the fourth obstacle until it returns to the first travel direction and continues to move forward.
  • the fourth obstacle may refer to an obstacle before the robot cleans along the first travel direction and is located before the starting point of the second travel direction.
  • the robot can be controlled to clean the obstacle along the edge and then return to the second travel direction to continue cleaning.
  • the specific implementation is the same, you can refer to each other. The embodiments are not repeated here.
  • the robot is controlled to perform edgewise cleaning on the fourth obstacle until it returns to the first travel direction and continues to move forward, including:
  • the robot is controlled to perform edge cleaning on the fourth obstacle in the direction of area cleaning, and when the robot is edged to a position capable of traveling toward the first traveling direction, it rotates to the first traveling direction and continues to move forward.
  • the robot when the robot travels to point 2, it detects the appearance of the fourth obstacle. At this time, the robot should be controlled to clean the fourth obstacle along the edge in the direction of area cleaning.
  • the direction of area cleaning refers to the direction from point 2 to point 7.
  • the robot is controlled to rotate to the first travel direction and continue to move forward.
  • the robot is controlled to perform edge cleaning on the fourth obstacle in the direction of area cleaning, including:
  • the robot is controlled to perform edge cleaning on the fourth obstacle in the direction of area cleaning.
  • the previous cleaning row may refer to a cleaning row that is parallel to the current cleaning row of the robot and separated by a first preset distance, wherein the cleaning row refers to the horizontal line shown in FIG. 4 , and the cleaning column refers to vertical line as shown in Figure 4. It can be seen from Figure 4 that when the robot travels from point 2 to the position of point 7, the distance from point 2 to the upper edge of the fourth obstacle is less than the first preset distance, then it can be determined that the robot's current cleaning line is the last cleaning There is no fourth obstacle in the line, and the robot can be controlled to clean the fourth obstacle along the edge in the direction of the area cleaning direction (the direction from point 2 to point 7).
  • the robot is controlled to perform edge cleaning on the first obstacle, including:
  • first obstacle is detected when the robot is cleaning along the first direction of travel, it is detected whether both sides of the robot body are areas to be cleaned;
  • the robot is controlled to clean the area to be cleaned in the same direction as the area cleaning along the first obstacle.
  • step 101 the specific implementation manner of the above steps is the same as that of step 101, which can be referred to each other, and details are not described herein again in this embodiment.
  • the cleaning control method further includes:
  • a fifth obstacle is detected when the robot cleans the area to be cleaned opposite to the area cleaning direction along the first obstacle, and it is detected that both sides of the fuselage are areas to be cleaned, the robot will be controlled to follow the fifth obstacle to match the area to be cleaned. Clean the area to be cleaned with the same area cleaning direction;
  • the robot is controlled to clean the area to be cleaned opposite to the area cleaning direction along the fifth obstacle.
  • the fifth obstacle may correspond to the obstacle detected when the robot in step 101 cleans the area to be cleaned opposite to the area cleaning direction along the obstacle, and the specific implementation of the above steps is the same as that of step 101 They are the same and can be referred to each other, and details are not repeated in this embodiment.
  • the boundary of the cleaned area is regarded as a virtual wall obstacle.
  • controlling the robot to clean the area to be cleaned opposite to the area cleaning direction along the first obstacle includes: the robot moves along the second travel direction to clean the area to be cleaned.
  • the end point of cleaning does not coincide with the start point of cleaning in the first travel direction of the robot.
  • the specific implementation method of the robot may refer to the case where both sides of the fuselage are areas to be cleaned in step 101, which will not be repeated in this embodiment of the present application.
  • the first preset distance is less than or equal to the width of the cleaning assembly of the robot.
  • the robot body is provided with a gyroscope, or/and a ranging sensor with a sensing range not greater than 360 degrees.
  • the robot may refer to a point-laser-based cleaning robot and/or a gyroscope-based cleaning robot, and the robot body may be provided with a gyroscope and/or a single-point sensor with a sensing range no greater than 360 degrees. distance sensor.
  • FIG. 1 a schematic flowchart of a cleaning control method for a robot provided in Embodiment 1 of the present application is shown.
  • the cleaning control method for a robot may include the following steps:
  • Step 101 if an obstacle is detected when the robot is cleaning along the first travel direction, the robot is controlled to clean the obstacle along the edge, and the first distance between the robot and the straight line in the first travel direction is obtained in real time.
  • the obstacles include, but are not limited to, physical obstacles, virtual walls, solid walls, cliffs, steps, and the like.
  • the robot can detect obstacles by sensing the surrounding environment information through edge sensors, near-infrared sensors, collision sensors, and distance sensors. Clean along the edge of the obstacle.
  • the robot can obtain the first distance between the robot and the straight line where the first traveling direction is located in real time through the distance sensor provided on the fuselage.
  • the distance sensor may be a laser ranging sensor, an ultrasonic sensor or an infrared sensor, or may be any other sensor capable of measuring distance, which is not limited herein.
  • the preset cleaning area may be a cleaning area surrounded by solid walls
  • the identifier 1 is the path that the robot travels in the first travel direction.
  • the robot starts, it first travels along the travel path in the first travel direction.
  • the robot detects the obstacles ahead in real time.
  • it controls the robot to travel along the edge of the solid wall (that is, along the solid wall for edge cleaning. ), and at the same time obtain the distance traveled by the robot on the path of marker 2, (that is, the first distance between the robot and the straight line where the first travel direction is located).
  • the robot can be controlled to rotate and then convert path.
  • controlling the robot to clean the obstacle along the edge including:
  • the robot is controlled to clean the area to be cleaned in the same direction as the area cleaning along the obstacle.
  • the area cleaning direction is the direction from the cleaning area to the to-be-cleaned area when the robot initially cleans the area, and the to-be-cleaned area refers to the uncleaned area within the preset cleaning area.
  • an obstacle is detected when the robot is cleaning along the first travel direction, and it is detected and judged whether both sides of the robot are areas to be cleaned. If only one side is an area to be cleaned, the robot is controlled to move along the The edge of the obstacle moves towards the area to be cleaned. If both sides are areas to be cleaned, control the robot to clean the side opposite to the cleaning direction of the area along the edge of the obstacle until the cleaning of the side opposite to the cleaning direction of the area is completed. , and then control the robot to clean along the edge of the obstacle to the same side as the area cleaning direction.
  • the identifier 3 is the travel path of the robot.
  • a solid wall is detected.
  • the area where cleaning path 1 is located is the cleaned area
  • the area where cleaning path 4 is located is the area to be cleaned, so the robot should be controlled to travel along the edge of the solid wall to the area to be cleaned (that is, traveling along cleaning path 4). ).
  • controlling the robot to clean along the obstacle further includes:
  • the robot is controlled to clean the area to be cleaned opposite to the area cleaning direction along the obstacle.
  • the obstacle is detected when the robot cleans the area to be cleaned opposite to the area cleaning direction along the obstacle. If both sides of the fuselage are the area to be cleaned, first clean the area in the same direction as the area cleaning direction. area, after completing the cleaning of the area in the same direction as the area cleaning, clean the area opposite to the area cleaning direction until the entire preset cleaning area is cleaned, detect the areas on both sides of the fuselage and follow the above plan. Cleaning can speed up the cleaning process of the robot.
  • the cleaning sequence of the robot is point 1-point 2-point 3-point 4-point 5-point 4-point 2-point 3-point 6, when the robot passes through point 3 for the first time , the cleaning direction of the area is the direction from the area where point 1 is located to the area where point 6 is located (that is, the direction from top to bottom in Figure 4) to detect whether both sides of the fuselage are areas to be cleaned. At this time, both sides of the fuselage are All are areas to be cleaned. First, control the robot to clean the area to be cleaned opposite to the cleaning direction of the area along the obstacles, that is, control the robot to clean the area above the point 3 along the solid wall.
  • the boundary of the cleaned area is detected (the robot regards the boundary of the cleaned area as a virtual wall obstacle at this time), and the robot needs to be controlled to clean along the boundary of the area, that is, control the robot to clean in the direction of the area above point 7.
  • the robot follows the path specified in Figure 4 to clean to the position of point 5.
  • the area cleaning direction is the direction from the cleaning area to the area to be cleaned when the robot initially cleans the area
  • a preset cleaning area includes an area cleaning direction
  • Step 102 when the first distance is equal to the preset distance, determine the direction in which the position of the robot at the current moment points to the starting point of the first travel direction as the second travel direction.
  • the preset distance refers to the preset distance between the straight lines where the robot is adjacent to the first traveling direction.
  • the traveling distance of the robot along the edge of the obstacle can be controlled, and the preset distance can be less than or equal to the robot.
  • the width of the cleaning component can make the cleaning trajectory of the robot more dense, and improve the cleaning rate of the entire preset cleaning area under the goal of ensuring that the robot completes cleaning along the edge of the obstacle.
  • the cleaning components include but are not limited to the robot's roller brush. and mop. According to the actual working scene of the robot, the preset distance can also be larger than the width of the cleaning component of the robot.
  • the steering operation of the robot can be controlled according to the magnitude relationship between the first distance collected by the distance sensor and the preset distance.
  • the collected first distance is equal to the preset distance
  • the distance it is determined that the position where the robot is located when the first distance is equal to the preset distance points to the starting point of the first travel direction as the second travel direction.
  • the first travel direction intersects with the second travel direction, which can reduce the missed scan rate at the edge of the obstacle.
  • the identifier 1 is the travel path of the robot in the first travel direction
  • the identifier 2 is the path the robot travels along the obstacle (that is, the path for measuring the first distance).
  • the robot is controlled to perform a steering operation along the path marked 3
  • the travel direction of the path marked 3 is the position where the robot travels to the first distance equal to the preset distance and points to the starting point of the first travel direction. direction, that is, the second direction of travel.
  • Step 103 controlling the robot to clean along the second travel direction.
  • the second travel direction refers to the direction in which the position of the robot when the robot travels to the first distance equal to the preset distance points to the starting point of the first travel direction in the above step 102 .
  • the robot when the robot travels along the edge of the obstacle to a preset distance or the robot encounters other obstacles, the robot is controlled to turn and rotate to the direction of the starting point of the first travel direction at the current position of the robot, And control the robot to clean in this direction.
  • the one marked as 2 is the path that the robot travels along the solid wall to a preset distance from the straight line where the first travel direction is located, and the robot performs edge cleaning along the direction where the path 2 is located.
  • the path marked with 3 is the path the robot travels in the second travel direction, and the robot is controlled to clean the position of the starting point of the first travel direction according to the travel direction, and this part can be completed.
  • Area cleaning taking into account the wall cleaning in the process of completing the area cleaning, not only helps the robot's mapping and positioning, but also improves the edge coverage during the robot cleaning process.
  • the robot when an obstacle is detected when the robot is cleaning along the first travel direction, the robot is firstly controlled to clean the obstacle along the edge, and at the same time, the first distance between the robot and the straight line where the first travel direction is located is obtained. Edge cleaning is performed when obstacles are encountered, which reduces the phenomenon of edge sweeping.
  • the first distance is equal to the preset distance, it is determined that the position of the robot at the current moment points to the starting point of the first travel direction as the second travel direction.
  • the first travel direction and the second travel direction can be determined. The intersection improves the edge-to-edge cleaning coverage of the robot.
  • the robot is controlled to clean along the second travel direction. It can be seen from the above that the technical solution of the present application can take into account the edge cleaning while performing regional cleaning, and the use of a rotating path during the cleaning process is more conducive to mapping and positioning, and improves the edge cleaning coverage of the robot.
  • the cleaning control method for a robot may include the following steps:
  • Step 201 if an obstacle is detected when the robot is cleaning along the first travel direction, the robot is controlled to clean the obstacle along the edge, and the first distance between the robot and the straight line in the first travel direction is obtained in real time.
  • the robot when the robot cleans the obstacle along the edge, the robot is controlled to be in a working mode of cleaning along the edge of the obstacle, and in this working mode, the robot can be controlled to clean along the edge of the obstacle.
  • the robot can detect obstacles through the collision sensor installed on its body, and detect whether the robot is collided through the collision sensor, so that the robot can clean along the obstacle and travel along the edge of the obstacle.
  • the cleaning control method of the robot further includes:
  • the robot If the robot is detected to be collided in the process of cleaning along the obstacle, the robot will be controlled to move in the direction free from the collision;
  • the robot is controlled to move in the direction of the collision.
  • whether the robot is collided can be judged by whether the collision sensor installed on the robot body detects the collision information. If the collision information is detected, it is determined that the robot has been collided, and if no collision information is detected, it is determined that the robot has not been collided.
  • the sensor for detecting the collision information of the robot may be any sensor capable of collecting the collision information of the robot, which is not limited herein.
  • controlling the robot to clean along the edge of the obstacle can be done in the following manner: first, during the cleaning process of the robot along the first travel direction, the robot is controlled to perform a steering operation through the collision information collected by the collision sensor, and the steering To the direction of traveling along the edge of the obstacle, when the robot is cleaning along the obstacle after turning, if the collision information is detected on the first side of the robot body, the robot is controlled to move in the direction of the second side of the body ( At this time, the direction of the second side of the fuselage is the direction to avoid collision). Controlling the robot to move in the direction of the second side of the fuselage can reduce the friction between the robot and the edge of the obstacle, thereby increasing the life of the robot.
  • the robot keeps moving towards the second side of the fuselage.
  • no collision information is detected when moving to the first side of the fuselage, it means that the robot is no longer rubbing against the edge of the wall, and then controls the direction of the robot towards the first side of the fuselage.
  • Move the direction of the first side of the fuselage is the direction of the collision at this time
  • the robot can be controlled to clean along the edge of the obstacle, so that the robot does not break away in the process of cleaning along the edge of the obstacle the edge of the obstacle.
  • first side and the second side of the above-mentioned robot body constitute the entire body of the robot, that is, the body of the robot is divided into two halves, one half of which is the first side of the body, and the other half is the body. the second side.
  • the collision information is detected on the first side of the robot body, the side that collides with the edge of the obstacle is the first side of the body, that is, the direction of the first side of the body is the direction of the collision.
  • the direction of the second side of the fuselage is the direction from which the collision is avoided.
  • the side that collides with the edge of the obstacle is the second side of the body, that is, the direction of the second side of the body is The direction in which the collision occurs, the direction of the first side of the fuselage is the direction from which the collision is avoided.
  • first side of the robot body and the second side of the robot body are in contact with the edge of the obstacle, and are not fixed.
  • Step 202 when the first distance is equal to the preset distance, determine the direction in which the position of the robot at the current moment points to the starting point of the first travel direction as the second travel direction.
  • Step 202 in this embodiment is similar to step 102 in the foregoing embodiment, and can be referred to each other, and details are not described herein again in this embodiment.
  • Step 203 controlling the robot to clean along the second travel direction.
  • Step 203 in this embodiment is similar to step 103 in the foregoing embodiment, and can be referred to each other, and details are not described herein again in this embodiment.
  • Step 204 if an obstacle is detected when the robot is controlled to clean along the second travel direction, the robot is controlled to clean the obstacle along the edge, and the second distance between the robot and the straight line in the first travel direction is obtained in real time.
  • the detection of an obstacle when the robot is controlled to clean along the second travel direction includes: detecting an obstacle when the robot travels along the second travel direction to the position of the starting point of the first travel direction, or the process of cleaning the robot along the second travel direction Obstacle detected in .
  • the implementation steps are the same as when the obstacle is detected when the first travel direction is clean, that is, the control The robot cleans the obstacles along the edge, and obtains the second distance between the robot and the straight line in the first travel direction in real time.
  • the path marked as 3 is the path the robot travels in the second direction of travel.
  • a solid wall obstacle is detected.
  • the robot is controlled to turn, and the solid wall is cleaned along the edges, and the logo is obtained at the same time 4.
  • the distance of the line where the path is located that is, the second distance between the robot and the line where the first travel direction is located).
  • the robot can be controlled to rotate, and then the travel path can be converted.
  • the certain distance may refer to a preset distance, and the preset distance is equal to the preset distance in step 202 .
  • the robot is controlled to clean the obstacle along the edge until it returns to the second travel direction and continues to move forward.
  • the robot when an obstacle is detected before the robot cleans along the second travel direction to the starting point of the first travel direction, the robot can be controlled to clean the obstacle along the edge and then return to the second travel direction to continue the cleaning work.
  • controlling the robot to clean the obstacles along the edge until returning to the second travel direction and continuing to move forward includes:
  • the robot detects an obstacle during the cleaning process in the second travel direction, it is necessary to first control the robot to clean the obstacle along the edge in the opposite direction of the area cleaning direction, so as to avoid the original obstacle caused by the appearance of the obstacle.
  • the phenomenon that the cleaning area around the cleaning path is not cleaned occurs.
  • the robot when the robot is controlled to clean the obstacle in the opposite direction of the area cleaning direction, the robot can be controlled to clean along the obstacle to a position where the first distance is equal to the preset distance, and then the robot can be controlled to return to the position where the obstacle can be cleaned along the edge.
  • the robot At the position where the extension line of the straight line where the second travel direction is located, rotate to the same direction as the second travel direction and then continue to move forward to complete the cleaning work.
  • FIG. 5 is a schematic diagram of an application scenario where the robot detects an obstacle in the second travel direction
  • the cleaning sequence of the robot is point 8 - point 9 - point 10 - point 11 - point 13 - point 12—point 14
  • the robot detects an obstacle from point 8 along the second travel direction (the line where the second travel direction is at this time is the line connecting point 8 and point 14)
  • control the robot to move from point 8 to the point 14.
  • 9 Carry out edge cleaning up along the obstacle, and proceed to the position of point 13 through point 10 and point 11.
  • the distance from point 13 to the first travel direction is equal to the preset distance, because point 12 is located at the point where point 8 and point 14 are connected. It is a straight line and is located on the edge of the obstacle, so control the robot to return to the position of point 12, rotate to the second travel direction, and continue to travel in the direction of point 14.
  • point 8 point 12 and point 14 are located on a straight line, that is, the straight line where the second traveling direction is located.
  • controlling the robot to clean the obstacles along the edge until returning to the second travel direction and continuing to move forward includes:
  • the robot is controlled to clean the obstacles in the opposite direction of the area cleaning direction, and when the robot moves along the edge to a position capable of moving toward the second travel direction, it rotates to the second travel direction and continues to move forward.
  • FIG. 6 is a schematic diagram of another application scenario where the robot detects an obstacle in the second traveling direction
  • the cleaning sequence of the robot is point 15—point 16—point 17—point 18—point 20— Point 19 - point 15 - point 16 - point 17 - point 20 - point 19, where point 19 and point 20 respectively refer to the circle number 19 and circle number 20 in FIG. 6 , and the following points 19 and 20 Both represent the circle numeral 19 and the circle numeral 20 in FIG. 6 .
  • the robot detects an obstacle in the second travel direction, it first controls the robot to clean the obstacle in the opposite direction of the area cleaning direction, and the robot travels from point 16 to the position of point 17.
  • the robot On the straight line connecting the point 18 (that is, the point 17 is located at a position that can travel in the second travel direction), at this time, the robot is controlled to rotate directly to the second travel direction and continue to travel in the direction of the point 18.
  • Step 205 when the second distance is equal to the preset distance, determine that the position of the robot at the current moment points to the first travel direction.
  • the direction of the first travel direction in this step is the same as the direction of the first travel direction in step 201, that is, the relationship between the line where the first travel direction is located in this step and the line where the first travel direction is located in step 201 is a parallel relationship .
  • Step 206 controlling the robot to clean along the first travel direction.
  • the straight line where the first traveling direction is located is in a parallel relationship with the straight line where the first traveling direction is located in step 201 , and the robot is controlled to clean along the first traveling direction, that is, returning to step 201 .
  • Step 207 if the first distance is less than the preset distance, control the robot to partially edge the obstacle and then return to the first travel direction to continue to move forward.
  • the robot when the first distance is less than the preset distance, that is, the robot cannot clean according to the path set in FIG. 3 , at this time, the robot needs to be controlled to partially edge the obstacles and then return to the first travel direction to continue to move forward.
  • the robot when the first distance of the robot is less than the preset distance and the cleaning cannot be performed according to the path set in FIG. 3 , reference may be made to the situation in which an obstacle is detected in the first travel direction in FIG. 4 .
  • the robot when the robot travels from point 5 to point 4, if there is no obstacle in the previous cleaning line, the robot will be controlled to travel along the edge of the obstacle to the area above point 4 to clean along the edge. At this time, the collected first distance is less than the preset distance. Then control the robot to partially edge along the edge of the obstacle. Since the direction of the control robot's travel path from point 5 to point 4 is the same as the first direction of travel, after the obstacle is partially edged, it returns to the first travel direction and continues to move forward. , (ie, control the robot to travel from point 4 to point 2 along the first travel direction), and perform the operation of step 201 .
  • the robot is controlled to stop the cleaning work.
  • the robot when the cleaning of the currently preset area to be cleaned is completed, the robot can be directly controlled to stop the cleaning work through program settings.
  • controlling the robot to return to the target charging base for charging may be implemented by setting a recharging mode.
  • the recharge mode refers to a working mode that controls the robot to return to the target charging base for charging. This mode can be used when the robot itself is insufficient in power, when it receives a control recharge command sent by the user, or when the robot completes the preset area to be cleaned. Automatically turns on after cleaning tasks.
  • the robot if the robot detects that its own power is insufficient during the cleaning process, the robot is controlled to return to the target charging base for charging, and after the charging is completed, it continues to clean the unfinished preset cleaning area.
  • the robot can be controlled to stay at the position where the cleaning work was stopped, or the robot can be controlled to return to the target charging base for charging.
  • the normal working mode is a mode in which the cleaning work is performed according to the path specified in the above steps.
  • the embodiment of the present application not only considers the application scenario where the robot detects obstacles in the first traveling direction, but also considers the application scenario where the robot detects obstacles in the second traveling direction, and Two corresponding real-time solutions are proposed for the robot to detect obstacles in the second travel direction, which can enable the robot to cope with emergencies in different application scenarios, improve the flexibility of the robot and the cleaning coverage in different scenarios.
  • the robot finishes cleaning the preset cleaning area it can control the robot to stay at the position where it stopped working or control the robot to return to the target charging base for charging.
  • the technical solution of the present application not only improves the The cleaning efficiency of the robot also optimizes the intelligent effect of the robot.
  • FIG. 7 a schematic structural diagram of a cleaning control device for a robot provided in Embodiment 3 of the present application is shown. For convenience of description, only the parts related to the embodiments of the present application are shown.
  • the cleaning control device for the robot may specifically include: The following modules:
  • a distance obtaining module 701 configured to control the robot to clean the obstacle along the edge if an obstacle is detected when the robot is cleaning along the first travel direction, and obtain the first distance between the robot and the straight line where the first travel direction is located in real time;
  • a direction determination module 702 configured to determine the direction in which the position of the robot at the current moment points to the starting point of the first travel direction as the second travel direction when the first distance is equal to the preset distance;
  • the cleaning control module 703 is used to control the robot to clean along the second travel direction.
  • the cleaning control device of the above-mentioned robot further includes:
  • the edgewise module is used to control the robot to clean the obstacle along the edge if an obstacle is detected when the robot is controlled to clean along the second travel direction, and obtain the second distance between the robot and the straight line in the first travel direction in real time;
  • a direction module configured to determine that the position of the robot at the current moment points to the first travel direction when the second distance is equal to the preset distance
  • the control module is used for controlling the robot to clean along the first travel direction.
  • the above-mentioned edge-edge module may specifically include the following sub-modules:
  • the edgewise cleaning sub-module is used to control the robot to perform edgewise cleaning on the obstacle until it returns to the second traveling direction and continues to move forward if an obstacle is detected before the robot cleans along the second traveling direction to the starting point of the first traveling direction.
  • the above-mentioned edge cleaning sub-module may specifically include the following units:
  • the first rotation unit is used to control the robot to clean the obstacles along the edge in the opposite direction of the area cleaning direction.
  • the robot moves along the edge to the position where the first distance from the straight line in the first travel direction is equal to the preset distance, it returns to the position where the obstacle can be cleaned along the edge.
  • To travel in the second direction of travel rotate to the second direction of travel to continue.
  • the above-mentioned edge cleaning sub-module may further include the following units:
  • the second rotation unit is used to control the robot to clean the obstacles along the edge in the opposite direction of the area cleaning direction.
  • the robot moves along the edge to a position capable of traveling in the second traveling direction, it rotates to the second traveling direction and continues to move forward.
  • the cleaning control device of the above-mentioned robot further includes:
  • the distance judgment module is used to control the robot to partially edge the obstacle and then return to the first travel direction to continue moving forward if the first distance is less than the preset distance.
  • the distance acquisition module 701 may specifically include the following sub-modules:
  • a first detection sub-module configured to detect whether the two sides of the robot body are areas to be cleaned if an obstacle is detected when the robot is cleaning along the first travel direction;
  • the first control submodule is used to control the robot to clean the area to be cleaned along the obstacle if one of the two sides of the fuselage is the area to be cleaned;
  • the second control sub-module is used to control the robot to clean the area to be cleaned opposite to the cleaning direction of the area along the obstacle if both sides of the fuselage are areas to be cleaned;
  • the cleaning control sub-module is used to control the robot to clean the area to be cleaned in the same direction as the area cleaning along the obstacle when the cleaning of the area to be cleaned opposite to the area cleaning direction is completed.
  • the distance obtaining module 701 may further include the following sub-modules:
  • the direction control sub-module is used to control the robot along the obstacle pair and the area cleaning direction if it is detected that both sides of the fuselage are to be cleaned when the robot cleans the area to be cleaned opposite to the area cleaning direction along the obstacle. The same area to be cleaned is cleaned;
  • the reverse control sub-module is used to control the robot to clean the area to be cleaned opposite to the area cleaning direction along the obstacle when the cleaning of the area to be cleaned in the same direction as the area cleaning direction is completed.
  • the robot cleaning control device provided by the above embodiment controls the robot
  • only the division of the above modules is used as an example for illustration.
  • the above processing can be allocated to different modules as required. , that is, dividing the internal structure of the device into different modules to complete all or part of the processing described above.
  • the robot cleaning control device and the robot cleaning control method embodiments provided by the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, which will not be repeated here.
  • FIG. 8 is a schematic structural diagram of a robot provided in Embodiment 4 of the present application.
  • the robot 800 of this embodiment includes: at least one processor 810 (only one is shown in FIG. 8 ), a processor, a memory 820 , and a processor stored in the memory 820 and available at the at least one processor
  • the computer program 821 running on the 810 when the processor 810 executes the computer program 821, implements the steps in any of the above embodiments of the cleaning control method for a robot.
  • the robot 800 may refer to a cleaning robot that can automatically complete the cleaning of the ground by virtue of certain artificial intelligence, such as a sweeping robot, a mopping robot or an all-in-one sweeping and mopping machine.
  • the robot may include, but is not limited to, processor 810 , memory 820 .
  • FIG. 8 is only an example of the robot 800, and does not constitute a limitation to the robot 800. It may include more or less components than the one shown, or combine some components, or different components, such as It may also include input and output devices, network access devices, and the like.
  • the so-called processor 810 may be a central processing unit (Central Processing Unit, CPU), and the processor 810 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuits) Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 820 may be an internal storage unit of the robot 800 in some embodiments, such as a hard disk or a memory of the robot 800 . In other embodiments, the memory 820 may also be an external storage device of the robot 800, for example, a pluggable hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) device equipped on the robot 800 Digital, SD) card, flash card (Flash Card), etc. Further, the memory 820 may also include both an internal storage unit of the robot 800 and an external storage device.
  • the memory 820 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program codes of the computer program, and the like. The memory 820 may also be used to temporarily store data that has been output or will be output.
  • the disclosed apparatus/robot and method may be implemented in other ways.
  • the device/robot embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated modules/units if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
  • the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (Read-Only Memory, ROM) , Random Access Memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Electric carrier signals and telecommunication signals are not included.
  • This application implements all or part of the processes in the methods of the above embodiments, and can also be completed by a computer program product.
  • the computer program product runs on a robot
  • the implementation of the above methods can be realized when the robot executes. steps in the example.

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Abstract

一种机器人（800）的清洁控制方法、装置及机器人（800），包括：若在机器人（800）沿第一行进方向进行清洁时检测到障碍物，则控制机器人（800）对障碍物进行沿边清洁，并实时获取机器人（800）与第一行进方向所在直线的第一距离（101，201）；当第一距离等于预设距离时，确定机器人（800）在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向（102，202）。通过清洁控制方法可以使机器人（800）在进行区域清洁的过程中兼顾障碍物边缘清洁，提高机器人（800）的清洁率和清洁覆盖率。

Description

机器人的清洁控制方法、装置以及机器人
本申请要求于2021年1月22日在国家专利局提交的、申请号为202110087819.6、发明名称为“机器人的清洁控制方法、装置及机器人”的国家专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于清洁机器人技术领域，尤其涉及一种机器人的清洁控制方法、装置以及机器人。
 背景技术
清洁机器人可用于对待清洁区域进行自主清洁，在清洁机器人上设置有使其行进的驱动装置，以及感测障碍物的障碍物传感器。在驱动装置的驱动下，清洁机器人可根据预设的清洁路径进行自主移动，同时，障碍物传感器可以感测障碍物使清洁机器人能够躲避障碍物进行自主清洁。现有的机器人可以先对清洁区域进行清洁，而后再对墙体等障碍物进行沿边清洁，或者先对墙体等障碍物进行沿边清洁，而后再对清洁区域进行清洁，这些清洁方案不利于建图定位且沿边清洁覆盖率不高。因此，提高清洁机器人的沿边清洁覆盖率成为了一个急需解决的重要问题。
 技术问题
本申请实施例提供一种机器人的清洁控制方法、装置及机器人，可以提高机器人的清洁率和清洁覆盖率。
 技术解决方案
第一方面，本申请实施例提供了一种机器人的清洁控制方法，所述清洁控制方法包括：
若在所述机器人沿第一行进方向进行清洁时检测到障碍物，则控制所述机器人对所述障碍物进行沿边清洁，并实时获取所述机器人与第一行进方向所在直线的第一距离；
当所述第一距离等于预设距离时，确定所述机器人在当前时刻所处的位置指向所述第一行进方向的起点的方向为第二行进方向；
控制所述机器人沿所述第二行进方向进行清洁。
第二方面，本申请实施例提供了一种机器人的清洁控制装置，所述清洁控制装置包括：
距离获取模块，用于若在所述机器人沿第一行进方向进行清洁时检测到障碍物，则控制所述机器人对所述障碍物进行沿边清洁，并实时获取所述机器人与第一行进方向所在直线的第一距离；
方向确定模块，用于当所述第一距离等于预设距离时，确定所述机器人在当前时刻所处的位置指向所述第一行进方向的起点的方向为第二行进方向；
清洁控制模块，用于控制所述机器人沿所述第二行进方向进行清洁。
第三方面，本申请实施例提供了一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述第一方面所述机器人的清洁控制方法的步骤。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面所述机器人的清洁控制方法的步骤。
第五方面，本申请实施例提供了一种计算机程序产品，当计算机程序产品在机器人上运行时，使得机器人执行上述第一方面中任一项所述的机器人的清洁控制方法的步骤。
 有益效果
在本申请实施例中，若在机器人沿第一行进方向进行清洁时检测到障碍物时，首先控制机器人对障碍物进行沿边清洁，同时获取机器人与第一行进方向所在直线的第一距离，机器人遇到障碍物就进行沿边清洁，减少了沿边漏扫的现象。在上述第一距离等于预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向，通过本方法，可确定第一行进方向与第二行进方向相交，提高了机器人的沿边清洁覆盖率。在确定出第二行进方向后，控制机器人沿第二行进方向进行清洁。由上可知，本申请技术方案在进行区域清洁的同时可以兼顾沿边清洁，在清洁过程中采用旋转路径的方式更有利于建图定位，并提高了机器人的清洁率和清洁覆盖率。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是本申请实施例一提供的一种机器人的清洁控制方法的流程示意图；
图2是本申请实施例二提供的一种机器人的清洁控制方法的流程示意图；
图3是本申请提供的一种机器人的清洁控制方法的应用场景示意图；
图4是机器人在第一行进方向上检测到障碍物的应用场景示意图；
图5是机器人在第二行进方向上检测到障碍物的一种应用场景示意图；
图6是机器人在第二行进方向上检测到障碍物的另一种应用场景示意图；
图7是本申请实施例三提供的一种机器人的清洁控制装置的结构示意图；
图8是本申请实施例四提供的一种机器人的结构示意图。
 本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
应当理解，当在本申请说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
如在本申请说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。
另外，在本申请说明书和所附权利要求书的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此，在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例，而是意味着“一个或多个但不是所有的实施例”，除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。
应理解，本实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
本申请提供的机器人的清洁控制方法可应用于机器人在对预设清洁区域进行清洁的场景中，其中预设清洁区域可以由用户自主设定，如在室内场景中，预设清洁区域可以包括客厅、厨房、卧室以及餐厅等，还可以将预设清洁区域设定为整个室内区域。
该机器人的清洁控制方法的执行主体可以为能够凭借一定的人工智能自动完成对地面清洁工作的清洁机器人，如扫地机器人、拖地机器人或扫拖一体机，其中上述清洁机器人还可以是基于点激光的清洁机器人和/或陀螺仪的清洁机器人，且点激光的清洁机器人可以是指在机器人上设置一个或多个单点测距传感器，其测距扫描范围小于360度。在一实施例中，机器人的清洁控制方法包括：
若在机器人沿第一行进方向进行清洁时检测到第一障碍物，则控制机器人对第一障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第一距离；
当第一距离等于第一预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向；
控制机器人沿第二行进方向进行清洁。
若在控制机器人沿第二行进方向进行清洁时检测到第二障碍物，则控制机器人对第二障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第二距离；
当第二距离等于第一预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向；
控制机器人沿第一行进方向进行清洁。
在本申请实施例中，第一障碍物还可以是指步骤101中的障碍物，且在机器人沿第一行进方向进行清洁时检测到第一障碍物，则控制机器人对第一障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第一距离的具体实施方法与步骤101相同，可以相互参阅，本实施例在此不再赘述。
在本申请实施例中，第一预设距离还可以是指步骤101中的预设距离，且当第一距离等于第一预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向的具体实施方法与步骤102相同，可以相互参阅，本实施例在此不再赘述。
在本申请实施例中，控制机器人沿第一行进方向进行清洁的具体实施方式与步骤103相同，可以相互参阅，本实施例在此不再赘述。
在本申请实施例中，第二障碍物还可以是指步骤204中的障碍物，且若在控制机器人沿第二行进方向进行清洁时检测到第二障碍物，则控制机器人对第二障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第二距离的具体实施方式与步骤204相同，可以相互参阅，本实施例在此不再赘述。
在本申请实施例中，当第二距离等于第一预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的具体实施方式与步骤205相同，可以相互参阅，本实施例在此不再赘述。
在本申请实施例中，控制机器人沿第一行进方向进行清洁的具体实施方式与步骤206相同，可以相互参阅，本实施例在此不再赘述。
在一种可能的实施方式中，若在控制机器人沿第二行进方向进行清洁的过程中检测到第三障碍物，则控制机器人对第三障碍物进行沿边清洁，包括：
若在机器人沿第二行进方向清洁至第一行进方向的起点之前检测到第三障碍物，则控制机器人对第三障碍物进行沿边清洁，直到回到第二行进方向继续前进。
在本申请实施例中，第三障碍物还可以是指步骤204中描述的机器人沿第二行进方向清洁至第一行进方向的起点之前检测到障碍物，且若在机器人沿第二行进方向清洁至第一行进方向的起点之前检测到第三障碍物，则控制机器人对第三障碍物进行沿边清洁，直到回到第二行进方向继续前进的具体实施方式，与步骤204中在机器人沿第二行进方向清洁至第一行进方向起点之前检测到障碍物时，可以通过控制机器人对障碍物进行沿边清洁之后回到第二行进方向继续执行清洁工作的具体实施方式相同，可以相互参阅，本实施例在此不再赘述。
在一种可能的实施方式中，控制机器人对第三障碍物进行沿边清洁，直到回到第二行进方向继续前进，包括：
控制机器人朝着区域清洁方向的反方向对第三障碍物进行沿边清洁，当机器人沿边至与第一行进方向所在直线的第一距离等于第二预设距离的位置时，回到能够朝着第二行进方向行进的位置，旋转至第二行进方向继续前进。
在本申请实施例中，控制机器人对第三障碍物进行沿边清洁，直到回到第二行进方向继续前进的具体实施场景可以参阅如图5所示的机器人在第二行进方向上检测到障碍物的一种应用场景示意图，其中在控制机器人由点⑨沿第三障碍物（即步骤204中的障碍物）向上进行沿边清洁，经过点⑩和点⑪行进至点⑬的位置，此时点⑬至第一行进方向的距离等于预设距离，由于点⑫位于点⑧与点⑭相连接的直线，而且又位于障碍物的边沿上，故再控制机器人回到点⑫的位置上，旋转至第二行进方向，向点⑭的方向继续行进。
在一种可能的实施方式中，控制机器人对第三障碍物进行沿边清洁，直到回到第二行进方向继续前进，还包括：
控制机器人朝着区域清洁方向的反方向对第三障碍物进行沿边清洁，当机器人沿边至能够朝着第二行进方向行进的位置时，旋转至第二行进方向继续前进。
在本申请实施中，控制机器人对第三障碍物进行沿边清洁，直到回到第二行进方向继续前进的具体实施场景可以参阅如图6所示的机器人在第二行进方向上检测到障碍物的另一种应用场景示意图，其中，当机器人在第二行进方向上检测到第三障碍物时，首先控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，机器人由点16(即图6中的圈圈标号16，以下点16均表示图6中的圆圈标号16)行进至点17(即图6中的圈圈标号17，以下点17均表示图6中的圆圈标号17)的位置，由于点17位于点⑮与点18(即图6中的圈圈标号18，以下点18均表示图6中的圆圈标号18)相连接的直线上（即点17位于能够朝着第二行进方向行进的位置上），此时控制机器人直接旋转至第二行进方向，向点18的方向继续行进。
在一种可能的实施方式中，控制机器人朝着区域清洁方向的反方向对第三障碍物进行沿边清洁，包括：
确定上一清洁行是否存在第三障碍物；
若上一清洁行不存在第三障碍物，控制机器人朝着区域清洁方向的反方向对第三障碍物进行沿边清洁。
在本申请实施例中，上一清洁行可以是指与机器人当前清洁行平行且间隔第一预设距离的清洁行，其中，清洁行是指如图6所示的横线，清洁列是指如图6所示的纵线。由图6可以看出，当机器人在点16行进至点17的位置时，其点16到第三障碍物上边沿的距离小于第一预设距离，则可以确定机器人当前清洁行的上一清洁行不存在第三障碍物，此时可以控制机器人朝着区域清洁方向的反方向对第三障碍物进行沿边清洁。
在一种可能的实施方式中，若控制机器人沿第一行进方向进行清洁的过程中检测到第四障碍物，则控制机器人对第四障碍物进行沿边清洁，包括：
若在机器人沿第一行进方向清洁至第二行进方向的起点之前检测到第四障碍物，则控制机器人对第四障碍物进行沿边清洁，直到回到第一行进方向继续前进。
在本申请实施例中，第四障碍物可以是指在机器人沿第一行进方向进行清洁且位于第二行进方向的起点之前的障碍物，其该步骤的具体实施方式与步骤204中在机器人沿第二行进方向清洁至第一行进方向起点之前检测到障碍物时，可以通过控制机器人对障碍物进行沿边清洁之后回到第二行进方向继续执行清洁工作的具体实施方式相同，可以相互参阅，本实施例在此不再赘述。
在一种可能的实施方式中，控制机器人对第四障碍物进行沿边清洁，直到回到第一行进方向继续前进，包括：
控制机器人朝着区域清洁的方向对第四障碍物进行沿边清洁，当机器人沿边至能够朝着第一行进方向行进的位置时，旋转至第一行进方向继续前进。
在本申请实施例中，如图4所示，机器人在行进至点②时，检测到第四障碍物的出现，此时应控制机器人朝着区域清洁的方向对第四障碍物进行沿边清洁，区域清洁的方向是指点②朝向点⑦的方向，在沿边至第一预设距离时，控制机器人旋转至第一行进方向继续前进。
在一种可能的实施方式中，控制机器人朝着区域清洁的方向对第四障碍物进行沿边清洁，包括：
确定上一清洁行是否存在第四障碍物；
若上一清洁行不存在第四障碍物，则控制机器人朝着区域清洁的方向对第四障碍物进行沿边清洁。
在本申请实施例中，上一清洁行可以是指与机器人当前清洁行平行且间隔第一预设距离的清洁行，其中，清洁行是指如图4所示的横线，清洁列是指如图4所示的纵线。由图4可以看出，当机器人在点②行进至点⑦的位置时，其点②到第四障碍物上边沿的距离小于第一预设距离，则可以确定机器人当前清洁行的上一清洁行不存在第四障碍物，此时可以控制机器人朝着区域清洁方向的方向（点②朝向点⑦的方向）对第四障碍物进行沿边清洁。
在一种可能的实施方式中，若在机器人沿第一行进方向进行清洁时检测到第一障碍物，则控制机器人对第一障碍物进行沿边清洁，包括：
若在机器人沿第一行进方向进行清洁时检测到第一障碍物，则检测机器人的机身两侧是否为待清洁区域；
若机身两侧中的一侧为待清洁区域，则控制机器人沿第一障碍物对待清洁区域进行清洁；
若机身两侧均为待清洁区域，则控制机器人沿第一障碍物对与区域清洁方向相反的待清洁区域进行清洁；
在完成对与区域清洁方向相反的待清洁区域的清洁时，控制机器人沿第一障碍物对与区域清洁方向相同的待清洁区域进行清洁。
在本申请实施例中，上述步骤的具体实施方式与步骤101相同，可以相互参阅，本实施例在此不再赘述。
在一种可能的实施方式中，清洁控制方法还包括：
若在机器人沿第一障碍物对与区域清洁方向相反的待清洁区域进行清洁时检测到第五障碍物，检测到机身两侧均为待清洁区域，则控制机器人沿第五障碍物对与区域清洁方向相同的待清洁区域进行清洁；
在完成对与区域清洁方向相同的待清洁区域的清洁时，控制机器人沿第五障碍物对与区域清洁方向相反的待清洁区域进行清洁。
在本申请实施例中，第五障碍物可以对应于步骤101中的机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁时检测到障碍物，且上述步骤的具体实施方式与步骤101相同，可以相互参阅，本实施例在此不再赘述。
在一种可能的实施方式中，若机器人在对待清洁区域清洁时检测到已清洁区域的边界，则将已清洁区域的边界视为虚拟墙障碍物。
在一种可能的实施方式中，若机身两侧均为待清洁区域，则控制机器人沿第一障碍物对与区域清洁方向相反的待清洁区域进行清洁，包括：机器人沿第二行进方向进行清洁的终点不与机器人沿第一行进方向进行清洁的起点重合。
在本申请实施例中，机身两侧均为待清洁区域时，机器人的具体实施方法可以参见步骤101中机身两侧均为待清洁区域的情况，本申请实施例在此不再赘述。
在一种可能的实施方式中，第一预设距离小于或等于机器人的清洁组件的宽度。
在一种可能的实施方式中，机器人机身上设有陀螺仪，或/和感知范围不大于360度的测距传感器。
在本申请实施里中，机器人可以是指基于点激光的清洁机器人和/或基于陀螺仪的清洁机器人，其机器人机身上可以设有陀螺仪和/或感知范围不大于360度的单点测距传感器。
为了说明本申请的技术方案，下面通过具体实施例来说明。
参照图1，示出了本申请实施例一提供的一种机器人的清洁控制方法的流程示意图，如图所示该机器人的清洁控制方法可以包括如下步骤：
步骤101，若在机器人沿第一行进方向进行清洁时检测到障碍物，则控制机器人对障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第一距离。
在本申请实施例中，障碍物包括但不限于实体障碍物、虚拟墙壁、实体墙壁、悬崖以及台阶等。
在本申请实施例中，机器人可以通过沿边传感器、近红外传感器、碰撞传感器、距离传感器感知周围的环境信息对障碍物进行检测，当检测到障碍物时，借助沿边传感器或测距传感器控制机器人沿着障碍物进行沿边清洁。机器人可以通过机身上设置的距离传感器实时获取机器人与第一行进方向所在直线的第一距离。其中，距离传感器可以是激光测距传感器、超声波传感器或红外线传感器，也可以是其他能够测距的传感器，在此不做限定。
示例性地，如图3所示的预设清洁区域可以是由实体墙壁围成的清洁区域，标识1为机器人朝第一行进方向行进的路径。当机器人启动后，首先沿第一行进方向的行进路径行进，机器人实时检测前方的障碍物，当检测到前方的实体墙壁时，则控制机器人沿实体墙壁的边沿行进（即沿实体墙壁进行沿边清洁），同时获取机器人在标识2路径上行进的距离，（即该机器人与第一行进方向所在直线的第一距离），当沿实体墙壁边沿行进一定的距离时，可以控制机器人旋转，进而转换行进路径。
可选地，若在所述机器人沿第一行进方向进行清洁时检测到障碍物，则控制所述机器人对所述障碍物进行沿边清洁，包括：
若在机器人沿第一行进方向进行清洁时检测到障碍物，则检测机器人的机身两侧是否为待清洁区域；
若机身两侧中的一侧为待清洁区域，则控制机器人沿障碍物对待清洁区域进行清洁；
若机身两侧均为待清洁区域，则控制机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁；
在完成对与区域清洁方向相反的待清洁区域的清洁时，控制机器人沿障碍物对与区域清洁方向相同的待清洁区域进行清洁。
其中，区域清洁方向为机器人在初始清洁该区域时，从清洁区域指向待清洁区域的方向，待清洁区域是指预设清洁区域内的未清洁区域。当机器人沿第一行进方向进行清洁时检测到障碍物，检测机器人的机身两侧是否为待清洁区域可以通过机器人在应用程序中的建图定位中查找待清洁区域来检测。
在本申请实施例中，当机器人沿第一行进方向进行清洁时检测到障碍物，检测判断机器人的机身两侧是否为待清洁区域，若只有一侧为待清洁的区域，则控制机器人沿障碍物边缘向待清洁区域行进，若两侧都为待清洁的区域，则控制机器人沿障碍物边缘向与区域清洁方向相反的一侧进行清洁，直到完成对与区域清洁方向相反一侧的清洁，再控制机器人沿障碍物边缘向与区域清洁方向相同的一侧进行清洁。
示例性地，如图3所示，标识3为机器人的行进路径，当机器人沿该行进路径行进时检测到实体墙壁，此时需要检测机身两侧是否为待清洁区域，通过在建图定位的地图中查找可得清洁路径1所在的区域为已清洁区域，而清洁路径4所在的区域为待清洁区域，故应控制机器人沿着实体墙壁边缘向待清洁区域行进（即沿清洁路径4行进）。
可选地，若在机器人沿第一行进方向进行清洁时检测到障碍物，则控制机器人沿障碍物进行清洁还包括：
若在机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁时检测到障碍物，检测到机身两侧均为待清洁区域，则控制机器人沿障碍物对与区域清洁方向相同的待清洁区域进行清洁；
在完成对与区域清洁方向相同的待清洁区域的清洁时，控制机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁。
在本申请实施例中，在机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁时检测到障碍物，若机身两侧均为待清洁区域，则首先清洁与区域清洁方向相同的区域，在完成与区域清洁方向相同的区域的清洁后，再对与区域清洁方向相反的区域进行清洁，直至完成整个预设清洁区域的清洁，对机身两侧的区域进行检测并按照上述方案进行清洁，可以加快机器人的清洁进程。
示例性地，如图4所示，机器人的清洁顺序为点①—点②—点③—点④—点⑤—点④—点②—点③—点⑥，当机器人第一次经过点③时，区域清洁方向为由点①所在的区域指向点⑥所在区域的方向（即在图4中为由上至下的方向）检测机身两侧是否为待清洁区域，此时机身两侧均为待清洁区域，首先控制机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁，即控制机器人沿实体墙壁向点③上方的区域方向进行清洁，当从点③沿行进路径行进至点⑦时，检测到已清洁区域边界（机器人此时将已清洁区域边界视为虚拟墙障碍物），需控制机器人沿区域边界进行沿边清洁，即控制机器人向点⑦上方的区域方向进行清洁，沿图4中规定的路径进行清洁至点⑤的位置，在完成点③上方区域的清洁后，在按照规定的路径完成点③下方区域的清洁，直至完成图4中整个预设清洁区域的清洁。
应理解，在本申请实施例中，区域清洁方向为机器人在初始清洁该区域时，从清洁区域指向待清洁区域的方向，且一个预设清洁区域中包含一个区域清洁方向。
步骤102，当第一距离等于预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向。
其中，预设距离是指预先设置的机器人相邻第一行进方向所在直线之间的距离，通过设置该预设距离可以控制机器人沿障碍物边缘的行进距离，该预设距离可以小于或等于机器人的清洁组件的宽度，可以使机器人的清洁轨迹更加的密集，在保证机器人完成沿障碍物边缘进行清洁的目标下，提高整个预设清洁区域的清洁率，清洁组件包括但不限于机器人的滚刷和拖布。根据机器人的实际工作场景考虑，该预设距离也可以大于机器人的清洁组件的宽度。
在本申请实施例中，在机器人沿障碍物边缘进行清洁时，可以通过距离传感器采集到的第一距离与预设距离的大小关系，控制机器人的转向操作，当采集到的第一距离等于预设距离时，确定机器人在行进到第一距离等于预设距离时所处的位置指向第一行进方向起点的方向为第二行进方向。其中，第一行进方向与第二行进方向相交，可以减少障碍物边缘的漏扫率。
示例性地，如图3所示，标识1为机器人的在第一行进方向上的行进路径，标识2为机器人沿障碍物行进的路径（即测量第一距离的路径），当行进至第一距离等于预设距离时，控制机器人沿标识为3的路径进行转向操作，标识为3的路径的行进方向为机器人行进到第一距离等于预设距离时所处的位置指向第一行进方向起点的方向，即第二行进方向。
步骤103，控制机器人沿第二行进方向进行清洁。
其中，第二行进方向是指上述步骤102中，机器人在行进到第一距离等于预设距离时所处的位置指向第一行进方向起点的方向。
在本申请实施例中，当机器人沿障碍物边缘行进到预设距离或机器人遇到其他障碍物时，控制机器人进行转向，旋转至机器人当前时刻所处的位置指向第一行进方向起点的方向，并控制机器人按照该方向进行清洁。
示例性地，如图3所示，标识为2的为机器人沿实体墙壁行进至与第一行进方向所在直线间隔预设距离的路径，机器人沿路径2所在的方向进行沿边清洁，并在采集的第一距离等于预设距离时控制机器人转向，标识为3的为机器人朝着第二行进方向行进的路径，控制机器人按照该行进方向向第一行进方向起点的位置进行清洁，可以完成该部分的区域清洁，在完成区域清洁的过程中兼顾墙体清洁，不仅有利于机器人的建图定位，还可以提高机器人清洁过程中的沿边覆盖率。
由上可知，本申请实施例在机器人沿第一行进方向进行清洁时检测到障碍物时，首先控制机器人对障碍物进行沿边清洁，同时获取机器人与第一行进方向所在直线的第一距离，机器人遇到障碍物就进行沿边清洁，减少了沿边漏扫的现象。在上述第一距离等于预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向，通过本方法，可确定第一行进方向与第二行进方向相交，提高了机器人的沿边清洁覆盖率。在确定出第二行进方向后，控制机器人沿第二行进方向进行清洁。由上可知，本申请技术方案在进行区域清洁的同时可以兼顾沿边清洁，在清洁过程中采用旋转路径的方式更有利于建图定位，并提高了机器人的沿边清洁覆盖率。
参照图2，示出了本申请实施例二提供的一种机器人的清洁控制方法的流程示意图，如图所示该机器人的清洁控制方法可以包括如下步骤：
步骤201，若在机器人沿第一行进方向进行清洁时检测到障碍物，则控制机器人对障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第一距离。
其中，在机器人对障碍物进行沿边清洁时，控制机器人处于一种沿障碍物边缘进行清洁的工作模式，在该工作模式下可控制机器人沿障碍物边缘进行清洁。
在本申请实施例中，机器人可以通过其机身上安装的碰撞传感器来检测障碍物，并通过碰撞传感器检测机器人是否受到碰撞，使机器人可以沿障碍物进行清洁并沿着障碍物的边缘行进。
可选地，该机器人的清洁控制方法还包括：
若在机器人沿障碍物进行清洁的过程中，检测到机器人受到碰撞，则控制机器人朝免受碰撞的方向移动；
若在移动过程中未检测到机器人受到碰撞，则控制机器人朝产生碰撞的方向移动。
其中，机器人是否受到碰撞可以通过机器人机身上安装的碰撞传感器是否检测到碰撞信息来判断，若检测到碰撞信息，则确定机器人受到碰撞，若未检测到碰撞信息，则确定机器人未受到碰撞。检测机器人碰撞信息的传感器可以是能够采集机器人碰撞信息的任意传感器，在此不做限定。
在本申请实施例中，控制机器人沿障碍物的边缘进行清洁可以通过以下方式：首先在机器人沿第一行进方向进行清洁的过程中，通过碰撞传感器采集到的碰撞信息控制机器人进行转向操作，转向至沿障碍物边缘行进的方向，在转向后机器人沿障碍物进行清洁的过程中，若在机器人机身的第一侧检测到碰撞信息，控制机器人朝机身的第二侧的方向进行移动（此时机身的第二侧的方向即为免受碰撞的方向），控制机器人朝机身的第二侧的方向进行移动可以使机器人减小与障碍物边缘的摩擦，从而增加机器人的寿命。机器人一直朝机身的第二侧移动，当移动到机身的第一侧检测不到碰撞信息时，说明机器人此时不再与墙壁边缘摩擦，再控制机器人朝机身的第一侧的方向移动（此时机身的第一侧的方向即为产生碰撞的方向），如此循环，可控制机器人一直沿障碍物的边缘进行清洁，从而使机器人在沿障碍物边缘进行清洁的过程中不脱离障碍物的边缘。
需要说明的是，上述机器人机身的第一侧与第二侧构成了机器人的整个机身，即将机器人的机身划分为两半，其中一半为机身的第一侧，另一半为机身的第二侧。
应理解，上述若在机器人机身的第一侧检测到碰撞信息，此时与障碍物的边缘碰撞接触的一侧为机身的第一侧，即机身的第一侧的方向为产生碰撞的方向，机身的第二侧的方向为免受碰撞的方向。
还应该理解的是，若在机器人机身的第二侧检测到碰撞信息，此时与障碍物的边缘碰撞接触的一侧为机身的第二侧，即机身的第二侧的方向为产生碰撞的方向，机身的第一侧的方向为免受碰撞的方向。
由上可知，机器人机身的第一侧和机器人机身的第二侧是相对于与障碍物的边缘碰撞接触来说的，并不是固定设置的。
步骤202，当第一距离等于预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向。
本实施例步骤202与前述实施例中步骤102类似，可以相互参阅，本实施例在此不再赘述。
步骤203，控制机器人沿第二行进方向进行清洁。
本实施例步骤203与前述实施例中步骤103类似，可以相互参阅，本实施例在此不再赘述。
步骤204，若在控制机器人沿第二行进方向进行清洁时检测到障碍物，则控制机器人对障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第二距离。
其中，控制机器人沿第二行进方向进行清洁时检测到障碍物包括：机器人沿第二行进方向行进至第一行进方向起点的位置时检测到障碍物，或者机器人沿第二行进方向进行清洁的过程中检测到障碍物。
在本申请实施例中，若在控制机器人沿第二行进方向行进至第一行进方向起点的位置时检测到障碍物，其实施步骤与在第一行进方向清洁时检测到障碍物相同，即控制机器人对障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第二距离。
示例性地，如图3所示的预设清洁区域。标识为3的为机器人朝着第二行进方向行进的路径，在到达第一行进方向的起点位置时检测到实体墙壁障碍物，此时控制机器人进行转向，对实体墙壁进行沿边清洁，同时获取标识4路径所在直线的距离（即该机器人与第一行进方向所在直线的第二距离），当沿实体墙壁边沿行进一定的距离时，可以控制机器人旋转，进而转换行进路径。
应理解，上述沿实体墙壁边沿行进一定的距离中，一定的距离可以是指预设距离，该预设距离同步骤202中的预设距离相等。
可选地，若在机器人沿第二行进方向清洁至第一行进方向的起点之前检测到障碍物，则控制机器人对障碍物进行沿边清洁，直到回到第二行进方向继续前进。
其中，在机器人沿第二行进方向清洁至第一行进方向起点之前检测到障碍物时，可以通过控制机器人对障碍物进行沿边清洁之后回到第二行进方向继续执行清洁工作。
可选地，控制机器人对障碍物进行沿边清洁，直到回到第二行进方向继续前进包括：
控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，当机器人沿边至与第一行进方向所在直线的第一距离等于预设距离的位置时，回到能够朝着第二行进方向行进的位置，旋转至第二行进方向继续前进。
在本申请实施例中，机器人在第二行进方向进行清洁的过程中检测到障碍物，要首先控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，以避免因出现障碍物导致原清洁路径周边的清洁区域不被清洁的现象出现。
具体地，当控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁时，可以控制机器人沿障碍物进行沿边清洁至第一距离等于预设距离的位置，之后再控制机器人回到可以与第二行进方向所在直线的延长线相连接的位置，旋转至与第二行进方向相同的方向后继续前进完成清洁工作，采用这种方案能够提高机器人对障碍物进行沿边清洁时的沿边覆盖率。
示例性地，如图5所示，为机器人在第二行进方向上检测到障碍物的一种应用场景示意图，机器人的清洁顺序为点⑧—点⑨—点⑩—点⑪—点⑬—点⑫—点⑭，当机器人从点⑧沿第二行进方向行进的过程中检测到障碍物时（此时第二行进方向所在的直线为点⑧与点⑭相连接的直线），控制机器人由点⑨沿障碍物向上进行沿边清洁，经过点⑩和点⑪行进至点⑬的位置，此时点⑬至第一行进方向的距离等于预设距离，由于点⑫位于点⑧与点⑭相连接的直线，而且又位于障碍物的边沿上，故再控制机器人回到点⑫的位置上，旋转至第二行进方向，向点⑭的方向继续行进。
应理解，上述示例性图5中，点⑧、点⑫和点⑭位于一条直线上，即第二行进方向所在的直线。
可选地，控制机器人对障碍物进行沿边清洁，直到回到第二行进方向继续前进包括：
控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，当机器人沿边至能够朝着第二行进方向行进的位置时，旋转至第二行进方向继续前进。
在本申请实施例中，当控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁时，当机器人沿障碍物进行沿边清洁至能够朝着第二行进方向行进的位置时，还可以直接控制机器人进行旋转至第二行进方向继续前进完成清洁工作。
示例性地，如图6所示，为机器人在第二行进方向上检测到障碍物的另一种应用场景示意图，机器人的清洁顺序为点⑮—点16—点17—点18—点20—点19—点⑮—点16—点17—点20—点19，其中，点19和点20分别是指即图6中的圈圈标号19和圈圈标号20，且以下点19和点20均表示图6中的圆圈标号19和圈圈标号20。当机器人在第二行进方向上检测到障碍物时，首先控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，机器人由点16行进至点17的位置，由于点17位于点⑮与点18相连接的直线上（即点17位于能够朝着第二行进方向行进的位置上），此时控制机器人直接旋转至第二行进方向，向点18的方向继续行进。
应理解，由点17向点18的方向直接行进，会导致点17至点20的障碍物沿边部分不能及时清洁，故设置在由点19沿区域清洁方向的反方向进行清洁时对整个障碍物进行沿边清洁，（包括点17至点20的沿边清洁），沿边清洁结束后继续执行如步骤101至步骤104的清洁工作。
步骤205，当第二距离等于预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向。
在本申请实施例中，确定机器人在当前时刻所处的位置指向第一行进方向可以通过控制机器人旋转至第一行进方向。
应理解，本步骤中的第一行进方向与步骤201中的第一行进方向的方向相同，即本步骤中第一行进方向所在直线与步骤201中的第一行进方向所在直线的关系为平行关系。
步骤206，控制机器人沿第一行进方向进行清洁。
其中，第一行进方向所在直线与步骤201中第一行进方向所在直线为平行关系，控制机器人沿第一行进方向进行清洁即返回执行步骤201。
步骤207，若第一距离小于预设距离，则控制机器人对障碍物进行部分沿边后回到第一行进方向继续前进。
其中，在第一距离小于预设距离时，即机器人无法按照图3中设定的路径进行清洁，此时需控制机器人对障碍物进行部分沿边后回到第一行进方向继续前进。
具体地，当在机器人的第一距离小于预设距离，无法按照图3中设定的路径进行清洁时，可以参见图4中在第一行进方向上检测到障碍物的情况。例如当机器人由点⑤行进至点④时，若上一清洁行无障碍物，则控制机器人沿障碍物边缘向点④上方区域行进进行沿边清洁，此时采集的第一距离小于预设距离，则控制机器人对障碍物边缘进行部分沿边，由于控制机器人由点⑤行进至点④的行进路径的方向与第一行进方向相同，则在对障碍物进行部分沿边之后回到第一行进方向继续前进，（即控制机器人沿第一行进方向由点④行进至点②），执行步骤201的操作。
应理解，对上述步骤201至步骤207重复循环执行，可以完成对当前预设待清洁区域的清洁工作。
可选地，在完成对当前预设待清洁区域的清洁时，控制机器人停止清洁工作。
在本申请实施例中，在完成对当前预设待清洁区域的清洁时，可通过程序设定直接控制机器人停止清洁工作。
可选地，控制机器人停止清洁工作之后还包括：
控制机器人停留在停止清洁工作时所处的位置上；
或者控制机器人返回目标充电座进行充电。
在本申请实施例中，控制机器人返回目标充电座进行充电可以通过设置回充模式来实现。其中，回充模式是指一种控制机器人返回目标充电座进行充电的工作模式，该模式可以在机器人自身电量不足时、接收到用户发送的控制回充指令时或机器人完成预设待清洁区域的清洁任务后自动开启。
示例性地，若机器人在清洁过程中检测到自身电量不足，则控制机器人返回目标充电座进行充电，充电完成后继续对未完成的预设清洁区域进行清洁。
示例性地，若机器人在完成预设清洁区域的清洁后，自身电量充裕，可以控制机器人停留在停止清洁工作时所处的位置上，或者也可以控制机器人返回目标充电座进行充电。
需要说明的是，若机器人在清洁过程中，程序出现紊乱，导致机器人无法按照设定的路径进行清洁，此时可通过机器人机身上的操作面板、配套使用的遥控器或机器人对应的应用程序（Application，APP）来下发外部指令，以使机器人由当前模式切换为正常工作模式。其中，正常工作模式即按照上述步骤所规定的路径进行清洁工作的模式。
本申请实施例相较于实施例一来说，不仅考虑了机器人在第一行进方向上检测到障碍物的应用场景，还考虑了机器人在第二行进方向上检测到障碍物的应用场景，并针对机器人在第二行进方向上检测到障碍物提出了两种对应的实时方案，可使机器人应对不同应用场景下的突发状况，提高机器人的灵活性以及在不同场景下的清洁覆盖率。同时，在机器人完成对预设清洁区域的清洁工作后，可控制机器人停留在停止工作时所处的位置上或者控制机器人返回目标充电座进行充电多种实施方式，本申请的技术方案不仅提高了机器人的清洁效率，还优化了该机器人的智能化效果。
参照图7，示出了本申请实施例三提供的一种机器人的清洁控制装置的结构示意图，为了便于说明，仅示出了与本申请实施例相关的部分，机器人的清洁控制装置具体可以包括如下模块：
距离获取模块701，用于若在机器人沿第一行进方向进行清洁时检测到障碍物，则控制机器人对障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第一距离；
方向确定模块702，用于当第一距离等于预设距离时，确定机器人在当前时刻所处的位置指向第一行进方向的起点的方向为第二行进方向；
清洁控制模块703，用于控制机器人沿第二行进方向进行清洁。
在本申请实施例中，上述机器人的清洁控制装置还包括：
沿边模块，用于若在控制机器人沿第二行进方向进行清洁时检测到障碍物，则控制机器人对障碍物进行沿边清洁，并实时获取机器人与第一行进方向所在直线的第二距离；
方向模块，用于当第二距离等于预设距离时，确定机器人在当前时刻所处的位置指向所述第一行进方向；
控制模块，用于控制机器人沿第一行进方向进行清洁。
在本申请实施例中，上述沿边模块具体可以包括如下子模块：
沿边清洁子模块，用于若在机器人沿第二行进方向清洁至第一行进方向的起点之前检测到障碍物，则控制机器人对障碍物进行沿边清洁，直到回到第二行进方向继续前进。
在本申请实施例中，上述沿边清洁子模块具体可以包括如下单元：
第一旋转单元，用于控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，当机器人沿边至与第一行进方向所在直线的第一距离等于预设距离的位置时，回到能够朝着第二行进方向行进的位置，旋转至第二行进方向继续前进。
在本申请实施例中，上述沿边清洁子模块具体还可以包括如下单元：
第二旋转单元，用于控制机器人朝着区域清洁方向的反方向对障碍物进行沿边清洁，当机器人沿边至能够朝着第二行进方向行进的位置时，旋转至第二行进方向继续前进。
在本申请实施例中，上述机器人的清洁控制装置还包括：
距离判断模块，用于若第一距离小于预设距离，则控制机器人对障碍物进行部分沿边后回到第一行进方向继续前进。
在本申请实施例中，距离获取模块701具体可以包括如下子模块：
第一检测子模块，用于若在机器人沿第一行进方向进行清洁时检测到障碍物，则检测机器人的机身两侧是否为待清洁区域；
第一控制子模块，用于若机身两侧中的一侧为待清洁区域，则控制机器人沿障碍物对待清洁区域进行清洁；
第二控制子模块，用于若机身两侧均为待清洁区域，则控制机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁；
清洁控制子模块，用于在完成对与区域清洁方向相反的待清洁区域的清洁时，控制机器人沿障碍物对与区域清洁方向相同的待清洁区域进行清洁。
在本申请实施例中，距离获取模块701具体还可以包括如下子模块：
方向控制子模块，用于若在机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁时，检测到机身两侧均为待清洁区域，则控制机器人沿障碍物对与区域清洁方向相同的待清洁区域进行清洁；
反向控制子模块，用于在完成对与区域清洁方向相同的待清洁区域的清洁时，控制机器人沿障碍物对与区域清洁方向相反的待清洁区域进行清洁。
需要说明的是：上述实施例提供的机器人的清洁控制装置在进行机器人的控制时，仅以上述各模块的划分进行举例说明，实际应用中，可以根据需要而将上述处理分配由不同的模块完成，即将装置的内部结构划分成不同的模块，以完成以上描述的全部或者部分处理。另外，上述实施例提供的机器人的清洁控制装置与机器人的清洁控制方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图8是本申请实施例四提供的机器人的结构示意图。如图8所示，该实施例的机器人800包括：至少一个处理器810（图8中仅示出一个）处理器、存储器820以及存储在所述存储器820中并可在所述至少一个处理器810上运行的计算机程序821，所述处理器810执行所述计算机程序821时实现上述任意机器人的清洁控制方法实施例中的步骤。
所述机器人800可以是指能够凭借一定的人工智能自动完成对地面清洁工作的清洁机器人，如扫地机器人、拖地机器人或扫拖一体机。该机器人可包括，但不仅限于，处理器810、存储器820。本领域技术人员可以理解，图8仅仅是机器人800的举例，并不构成对机器人800的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如还可以包括输入输出设备、网络接入设备等。
所称处理器810可以是中央处理单元(Central Processing Unit，CPU)，该处理器810还可以是其他通用处理器、数字信号处理器 (Digital Signal Processor，DSP)、专用集成电路 (Application Specific Integrated Circuit，ASIC)、现成可编程门阵列 (Field-Programmable Gate Array，FPGA) 或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器820在一些实施例中可以是所述机器人800的内部存储单元，例如机器人800的硬盘或内存。所述存储器820在另一些实施例中也可以是所述机器人800的外部存储设备，例如所述机器人800上配备的插接式硬盘，智能存储卡（Smart Media Card, SMC），安全数字（Secure Digital, SD）卡，闪存卡（Flash Card）等。进一步地，所述存储器820还可以既包括所述机器人800的内部存储单元也包括外部存储设备。所述存储器820用于存储操作系统、应用程序、引导装载程序(BootLoader)、数据以及其他程序等，例如所述计算机程序的程序代码等。所述存储器820还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/机器人和方法，可以通过其它的方式实现。例如，以上所描述的装置/机器人实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器（Read-Only Memory，ROM）、随机存取存储器（Random Access Memory，RAM）、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
本申请实现上述实施例方法中的全部或部分流程，也可以通过一种计算机程序产品来完成，当所述计算机程序产品在机器人上运行时，使得所述机器人执行时实现可实现上述各个方法实施例中的步骤。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制。尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (17)

  1. 一种机器人的清洁控制方法，其特征在于，所述清洁控制方法包括：
    若在所述机器人沿第一行进方向进行清洁时检测到第一障碍物，则控制所述机器人对所述第一障碍物进行沿边清洁，并实时获取所述机器人与第一行进方向所在直线的第一距离；
    当所述第一距离等于第一预设距离时，确定所述机器人在当前时刻所处的位置指向所述第一行进方向的起点的方向为第二行进方向；
    控制所述机器人沿所述第二行进方向进行清洁；
    若在控制所述机器人沿所述第二行进方向进行清洁时检测到第二障碍物，则控制所述机器人对所述第二障碍物进行沿边清洁，并实时获取所述机器人与第一行进方向所在直线的第二距离；
    当所述第二距离等于所述第一预设距离时，确定所述机器人在当前时刻所处的位置指向所述第一行进方向；
    控制所述机器人沿所述第一行进方向进行清洁。
  2. 如权利要求1所述的清洁控制方法，其特征在于，若在控制所述机器人沿所述第二行进方向进行清洁的过程中检测到第三障碍物，则控制所述机器人对所述第三障碍物进行沿边清洁，包括：
    若在所述机器人沿所述第二行进方向清洁至所述第一行进方向的起点之前检测到第三障碍物，则控制所述机器人对所述第三障碍物进行沿边清洁，直到回到所述第二行进方向继续前进。
  3. 如权利要求2所述的清洁控制方法，其特征在于，所述控制所述机器人对所述第三障碍物进行沿边清洁，直到回到第二行进方向继续前进，包括：
    控制所述机器人朝着区域清洁方向的反方向对所述第三障碍物进行沿边清洁，当所述机器人沿边至与所述第一行进方向所在直线的第一距离等于第二预设距离的位置时，回到能够朝着所述第二行进方向行进的位置，旋转至所述第二行进方向继续前进。
  4. 如权利要求2所述的清洁控制方法，其特征在于，所述控制所述机器人对所述第三障碍物进行沿边清洁，直到回到第二行进方向继续前进，还包括：
    控制所述机器人朝着区域清洁方向的反方向对所述第三障碍物进行沿边清洁，当所述机器人沿边至能够朝着所述第二行进方向行进的位置时，旋转至所述第二行进方向继续前进。
  5. 如权利要求3或4所述的清洁控制方法，其特征在于，所述控制所述机器人朝着区域清洁方向的反方向对所述第三障碍物进行沿边清洁，包括：
    确定上一清洁行是否存在所述第三障碍物；
    若所述上一清洁行不存在所述第三障碍物，控制所述机器人朝着区域清洁方向的反方向对所述第三障碍物进行沿边清洁。
  6. 如权利要求1所述的清洁控制方法，其特征在于，若控制所述机器人沿所述第一行进方向进行清洁的过程中检测到第四障碍物，则控制所述机器人对所述第四障碍物进行沿边清洁，包括：
    若在所述机器人沿所述第一行进方向清洁至所述第二行进方向的起点之前检测到所述第四障碍物，则控制所述机器人对所述第四障碍物进行沿边清洁，直到回到所述第一行进方向继续前进。
  7. 如权利要求6所述的清洁控制方法，其特征在于，所述控制所述机器人对所述第四障碍物进行沿边清洁，直到回到第一行进方向继续前进，包括：
    控制所述机器人朝着区域清洁的方向对所述第四障碍物进行沿边清洁，当所述机器人沿边至能够朝着所述第一行进方向行进的位置时，旋转至所述第一行进方向继续前进。
  8. 如权利要求7所述的清洁控制方法，其特征在于，所述控制所述机器人朝着区域清洁的方向对所述第四障碍物进行沿边清洁，包括：
    确定上一清洁行是否存在所述第四障碍物；
    若所述上一清洁行不存在所述第四障碍物，则控制所述机器人朝着区域清洁的方向对所述第四障碍物进行沿边清洁。
  9. 如权利要求1所述的清洁控制方法，其特征在于，所述若在所述机器人沿第一行进方向进行清洁时检测到第一障碍物，则控制所述机器人对所述第一障碍物进行沿边清洁，包括：
    若在所述机器人沿第一行进方向进行清洁时检测到第一障碍物，则检测所述机器人的机身两侧是否为待清洁区域；
    若所述机身两侧中的一侧为所述待清洁区域，则控制所述机器人沿所述第一障碍物对所述待清洁区域进行清洁；
    若所述机身两侧均为所述待清洁区域，则控制所述机器人沿所述第一障碍物对与区域清洁方向相反的所述待清洁区域进行清洁；
    在完成对与所述区域清洁方向相反的所述待清洁区域的清洁时，控制所述机器人沿所述第一障碍物对与所述区域清洁方向相同的所述待清洁区域进行清洁。
  10. 如权利要求9所述的清洁控制方法，其特征在于，所述清洁控制方法还包括：
    若在所述机器人沿所述第一障碍物对与区域清洁方向相反的所述待清洁区域进行清洁时检测到第五障碍物，检测到所述机身两侧均为所述待清洁区域，则控制所述机器人沿所述第五障碍物对与区域清洁方向相同的所述待清洁区域进行清洁；
    在完成对与所述区域清洁方向相同的所述待清洁区域的清洁时，控制所述机器人沿所述第五障碍物对与所述区域清洁方向相反的所述待清洁区域进行清洁。
  11. 如权利要求9所述的清洁控制方法，其特征在于，若所述机器人在对所述待清洁区域清洁时检测到已清洁区域的边界，则将所述已清洁区域的边界视为虚拟墙障碍物。
  12. 如权利要求9所述的清洁控制方法，其特征在于，若所述机身两侧均为所述待清洁区域，则控制所述机器人沿所述第一障碍物对与区域清洁方向相反的所述待清洁区域进行清洁，包括：所述机器人沿所述第二行进方向进行清洁的终点不与所述机器人沿所述第一行进方向进行清洁的起点重合。
  13. 如权利要求1所述的清洁控制方法，其特征在于，所述第一预设距离小于或等于所述机器人的清洁组件的宽度。
  14. 如权利要求1所述的清洁控制方法，其特征在于，所述机器人机身上设有陀螺仪，或/和感知范围不大于360度的测距传感器。
  15. 一种机器人的清洁控制装置，其特征在于，所述清洁控制装置包括：
    距离获取模块，用于若在所述机器人沿第一行进方向进行清洁时检测到第一障碍物，则控制所述机器人对所述第一障碍物进行沿边清洁，并实时获取所述机器人与第一行进方向所在直线的第一距离；
    方向确定模块，用于当所述第一距离等于第一预设距离时，确定所述机器人在当前时刻所处的位置指向所述第一行进方向的起点的方向为第二行进方向；
    清洁控制模块，用于控制所述机器人沿所述第二行进方向进行清洁；
    沿边模块，用于若在控制所述机器人沿所述第二行进方向进行清洁时检测到第二障碍物，则控制所述机器人对所述第二障碍物进行沿边清洁，并实时获取所述机器人与第一行进方向所在直线的第二距离；
    方向模块，用于当所述第二距离等于所述第一预设距离时，确定机器人在当前时刻所处的位置指向所述第一行进方向；
    控制模块，用于控制所述机器人沿所述第一行进方向进行清洁。
  16. 一种机器人，其特征在于，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至14任一项所述的方法。
  17. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至14任一项所述的方法。
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