WO2022213732A1 - 清洁机器人沿障碍物运动的控制方法及清洁机器人 - Google Patents
清洁机器人沿障碍物运动的控制方法及清洁机器人 Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 200
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 230000008569 process Effects 0.000 claims description 18
- 238000010276 construction Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- the present application belongs to the technical field of home appliances, and in particular relates to a control method and device for a cleaning robot to move along an obstacle, a cleaning robot and a storage medium.
- Sweepers also known as automatic cleaners, smart vacuum cleaners, cleaning robots, etc.
- automatic cleaners also known as automatic cleaners, smart vacuum cleaners, cleaning robots, etc.
- the current sweeping robot has gradually become an essential intelligent helper in people's lives.
- the ability to move along the obstacle is the most basic ability of the sweeping robot.
- the existing sweeping robot uses a single sensor, or infrared or lidar to control the robot to move along the obstacle, which is limited by the detection ability of a single sensor.
- the ability to move along the obstacle will be deteriorated or lost, thus affecting the robot vacuum cleaner.
- Basic performance such as edge cleaning ability and cleaning coverage.
- embodiments of the present application provide a control method, device, cleaning robot, and storage medium for a cleaning robot to move along an obstacle, so as to improve the robot's ability to move along an obstacle, thereby realizing the efficient and autonomous edge cleaning of the cleaning robot Function.
- An embodiment of the first aspect of the present application provides a control method for a cleaning robot to move along an obstacle, including:
- the detection data identify the type of obstacles in front of the cleaning robot
- the cleaning robot is controlled to move along the edge of the obstacle.
- the method for controlling the movement of a cleaning robot along an obstacle obtains detection data of an obstacle detector on the cleaning robot; identifies the type of obstacle in front of the cleaning robot moving according to the detection data; determines the obstacle
- the motion model corresponding to the object type is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled to follow the obstacle
- the present application can improve the ability of the robot to move along the obstacle, so as to realize the efficient and autonomous edge cleaning function of the cleaning robot.
- the determining the motion model corresponding to the obstacle type includes:
- the corresponding motion model is a small curvature motion model
- the corresponding motion model is a large-curvature motion model.
- the construction process of the small curvature motion model is as follows:
- d W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle
- v represents the linear velocity of the cleaning robot
- w represents the angular velocity of the cleaning robot
- ⁇ is the parallel direction of the cleaning robot relative to the wall
- ⁇ 0 is the angle between the upper edge laser and the vertical line of the wall
- d 0 represents the distance from the center of mass of the cleaning robot to the wall.
- the construction process of the large curvature motion model is as follows:
- the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.
- controlling the cleaning robot to move along the edge of the obstacle according to the relative positional relationship and the preset at least two rotational motion states includes:
- the new relative position relationship is acquired, and the above steps are repeated according to the new relative position relationship, until the cleaning robot completes the obstacle edge.
- the acquisition module is used to acquire the detection data of the obstacle detector on the cleaning robot
- an identification module for identifying the type of obstacles in front of the cleaning robot moving according to the detection data
- a determination module for determining a motion model corresponding to the obstacle type the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type;
- the control module is configured to control the cleaning robot to move along the edge of the obstacle according to the motion model and the detection data.
- the control device for a cleaning robot moving along an obstacle acquires detection data of an obstacle detector on the cleaning robot; identifies the type of obstacle in front of the cleaning robot according to the detection data; determines the obstacle
- the motion model corresponding to the object type is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled to follow the obstacle
- the present application can improve the ability of the robot to move along the obstacle, so as to realize the efficient and autonomous edge cleaning function of the cleaning robot.
- the determining module is specifically used for:
- the corresponding motion model is a small curvature motion model
- the corresponding motion model is a large-curvature motion model.
- control module is also used to construct a small curvature motion model, and the construction process of the small curvature motion model is as follows:
- d W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle
- v represents the linear velocity of the cleaning robot
- w represents the angular velocity of the cleaning robot
- ⁇ is the parallel direction of the cleaning robot relative to the wall
- ⁇ 0 is the angle between the upper edge laser and the vertical line of the wall
- d 0 represents the distance from the center of mass of the cleaning robot to the wall.
- control module is also used to construct a large-curvature motion model, and the process of constructing the large-curvature motion model is as follows:
- the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.
- control module is specifically used for:
- the average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.
- the cleaning robot according to the embodiment of the third aspect of the present application includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to achieve The control method for a cleaning robot moving along an obstacle according to the embodiment of the first aspect.
- the computer-readable storage medium of the embodiment of the fourth aspect of the present application has computer-readable instructions stored thereon, and the computer-readable instructions can be executed by the processor to implement the control of the cleaning robot moving along the obstacle according to the embodiment of the first aspect method.
- FIG. 1 shows a flowchart of a control method for a cleaning robot to move along an obstacle according to an embodiment of the present application
- FIG. 2 shows a schematic diagram of the 6-beam laser data used in the embodiment of the present application
- FIG. 3 shows a schematic diagram of the detection process of the construction of the small curvature motion model in the embodiment of the present application
- FIG. 5 shows a schematic diagram of a control device for a cleaning robot to move along an obstacle according to an embodiment of the present application
- FIG. 6 shows a schematic diagram of a cleaning robot according to an embodiment of the present application.
- FIG. 7 shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.
- connection may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise clearly defined.
- connection may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise clearly defined.
- This application proposes a control method, device, cleaning robot and storage medium for a cleaning robot to move along an obstacle, to obtain detection data of an obstacle detector on the cleaning robot, and the obstacle detector may be a line laser detector or a lidar, etc. sensor; according to the detection data, identify the obstacle type in front of the cleaning robot movement; determine the motion model corresponding to the obstacle type, and the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type ; According to the motion model and the detection data, the cleaning robot is controlled to move along the edge of the obstacle, compared with the prior art, the present application can improve the robot's ability to move along the obstacle, thereby realizing the cleaning robot Efficient and autonomous edge cleaning function.
- FIG. 1 is a flowchart of a control method for a cleaning robot to move along an obstacle provided by an embodiment of the present application. As shown in Figure 1, the control method for the cleaning robot to move along the obstacle includes:
- Step S101 Acquire detection data of an obstacle detector on the cleaning robot.
- the obstacle detector may be a sensor such as a line laser detector or a lidar, that is, the detection data may be laser data or laser ranging data.
- FIG. 2 shows a schematic diagram of the 6 beams of laser data used in this embodiment.
- the 6 beams of laser data include 3 edge lasers and 3 barrier lasers, which are lower edge lasers respectively.
- the signal range is: -11° to -9°; upper edge laser, signal range: 9° to 11°; middle edge laser, signal range: -11° to 11°; lower barrier laser, signal range: -5° to -1°; Middle barrier laser, signal range: -1° to 1°; upper barrier laser, signal range 1° to 5°.
- edgewise laser corresponds to the edgewise distance
- barrier-wrap laser corresponds to the barrier-wrap distance
- the signal range of the 6-beam laser data can be calibrated according to the actual situation, and the edge-to-edge distance and the distance around the obstacle are the minimum distances within the signal range.
- Step S102 According to the detection data, identify the type of obstacles in front of the movement of the cleaning robot.
- the environment where cleaning robots are often located is indoors, and there are many indoor obstacles, such as walls, tables, chairs, etc. Therefore, the types of obstacles can include continuous wall types (such as fronts, standing cabinets) and isolated types. Column type (eg table legs, chair legs, etc.).
- Step S103 Determine a motion model corresponding to the obstacle type, where the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type.
- step S103 may be specifically implemented as:
- the corresponding motion model is determined to be a small curvature motion model
- the corresponding motion model is determined as a large-curvature motion model.
- the curvature change of the continuous wall type is small, so a small curvature motion model is selected.
- the curvature of the isolated columnar type varies greatly, so a large-curvature motion model is selected.
- d W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle
- v represents the linear velocity of the cleaning robot
- w represents the angular velocity of the cleaning robot
- ⁇ is the parallel direction of the cleaning robot relative to the wall
- ⁇ 0 is the angle between the upper edge laser and the vertical line of the wall
- d 0 is the distance from the center of mass of the cleaning robot to the wall
- the relative position information of the cleaning robot relative to the obstacle with small curvature is constructed by using three edgewise laser beams.
- the detection process of the specific structure is shown in Figure 3.
- the distance between the cleaning robot and the obstacle with less curvature is defined as:
- Equation (4) is a model for controlling the movement of the machine along obstacles with small curvature through the distance constructed by the three edgewise laser data.
- the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.
- the controlling the cleaning robot to move along the edge of the obstacle according to the relative positional relationship and the preset at least two rotational motion states includes:
- the relative positional relationship of the cleaning robot relative to the obstacle with large curvature is constructed by the three beams of laser data in Figure 3.
- the specific construction method is shown in Table 1.
- D the radius of the cleaning robot + the obstacle distance.
- the cleaning robot When moving along the edge of the obstacle, according to the relative positional relationship between the cleaning robot and the obstacle with larger curvature corresponding to Table 1, the cleaning robot switches between different rotational motion states (that is, the rotational trajectories with different curvatures, as shown in the figure). 4) Approach the outer contour movement of the obstacle.
- the state transition relationship between the rotational motion state 1 and the rotational motion state 2 is shown, and the state transition is performed according to the relative positional relationship between the cleaning robot and the obstacle.
- more state transition relationships between the rotational motion states may also be set, which is not limited in the present application.
- Step S104 Control the cleaning robot to move along the edge of the obstacle according to the motion model and the detection data.
- control process please refer to the construction process of the above-mentioned large-curvature motion model.
- the method for controlling the movement of a cleaning robot along an obstacle obtains detection data of an obstacle detector on the cleaning robot; identifies the type of the obstacle in front of the movement of the cleaning robot according to the detection data; determines the corresponding type of the obstacle
- the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled along the edge of the obstacle
- the present application can improve the ability of the robot to move along obstacles, so as to realize the efficient and autonomous edge cleaning function of the cleaning robot.
- An embodiment of the present application provides a control device for a cleaning robot to move along an obstacle.
- the control device for the cleaning robot to move along an obstacle corresponds to the control method for a cleaning robot to move along an obstacle in the first embodiment.
- the method embodiments described below are merely illustrative.
- FIG. 5 is a schematic diagram of a control device for a cleaning robot to move along an obstacle provided by an embodiment of the present application. As shown in FIG. 5 , the device 10 includes:
- an acquisition module 101 configured to acquire detection data of the obstacle detector on the cleaning robot
- an identification module 102 configured to identify the type of obstacles in front of the movement of the cleaning robot according to the detection data
- a determination module 103 configured to determine a motion model corresponding to the obstacle type, the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the obstacle type;
- the control module 104 is configured to control the cleaning robot to move along the edge of the obstacle according to the motion model and the detection data.
- the determining module 103 is specifically configured to:
- the corresponding motion model is a small curvature motion model
- the corresponding motion model is a large-curvature motion model.
- control module 104 is also used to construct a small curvature motion model, and the construction process of the small curvature motion model is as follows:
- d W represents the distance between the cleaning robot and the obstacle during the movement of the cleaning robot along the edge of the obstacle
- v represents the linear velocity of the cleaning robot
- w represents the angular velocity of the cleaning robot
- ⁇ is the parallel direction of the cleaning robot relative to the wall
- ⁇ 0 is the angle between the upper edge laser and the vertical line of the wall
- d 0 represents the distance from the center of mass of the cleaning robot to the wall.
- control module 104 is also used to construct a large-curvature motion model, and the process of constructing the large-curvature motion model is as follows:
- the cleaning robot is controlled to move along the edge of the obstacle, and different rotational motion states correspond to different linear and angular velocities.
- control module 104 is specifically configured to:
- the average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.
- the control device for the movement of the cleaning robot along the obstacle obtains detection data of the obstacle detector on the cleaning robot; identifies the type of the obstacle in front of the movement of the cleaning robot according to the detection data; determines the corresponding type of the obstacle.
- a motion model the motion model is constructed in advance according to the positional relationship between the cleaning robot and the obstacle and the type of the obstacle; according to the motion model and the detection data, the cleaning robot is controlled to move along the edge of the obstacle , compared with the prior art, the present application can improve the ability of the robot to move along the obstacle, thereby realizing the efficient and autonomous edge cleaning function of the cleaning robot.
- an embodiment of the present application further provides a cleaning robot 20, including: a memory 201, a processor 202, and a computer program stored in the memory and running on the processor, the processing When the computer 202 runs the computer program, it is executed to implement the method for controlling the movement of the cleaning robot along the obstacle according to any one of Embodiment 1.
- the cleaning robot may include: a processor, a memory, a bus and a communication interface, the processor, the communication interface and the memory are connected by a bus; the memory stores a computer program that can run on the processor , the processor executes the method for controlling the movement of the cleaning robot along the obstacle provided by any of the foregoing embodiments of the present application when the processor runs the computer program.
- the memory may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
- RAM Random Access Memory
- non-volatile memory such as at least one disk memory.
- the communication connection between the network element of the system and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. may be used.
- the bus can be an ISA bus, a PCI bus, an EISA bus, or the like.
- the bus can be divided into an address bus, a data bus, a control bus, and the like.
- the memory is used to store a program, and the processor executes the program after receiving the execution instruction, and the control method for the cleaning robot moving along the obstacle disclosed in any of the foregoing embodiments of the present application can be applied to processing in the device, or implemented by the processor.
- a processor may be an integrated circuit chip with signal processing capabilities.
- each step of the above-mentioned method can be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software.
- the above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit ( ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
- DSP digital signal processor
- ASIC application-specific integrated circuit
- FPGA off-the-shelf programmable gate array
- a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
- the software module may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art.
- the storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
- the cleaning robot provided by the embodiment of the present application and the control method of the cleaning robot moving along the obstacle provided by the embodiment of the present application are based on the same inventive concept, and have the same beneficial effects as the method adopted, operated or realized.
- the embodiment of the present application also provides a computer-readable storage medium, please refer to FIG. 7 , the computer-readable storage medium shown is an optical disc 30, on which computer-readable instructions (ie, program products) are stored, and the computer-readable storage medium is stored thereon.
- the readable instructions can be executed by the processor to implement the method for controlling the movement of the cleaning robot along the obstacle according to any one of the first embodiment.
- Examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM). ), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be repeated here.
- PRAM phase-change memory
- SRAM static random access memory
- DRAM dynamic random access memory
- RAM random access memory
- ROM read only memory
- EEPROM electrically erasable programmable read only memory
- flash memory or other optical and magnetic storage media, which will not be repeated here.
- the computer-readable storage medium provided by the above-mentioned embodiments of the present application and the method for controlling the movement of a cleaning robot along an obstacle provided by the embodiments of the present application are based on the same inventive concept, and have methods adopted, executed or implemented by the application programs stored thereon. same beneficial effect.
- modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment.
- the modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined.
- Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
- Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
- a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the apparatus for creating a virtual machine according to the embodiments of the present application.
- DSP digital signal processor
- the present application can also be implemented as an apparatus or apparatus program (eg, computer programs and computer program products) for performing part or all of the methods described herein.
- Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.
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Abstract
一种清洁机器人沿障碍物运动的控制方法、装置、清洁机器人及存储介质，其中清洁机器人沿障碍物运动的控制方法包括：获取清洁机器人上障碍物探测器的探测数据（S101）；根据探测数据，识别清洁机器人运动前方的障碍物类型（S102）；确定障碍物类型对应的运动模型，运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的（S103）；根据运动模型和探测数据，控制清洁机器人沿着障碍物的边沿运动（S104），从而能够改善机器人沿障碍物运动的能力，实现清洁机器人高效自主的沿边清扫功能。
Description
本申请要求于2021年04月09日提交中国专利局、申请号为202110384342.8、申请名称为“清洁机器人沿障碍物运动的控制方法及清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请属于家电技术领域，尤其涉及一种清洁机器人沿障碍物运动的控制方法、装置、清洁机器人及存储介质。
扫地机，又称自动打扫机、智能吸尘器、清洁机器人等，是智能家用电器的一种，能凭借一定的人工智能，自动在房间内完成地面清理工作。目前的扫地机器人逐渐成为人们生活中必备智能帮手。
沿障碍物运动的能力是扫地机器人最基本的能力，现有的扫地机器人采用单传感器，或者红外或者激光雷达等来控制机器人沿着障碍物运动，受限于单个传感器的探测能力，扫地机器人在含有某些特殊障碍物的环境中，如曲率变化较大的障碍物环境(例如桌子腿)，超出单一传感器测量范围的环境，沿障碍物运动的能力会变差或者丧失，从而影响扫地机器人的边角清扫能力以及清扫覆盖率等基本性能。
发明内容
有鉴于此，本申请实施例提供了一种清洁机器人沿障碍物运动的控制方法、装置、清洁机器人及存储介质，以能够改善机器人沿障碍物运动的能力，从而实现清洁机器人高效自主的沿边清扫功能。
本申请第一方面实施例提供一种清洁机器人沿障碍物运动的控制方法，包括：
获取清洁机器人上障碍物探测器的探测数据；
根据所述探测数据，识别清洁机器人运动前方的障碍物类型；
确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；
根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动。
本申请第一方面实施例的清洁机器人沿障碍物运动的控制方法，获取清洁机器人上障碍物探测器的探测数据；根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动，相比于现有技术，本申请能够改善机器人沿障碍物运动的能力，从而实现清洁机器人高效自主的沿边清扫功能。
在本申请的一些实施例中，所述确定所述障碍物类型对应的运动模型，包括：
根据所述障碍物类型为连续墙面类型，确定对应的运动模型为小曲率运动模型；
根据所述障碍物类型为孤立柱状类型，确定对应的运动模型为大曲率运动模型。
在本申请的一些实施例中，所述小曲率运动模型构建过程如下：
其中，d
W表示清洁机器人沿着障碍物的边沿运动过程中，清洁机器人与障碍物的距离；v表示清洁机器人的线速度；w表示清洁机器人的角速度；θ为清洁机器人相对于墙体平行方向的差角；θ
0为上沿边激光与墙体垂线的夹角；d
0表示清洁机器人质心到墙面的距离。
在本申请的一些实施例中，所述大曲率运动模型构建过程如下：
从探测数据中确定上绕障距离、中绕障距离和下绕障距离；
确定清洁机器人半径与预设的绕障距离之和为位置关系阈值；
根据所述上绕障距离、中绕障距离、下绕障距离与所述位置关系阈值确定清洁机器人与障碍物的相对位置关系；
根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，不同的旋转运动状态对应不同的线速度和角速度。
在本申请的一些实施例中，所述根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，包括：
确定所述相对位置关系对应的目标旋转运动状态；
控制清洁机器人按照所述目标旋转运动状态进行运动；
获取新的所述相对位置关系，根据新的所述相对位置关系重复上述步骤，直至清洁机器人完成障碍物沿边。
本申请第二方面实施例的清洁机器人沿障碍物运动的控制装置，包括：
获取模块，用于获取清洁机器人上障碍物探测器的探测数据；
识别模块，用于根据所述探测数据，识别清洁机器人运动前方的障碍物类型；
确定模块，用于确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；
控制模块，用于根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动。
本申请第二方面实施例的清洁机器人沿障碍物运动的控制装置，获取清洁机器人上障碍物探测器的探测数据；根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动，相比于现有技术，本申请能够改善机器人沿障碍物运动的能力，从而实现清洁机器人高效自主的沿边清扫功能。
在本申请的一些实施例中，所述确定模块，具体用于：
根据所述障碍物类型为连续墙面类型，确定对应的运动模型为小曲率运动模型；
根据所述障碍物类型为孤立柱状类型，确定对应的运动模型为大曲率运动模型。
在本申请的一些实施例中，所述控制模块，还用于小曲率运动模型构建，所述小曲率运动模型构建过程如下：
其中，d
W表示清洁机器人沿着障碍物的边沿运动过程中，清洁机器人与障碍物的距离；v表示清洁机器人的线速度；w表示清洁机器人的角速度；θ为清洁机器人相对于墙体平行方向的差角；θ
0为上沿边激光与墙体垂线的夹角；d
0表示清洁机器人质心到墙面的距离。
在本申请的一些实施例中，所述控制模块，还用于大曲率运动模型构建，所述大曲率运动模型构建过程如下：
从探测数据中确定上绕障距离、中绕障距离和下绕障距离；
确定清洁机器人半径与预设的绕障距离之和为位置关系阈值；
根据所述上绕障距离、中绕障距离、下绕障距离与所述位置关系阈值确定清洁机器人与障碍物的相对位置关系；
根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，不同的旋转运动状态对应不同的线速度和角速度。
在本申请的一些实施例中，所述控制模块，具体用于：
获取目标区域边界上相隔预设距离的多个位置的环境湿度；
计算所述多个位置的环境湿度的平均值，得到目标区域的湿度均值。
本申请第三方面实施例的清洁机器人，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行以实现第一方面实施例的清洁机器人沿障碍物运动的控制方法。
本申请第四方面实施例的计算机可读存储介质，其上存储有计算机可读指令，所述计算机可读指令可被处理器执行以实现第一方面实施例的清洁机器人沿障碍物运动的控制方法。
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
附图1示出了本申请实施例的一种清洁机器人沿障碍物运动的控制方法的流程图；
附图2示出了本申请实施例中所用到的6束激光数据的示意图；
附图3示出了本申请实施例中小曲率运动模型构建的检测过程示意图；
附图4示出了本申请实施例中两个旋转运动状态之间状态转移的示意图；
附图5示出了本申请实施例的一种清洁机器人沿障碍物运动的控制装置的示意图；
附图6示出了本申请实施例的一种清洁机器人的示意图；
附图7示出了本申请实施例的一种计算机可读存储介质的示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如 果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
另外，本发明各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本申请提出了一种清洁机器人沿障碍物运动的控制方法、装置、清洁机器人及存储介质，获取清洁机器人上障碍物探测器的探测数据，障碍物探测器可以是线激光探测器或者激光雷达等传感器；根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动，相比于现有技术，本申请能够改善机器人沿障碍物运动的能力，从而实现清洁机器人高效自主的沿边清扫功能。
为使本申请的上述目的、特征和优点能够更为明显易懂，下面结合附图对本申请的具体实施例做详细的说明。
实施例一
图1是本申请实施例提供的一种清洁机器人沿障碍物运动的控制方法的流程图。如图1所示，该清洁机器人沿障碍物运动的控制方法包括：
步骤S101：获取清洁机器人上障碍物探测器的探测数据。
本实施例中，障碍物探测器可以是线激光探测器或者激光雷达等传感器，即探测数据可以是激光数据或者说激光测距数据。
图2示出了本实施例中所用到的6束激光数据的示意图，如图2所示，6束激光数据包括3束沿边激光和3束绕障激光，分别为下沿边激光，信号范围：-11°至-9°；上沿边激光， 信号范围9°至11°；中沿边激光，信号范围：-11°至11°；下绕障激光，信号范围：-5°至-1°；中绕障激光，信号范围：-1°至1°；上绕障激光，信号范围1°至5°。
应理解，沿边激光对应沿边距离；绕障激光对应绕障距离。6束激光数据的信号范围可以根据实际情况进行标定得到，沿边距离和绕障距离均是信号范围内的最小距离。
步骤S102：根据所述探测数据，识别清洁机器人运动前方的障碍物类型。
实际应用中，清洁机器人经常所处的环境为室内，室内障碍物会存在很多，例如墙、桌子、椅子等，因此障碍物类型可以包括连续墙面类型(如前面、立地柜子柜面)和孤立柱状类型(如桌子腿、椅子腿等)。
步骤S103：确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的。
在本申请的一些实施方式中，步骤S103可以具体实现为：
根据障碍物类型为连续墙面类型，确定对应的运动模型为小曲率运动模型；
根据障碍物类型为孤立柱状类型，确定对应的运动模型为大曲率运动模型。
具体的，连续墙面类型曲率变化较小，因此选取小曲率运动模型。孤立柱状类型曲率变化较大，因此选取大曲率运动模型。
所述小曲率运动模型构建过程如下：
其中，d
W表示清洁机器人沿着障碍物的边沿运动过程中，清洁机器人与障碍物的距离；v表示清洁机器人的线速度；w表示清洁机器人的角速度；θ为清洁机器人相对于墙体平行方向的差角；θ
0为上沿边激光与墙体垂线的夹角；d
0表示清洁机器人质心到墙面的距离
通过3束沿边激光来构造出清洁机器人相对于曲率较小的障碍物的相对位置信息，具体构造的检测过程图3所示。
图3中，清洁机器人质心到墙面的距离为d
0，上沿边激光到墙面的最近距离为d
U，下沿边激光到墙面的最近距离为d
L，清洁机器人机体与墙体平行时，上沿边激光束与墙体垂线的夹角为θ
0，清洁机器人相对于墙体平行的方向的差角为θ，这里规定逆时针旋转差角为正，顺时针旋转差角为负，根据以上定义可以得到：
d
Ucos(θ
0+θ)＝d
0
d
Lcos(θ
0-θ)＝d
0 (1)
定义清洁机器人与曲率较小障碍物的距离为：
d
W＝d
U-d
L+d
0 (2)
设清洁机器人车体的线速度为v，角速度为w，根据车体运动学模型可得：
根据(1)-(3)可得：
上式可以简化为：
式(4)为通过3束沿边激光数据构造的距离来控制机器沿着曲率较小的障碍物运动的模型。
下面对大曲率运动模型的构建进行介绍。
所述大曲率运动模型构建过程如下：
从探测数据中确定上绕障距离、中绕障距离和下绕障距离；
确定清洁机器人半径与预设的绕障距离之和为位置关系阈值；
根据所述上绕障距离、中绕障距离、下绕障距离与所述位置关系阈值确定清洁机器人与障碍物的相对位置关系；
根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，不同的旋转运动状态对应不同的线速度和角速度。
所述根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，包括：
确定所述相对位置关系对应的目标旋转运动状态；
控制清洁机器人按照所述目标旋转运动状态进行运动；
获取新的所述相对位置关系，根据新的所述相对位置关系重复上述步骤，直至清洁机器人完成障碍物沿边。
具体的，通过图3中的3束绕障激光数据构造出清洁机器人相对于曲率较大的障碍物的相对位置关系，具体构造方法见表1，表1中的D＝清洁机器人半径+绕障距离。
表1
| 中沿边距离 | 下沿边距离 | 上沿边距离 | 相对位置关系 |
| 小于D | 小于D | 小于D | 障碍物在清洁机器人侧面 |
| 小于D | 小于D | 大于等于D | 障碍物在清洁机器人下侧面 |
| 小于D | 大于等于D | 小于D | 障碍物在清洁机器人上侧面 |
| 小于D | 大于等于D | 大于等于D | 障碍物在清洁机器人正侧面 |
| 大于等于D | 小于D | 小于D | 障碍物在清洁机器人侧面 |
| 大于等于D | 小于D | 大于等于D | 障碍物在清洁机器人下下侧面 |
| 大于等于D | 大于等于D | 小于D | 障碍物在清洁机器人上上侧面 |
| 大于等于D | 大于等于D | 大于等于D | 障碍物不在清洁机器人侧面 |
在沿着障碍物边沿运动时，清洁机器人根据表1对应的清洁机器人和曲率较大的障碍物的相对位置关系，通过不同的旋转运动状态之间的切换(即不同曲率的旋转轨迹，如图4所示)逼近障碍物的外轮廓运动。
如图4所示，其中示出了旋转运动状态1和旋转运动状态2之间的状态转换关系，状态转换是根据清洁机器人与障碍物的相对位置关系进行的。
根据本申请的一些实施方式中，也可以设置更多旋转运动状态之间的状态转换关系，本申请对此不做限定。
步骤S104：根据所述运动模型和所述探测数据，控制清洁机器人沿着所述障碍物的边沿运动。
具体的控制过程参见上述大曲率运动模型的构建过程。
本申请实施例的清洁机器人沿障碍物运动的控制方法，获取清洁机器人上障碍物探测器的探测数据；根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动，相比于现有技术，本申请能够改善机器人沿障碍物运动的能力，从而实现清洁机器人高效自主的沿边清扫功能。
实施例二
本申请实施例提供一种清洁机器人沿障碍物运动的控制装置，该清洁机器人沿障碍物运动的控制装置与实施例一地清洁机器人沿障碍物运动的控制方法对应，相关之处参见实 施例一的部分说明即可。以下描述的方法实施例仅仅是示意性的。
图5是本申请实施例提供的一种清洁机器人沿障碍物运动的控制装置的示意图，如图5所示，装置10包括：
获取模块101，用于获取清洁机器人上障碍物探测器的探测数据；
识别模块102，用于根据所述探测数据，识别清洁机器人运动前方的障碍物类型；
确定模块103，用于确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；
控制模块104，用于根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动。
在本申请的一些实施例中，所述确定模块103，具体用于：
根据所述障碍物类型为连续墙面类型，确定对应的运动模型为小曲率运动模型；
根据所述障碍物类型为孤立柱状类型，确定对应的运动模型为大曲率运动模型。
在本申请的一些实施例中，所述控制模块104，还用于小曲率运动模型构建，所述小曲率运动模型构建过程如下：
其中，d
W表示清洁机器人沿着障碍物的边沿运动过程中，清洁机器人与障碍物的距离；v表示清洁机器人的线速度；w表示清洁机器人的角速度；θ为清洁机器人相对于墙体平行方向的差角；θ
0为上沿边激光与墙体垂线的夹角；d
0表示清洁机器人质心到墙面的距离。
在本申请的一些实施例中，所述控制模块104，还用于大曲率运动模型构建，所述大曲率运动模型构建过程如下：
从探测数据中确定上沿边距离、中沿边距离和下沿边距离；
确定清洁机器人半径与预设的绕障距离之和为位置关系阈值；
根据所述上绕障距离、中绕障距离、下绕障距离与所述位置关系阈值确定清洁机器人与障碍物的相对位置关系；
根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，不同的旋转运动状态对应不同的线速度和角速度。
在本申请的一些实施例中，所述控制模块104，具体用于：
获取目标区域边界上相隔预设距离的多个位置的环境湿度；
计算所述多个位置的环境湿度的平均值，得到目标区域的湿度均值。
本实施例的清洁机器人沿障碍物运动的控制装置，获取清洁机器人上障碍物探测器的探测数据；根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动，相比于现有技术，本申请能够改善机器人沿障碍物运动的能力，从而实现清洁机器人高效自主的沿边清扫功能。
实施例三
如图6所示，本申请实施例还提供了一种清洁机器人20，包括：存储器201、处理器202及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器202运行所述计算机程序时执行以实现实施例一中任一实施方式的清洁机器人沿障碍物运动的控制方法。
具体的，所述清洁机器人可以包括：处理器，存储器，总线和通信接口，所述处理器、通信接口和存储器通过总线连接；所述存储器中存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行本申请前述任一实施方式所提供的清洁机器人沿障碍物运动的控制方法。
其中，存储器可能包含高速随机存取存储器(RAM：Random Access Memory)，也可能还包括非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器。通过至少一个通信接口(可以是有线或者无线)实现该系统网元与至少一个其他网元之间的通信连接，可以使用互联网、广域网、本地网、城域网等。
总线可以是ISA总线、PCI总线或EISA总线等。所述总线可以分为地址总线、数据总线、控制总线等。其中，存储器用于存储程序，所述处理器在接收到执行指令后，执行所述程序，前述本申请实施例任一实施方式揭示的所述清洁机器人沿障碍物运动的控制方法可以应用于处理器中，或者由处理器实现。
处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(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。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。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。结合本申请实施例所公开 的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
本申请实施例提供的清洁机器人与本申请实施例提供的清洁机器人沿障碍物运动的控制方法出于相同的发明构思，具有与其采用、运行或实现的方法相同的有益效果。
实施例四
本申请实施例还提供了一种计算机可读存储介质，请参考图7，其示出的计算机可读存储介质为光盘30，其上存储有计算机可读指令(即程序产品)，所述计算机可读指令可被处理器执行以实现实施例一中任一实施方式的清洁机器人沿障碍物运动的控制方法。
所述计算机可读存储介质的例子还可以包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他光学、磁性存储介质，在此不再一一赘述。
本申请的上述实施例提供的计算机可读存储介质与本申请实施例提供的清洁机器人沿障碍物运动的控制方法出于相同的发明构思，具有与其存储的应用程序所采用、运行或实现的方法相同的有益效果。
需要说明的是：
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本申请并帮助理解各个发明方面中的一个或多个，在上面对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本申请的单独实施例。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或 组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本申请的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的虚拟机的创建装置中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。
Claims (12)
- 一种清洁机器人沿障碍物运动的控制方法，其特征在于，包括：获取清洁机器人上障碍物探测器的探测数据；根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动。
- 根据权利要求1所述的清洁机器人沿障碍物运动的控制方法，其特征在于，所述确定所述障碍物类型对应的运动模型，包括：根据所述障碍物类型为连续墙面类型，确定对应的运动模型为小曲率运动模型；根据所述障碍物类型为孤立柱状类型，确定对应的运动模型为大曲率运动模型。
- 根据权利要求2所述的清洁机器人沿障碍物运动的控制方法，其特征在于，所述小曲率运动模型构建过程如下：
其中，d W表示清洁机器人沿着障碍物的边沿运动过程中，清洁机器人与障碍物的距离；v表示清洁机器人的线速度；w表示清洁机器人的角速度；θ为清洁机器人相对于墙体平行方向的差角；θ 0为上沿边激光与墙体垂线的夹角；d 0表示清洁机器人质心到墙面的距离。 - 根据权利要求2所述的清洁机器人沿障碍物运动的控制方法，其特征在于，所述大曲率运动模型构建过程如下：从探测数据中确定上绕障距离、中绕障距离和下绕障距离；确定清洁机器人半径与预设的绕障距离之和为位置关系阈值；根据所述上绕障距离、中绕障距离、下绕障距离与所述位置关系阈值确定清洁机器人与障碍物的相对位置关系；根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边沿运动，不同的旋转运动状态对应不同的线速度和角速度。
- 根据权利要求4所述的清洁机器人沿障碍物运动的控制方法，其特征在于，所述根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍物的边 沿运动，包括：确定所述相对位置关系对应的目标旋转运动状态；控制清洁机器人按照所述目标旋转运动状态进行运动；获取新的所述相对位置关系，根据新的所述相对位置关系重复上述步骤，直至清洁机器人完成障碍物沿边。
- 一种清洁机器人沿障碍物运动的控制装置，其特征在于，包括：获取模块，用于获取清洁机器人上障碍物探测器的探测数据；识别模块，用于根据所述探测数据，识别清洁机器人运动前方的障碍物类型；确定模块，用于确定所述障碍物类型对应的运动模型，所述运动模型是预先根据清洁机器人与障碍物的位置关系以及障碍物类型构建的；控制模块，用于根据所述运动模型和所述探测数据，控制所述清洁机器人沿着所述障碍物的边沿运动。
- 根据权利要求6所述的清洁机器人沿障碍物运动的控制装置，其特征在于，所述确定模块，具体用于：根据所述障碍物类型为连续墙面类型，确定对应的运动模型为小曲率运动模型；根据所述障碍物类型为孤立柱状类型，确定对应的运动模型为大曲率运动模型。
- 根据权利要求7所述的清洁机器人沿障碍物运动的控制装置，其特征在于，所述控制模块，还用于小曲率运动模型构建，所述小曲率运动模型构建过程如下：
其中，d W表示清洁机器人沿着障碍物的边沿运动过程中，清洁机器人与障碍物的距离；v表示清洁机器人的线速度；w表示清洁机器人的角速度；θ为清洁机器人相对于墙体平行方向的差角；θ 0为上沿边激光与墙体垂线的夹角；d 0表示清洁机器人质心到墙面的距离。 - 根据权利要求7所述的清洁机器人沿障碍物运动的控制装置，其特征在于，所述控制模块，还用于大曲率运动模型构建，所述大曲率运动模型构建过程如下：从探测数据中确定上沿边距离、中沿边距离和下沿边距离；确定清洁机器人半径与预设的绕障距离之和为位置关系阈值；根据所述上绕障距离、中绕障距离、下绕障距离与所述位置关系阈值确定清洁机器人与障碍物的相对位置关系；根据所述相对位置关系和预设的至少两个旋转运动状态，控制清洁机器人沿着障碍 物的边沿运动，不同的旋转运动状态对应不同的线速度和角速度。
- 根据权利要求9所述的清洁机器人沿障碍物运动的控制装置，其特征在于，所述控制模块，具体用于：获取目标区域边界上相隔预设距离的多个位置的环境湿度；计算所述多个位置的环境湿度的平均值，得到目标区域的湿度均值。
- 一种清洁机器人，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器运行所述计算机程序时执行以实现如权利要求1至5任一项所述的方法。
- 一种计算机可读存储介质，其上存储有计算机可读指令，所述计算机可读指令可被处理器执行以实现如权利要求1至5中任一项所述的方法。
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| CN112363513A (zh) * | 2020-11-25 | 2021-02-12 | 珠海市一微半导体有限公司 | 一种基于深度信息的障碍物分类避障控制方法 |
| CN112415998A (zh) * | 2020-10-26 | 2021-02-26 | 珠海市一微半导体有限公司 | 一种基于tof摄像头的障碍物分类避障控制系统 |
| CN112526984A (zh) * | 2020-09-30 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | 一种机器人避障方法、装置及机器人 |
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2021
- 2021-04-09 CN CN202110384342.8A patent/CN115202330A/zh active Pending
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2022
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| CN112526984A (zh) * | 2020-09-30 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | 一种机器人避障方法、装置及机器人 |
| CN112415998A (zh) * | 2020-10-26 | 2021-02-26 | 珠海市一微半导体有限公司 | 一种基于tof摄像头的障碍物分类避障控制系统 |
| CN112327878A (zh) * | 2020-11-25 | 2021-02-05 | 珠海市一微半导体有限公司 | 一种基于tof摄像头的障碍物分类避障控制方法 |
| CN112363513A (zh) * | 2020-11-25 | 2021-02-12 | 珠海市一微半导体有限公司 | 一种基于深度信息的障碍物分类避障控制方法 |
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